• 통합자연과학논문집
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• 제15권2호
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• pp.83-87
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• 2022

In this study, through a survey on traffic safety campaigns for electric wheelchairs for the disabled, we found out what is necessary to solve the inconvenience of disabled people driving electric wheelchairs and living in society. The conclusions for each role of the severely disabled are as follows. The government has enacted a law on fostering convenience facilities for the disabled in accordance with reality so that the disabled, who are vulnerable to transportation, do not have any inconvenience in their social lives. However, it is not kept in reality, so there are many obstacles to the social activities of the disabled. In addition, local governments should subscribe to electric wheelchair insurance for the disabled to minimize the damage to the disabled in the event of an electric wheelchair accident. Organizations related to the disabled provide safety wheelchair driving education to prevent electric wheelchair accidents in advance and receive complaints about inconvenience. It can be concluded that people with severe disabilities can prevent accidents in advance by installing a moving ring tone on an electric wheelchair so that they can know the movement of the surrounding wheelchair.

• 한국산학기술학회논문지
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• 제13권3호
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• pp.1296-1301
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• 2012

본 논문은 힘 보조형 휠체어에 있어 사용자의 구동 의지력을 측정하고 이를 통해 사용자의 구동 의지에 따른 휠체어 구동 제어를 수행할 수 있는 시스템 개발에 관한 논문이다. 최근 고령자의 증가에 따른 다양한 편의 기구가 증가되고 있으며 이에 따라 휠체어에 대한 관심이 증가되고 있다. 특히 힘 보조형 휠체어의 경우 기존의 전동 휠체어가 갖고 있는 운동 부족 등의 문제점을 해결할 수 있도록 고안된 휠체어이다. 본 논문에서는 이러한 힘 보조형 휠체어에 있어 사용자의 구동 의지력을 측정할 수 있는 센서를 제안하였고 이를 통해 사용자의 구동 의지력에 따른 휠체어 제어를 수행하였으며 이를 실험을 통해 검증하였다.

• 한국정밀공학회지
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• 제28권11호
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• pp.1265-1271
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• 2011

These days the number of aged and disabled people is increasing rapidly. But most of the disabled or the aged who have the ability to work, want to engage in economic activities and solve social restrictions as well as their bad financial conditions. This paper concerns about the tracking control of an electric wheelchair robot for welfare vehicle where the seat and electric wheelchair are separated and electric wheelchair robot must be autonomously controlled without the help of assistant. So the aged or the disabled people can drive welfare vehicle by himself by adopting this system. Therefore the concept of both an autonomous driving of electric wheelchair and path tracking robots is required in this system. Finally we suggested fuzzy controller in order to control the path tracking of electric wheelchair robot and compared the capability of the proposed controller with conventional PID controller.

• 재활복지공학회논문지
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• 제10권2호
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• pp.133-139
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• 2016

전동휠체어는 장애인들이 편리하게 이동할 수 있는 이동수단이다. 하지만 전동휠체어를 사용하다가 전복되는 사고가 매년 증가하고 있다. 현재 전동휠체어 관련한 KS P 7176 규격에는 동적안전성 시험항목이 있지만 이는 전동휠체어의 안전성을 확보하지 못하였다. 본 연구에서는 새롭게 개발한 장애인 차량에 적재 가능한 접이식 전동휠체어를 소개하고 본 휠체어를 기본으로 주행 중 동적 전도해석 기법에 관한 내용을 소개하고자 한다. 전도해석은 force-moment 안정성 측정법을 사용하였으며 회전반경, 가속도, 무게중심점에 대한 영향을 평가하였다. 본 해석 방법으로 전동휠체어의 안정성을 확보할 수 있으며 동적 안정성 평가 항목 개발에 기초자료로 제공할 수 있다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1509-1512
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• 2003

The electric power wheelchair needs to control motor torque and speed for responding to variable actions given by handling a joystick. In this paper a DSP-based BLDC motor controller using a single dc-link current sensor is presented for electric power wheelchair. It is composed by a DSP processor and three-phase inverter module. To control torque, high speed current control is achieved by the PI controller and pulse width modulation (PWM) signals with 25 kHz carrier frequency, which is performed by 200 ${\mu}sec$ cycle. The speed controller computes the new direct current reference from the speed error and the PI control equation. The displacement value by handling the joystick is converted to reference speeds of right and left wheel motors using nonholonomic wheelchair kinematics. Experimental results show that the presented control system is enough to implement a speed servo in wheelchair driving.

• 제어로봇시스템학회논문지
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• 제11권1호
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• pp.41-49
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• 2005

Electromyogram (EMG) signal generated by voluntary contraction of muscles is often used in rehabilitation devices because of its distinct output characteristics compared to other bio-signals. This paper proposes a novel EMG-based human-computer interface for electric-powered wheelchair users with motor disabilities by C4 or C5 spine cord injury. User's commands to control the electric-powered wheelchair are represented by shoulder elevation motions, which are recognized by comparing EMG signals acquired from the levator scapulae muscles with a preset double threshold value. The interface commands for controlling the electric-powered wheelchair consist of combinations of left-, right- and both-shoulders elevation motions. To achieve a real-time interface, we implement an EMG processing hardware composed of analog amplifiers, filters, a mean absolute value circuit and a high-speed microprocessor. The experimental results using an implemented real-time hardware and an electric-powered wheelchair showed that the EMG-based human-computer interface is feasible for the users with severe motor disabilities.

• 대한임베디드공학회논문지
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• 제13권3호
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• pp.161-167
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• 2018

The improvement of the social environment and the rapid development of medicine are making possible the age of 100. So a great number of countries including Korea are rapidly becoming the aged society or the super aged society. The elderly are accompanied by discomfort and disability. A variety of systems are developed and distributed to overcome them. The electric wheelchair is an electric motorized system for people who can not manipulate a manual wheelchair. In this paper, we propose an autonomous driving platform for an electric wheelchair. Here we use QR (Quick Response) code for self-localization. We also present real test results of the proposed system.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.101-105
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• 2004

The traction drive have a high power transmission efficiency and small size, a light weight, a low noise. So it is expected that alternative drive part of engine. Because it is necessary stillness that essential condition of drive part used moving tool in a room, it has many-sided in field of application. This traction drive is better suitable than other speed reducer as drive part of electric wheelchair. Also it is sufficiently necessary capacity of existing advanced product as apply traction drive to electric wheelchair.

• 제어로봇시스템학회논문지
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• 제22권7호
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• pp.552-556
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• 2016

Obstacle detection is a key feature in the safe driving control of electric wheelchairs. The suggested obstacle detection algorithm was designed to provide obstacle avoidance direction and detect the existence of cliffs. By means of this information, the wheelchair can determine where to steer and whether to stop or go. A 3D depth camera (Microsoft KINECT) is used to scan the 3D point data of the scene, extract information on obstacles, and produce a steering direction for obstacle avoidance. To be specific, ground detection is applied to extract the obstacle candidates from the scanned data and the candidates are projected onto a 2D map. The 2D map provides discretized information of the extracted obstacles to decide on the avoidance direction (left or right) of the wheelchair. As an additional function, cliff detection is developed. By defining the "cliffband," the ratio of the predefined band area and the detected area within the band area, the cliff detection algorithm can decide if a cliff is in front of the wheelchair. Vehicle tests were carried out by applying the algorithm to the electric wheelchair. Additionally, detailed functions of obstacle detection, such as providing avoidance direction and detecting the existence of cliffs, were demonstrated.

• 디지털콘텐츠학회 논문지
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• 제19권8호
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• pp.1507-1514
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• 2018

본 논문에서는 1인용 스마트 전동휠체어의 보다 안전한 주행을 위한 지능형 통합 제어보드의 기능 개선 솔루션을 제안한다. 기존 국내 외의 전동휠체어 제품의 경우 안전 관련 기능 또는 장치가 포함되지 않은 경우가 많기 때문에 노약자 및 장애인이 지속적으로 증가하는 추세를 보이는 현 상황에서 전동휠체어가 관련된 사고의 발생 빈도 또한 지속적인 증가추이를 보이고 있다. 하지만 현재 상용되는 제품들에는 중고가형 이상의 전동휠체어에만 기본적인 완충작용 장치가 설치되어 있는 한계로 저가형의 제품에도 안전관련 기능이 필요한 실정이다. 따라서, 스마트 제어 플랫폼의 개발을 통해 전동휠체어 이동 중 사용자가 감지하지 못하는 장애물 또는 지형변화를 자동으로 감지 및 전동휠체어의 모터를 자동으로 제어함으로써 사용자가 안정적인 주행을 할 수 있도록 다양한 전동휠체어에 적용 가능한 스마트 전동휠체어 통합제어보드를 제시한다.