Velocity pattern generation for power assisted wheelchair based on jerk and acceleration limitation

IECON Proceedings (Industrial Electronics Conference)

Volumn 2005, Issue , 2005, Pages 457-462

  Seki, Hirokazu ^a   Tadakuma, Susumu ^a  

^a CHIBA INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

Acceleration limitation; Driving control; Jerk limitation; Power assisted wheelchair; Ride quality; Velocity pattern

Indexed keywords

ACCELERATION LIMITATION; DRIVING CONTROL; JERK LIMITATION; POWER ASSISTED WHEELCHAIR;

ACCELERATION; CONTROL SYSTEMS; ELECTRIC MOTORS; POWER AMPLIFIERS; RIDING QUALITIES; VELOCITY;

WHEELCHAIRS;

EID: 33749654305     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IECON.2005.1568948     Document Type: Conference Paper

References (13)

1. R. A. Cooper, T. A. Corfman, S. G. Fitzgerald, M. L. Boninger, D. M. Spaeth, W. Ammer and J. Arva: "Performance assessment of a pushrim-activated power-assisted wheelchair control system", Trans. on IEEE Control Systems Technology, Vol. 10, No. 1, pp.121-126 (2002)
2. H. Seki, N. Hata, Y. Koyasu and Y. Hori: "Novel control scheme of power assisted wheelchair for preventing overturn (Part I) - adjustment of assisted torque and performance evaluation from field test -"(in Japanese), IEEJ Trans. IA, Vol. 124, No. 3, pp.318-323 (2004)
3. N. Hata, H. Seki, Y. Koyasu and Y. Hori: "Novel control scheme of power assisted wheelchair for preventing overturn (Part II) - variable assistance ratio control based on estimation of center-of-gravity angle and phase plane -"(in Japanese), IEEJ Trans. IA, Vol. 124, No. 7, pp.699-705 (2004)
4. Y. Takahashi, S. Ogawa and S. Machida: "Front wheel raising and inverse pendulum control of power assist wheel chair robot", Proc. of The International Conference of IEEE Industrial Electronics, pp.668-673 (1999)
5. F. Wang, K. Sagawa, T. Ishihara and H. Inooka: "An automobile driver assistance system for improving passenger ride comfort", IEEJ Trans. IA, Vol. 123-D, No. 7, pp.730-735 (2004) (in Japanese)
6. T. Saitoh, T. C. Hwa and Y. Hori: "Realtime generation of smart speed pattern for EVs taking driver's command change into account", Proc. of The IEEE International Workshop on Advanced Motion Control, pp.81-85 (2004)
7. S. Hara, T. Hara, L. Yi and M. Tomizuka: "Novel reference signal generation for two-degree-of-freedom controllers for hard disk drives", IEEE/ASME Trans. on Mechantronics, Vol. 5, No. 1, pp.73-78 (2000)
8. B. Chang and Y Hori: "High speed positioning trajectory design for two-degrees-of-freedom controller of hard disk drives with mechanical vibration", Proc. of The IEEE International Workshop on Advanced Motion Control, pp.317-322 (2004)
9. H. Seki, M. Iso and Y. Hori: "How to design force sensorless power assist robot considering environmental characteristics - position control based or force control based -", Proc. of The International Conference of IEEE Industrial Electronics, pp.2255-2260 (2002)
10. A. Kakimoto, H. Matsuda and Y. Sekiguchi: "Development of power-assisted attendant-propelled wheelchair"(in Japanese), Journal of The Japan Society for Precision Engineering, Vol. 65, No. 8, pp.1126-1130 (1999)
11. H. Seki, T. Sugimoto and S. Tadakuma: "Driving control of power assisted wheelchair based on minimum jerk trajectory", Proceedings of International Power Electronics Conference (IPEC-2005), pp.1682-1687 (2005)
12. T. Flash and N. Hogan: "The coordination of arm movements: an experimentally confirmed mathematical model", The Journal of Neuroscience, Vol. 5, No. 7, pp.1688-1703 (1985)
13. H. Seki and S. Tadakuma: "Minimum jerk control of power assisting robot based on human arm behavior characteristic", Proc. of The International Conference of IEEE Systems, Man and Cybernetics, pp.722-727 (2004)