Studies on Comfort for Patient and Attendant of Omni-directional Wheelchair

全向轮椅患者及护理人员舒适度研究

基本信息

批准号：
17560239
负责人：
KITAGAWA Hideo
金额：
$ 1.41万
依托单位：
Gifu National College of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2005
资助国家：
日本
起止时间：
2005 至 2006
项目状态：
已结题

项目摘要

For aged or disabled people whose condition makes them unable to use mobility aids such as canes, crutched or walkers, wheelchairs can provide many benefits, such as maintaining mobility, continuing or broadening community and social activities, conserving strength and energy, and enhancing their general quality of life.A motion control method using Hybrid Shape Approach for an omni-directional wheelchair was developed. A controller that considers patient comfort, and that has a simple structure, was designed and implemented. The effectiveness of the obtained controller was shown by experiments.A power assist system for omni-directional transport wheelchairs considering both attendant's manipulability and rider's comfort was presented. The reference velocity of the omni-directional wheelchair was derived from attendant's input force. The first order lag controller, the direction estimator using fuzzy reasoning and the notch filter were adopted. The effectiveness of the control system was shown by experiments. Especially, manipulability of rotation was improved by using the direction estimator. The effectiveness of the obtained controller was evaluated by using Semantic Differential method.A novel method for the semiautonomous control of an omni-directional wheelchair was also developed. An algorithm for environmental map building has been established. Sensor readings have been translated to a probability of occupancy of each cell. A procedure has been established to create a complete map around the wheelchair that is drawn by means of the wheelchair's own motion. The stiffness in the input direction of the joystick has been calculated for the impedance control of the joystick.

对于老年人或残疾人，他们的状况使他们无法使用移动性辅助工具，例如拐杖，拐杖或步行者，轮椅可以提供许多好处，例如维持移动性，持续或扩大社区和社交活动，保护力量和能量，以节省力量和能量，并增强其一般的生活质量，并增强其使用混合形状的方法，用于Omni irni imni imni imni imni imni imniemni imniemni iremniemni imniemni imniemni iremni iremni imni imniepection。设计和实现了一个认为患者舒适并具有简单结构的控制器。通过实验显示了所获得的控制器的有效性。考虑到服务员的可操作性和骑手的舒适性，用于Omni方向运输轮椅的功率辅助系统。 Omni方向轮椅的参考速度源自服务员的输入力。采用了一阶滞后控制器，使用模糊推理的方向估计器和Notch滤波器被采用。通过实验显示了控制系统的有效性。特别是，使用方向估计器通过使用方向估计器提高了旋转的操作性。还使用语义差异方法评估了所获得的控制器的有效性。还开发了一种半自经控制轮椅的新型方法。已经建立了一种用于环境地图建设的算法。传感器读数已转化为每个细胞占用率的可能性。已经建立了一个程序，以通过轮椅自己的运动来制作轮椅周围的完整地图。为操纵杆的阻抗控制计算了操纵杆的输入方向的刚度。

项目成果

期刊论文数量（17）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Development of Power Assist on Omni-directional Mobile Wheelchair Considering Operationality and Comfort.

考虑操作性和舒适性的全向移动轮椅助力装置的开发。

DOI：
发表时间：
2005
期刊：
Proe. 2nd Int. Conf. on Informatics in Control, Automation and Robotics
影响因子：
0
作者：
J.Urbano;K.Terashima;H.Kitagawa;J.Urbano;K.Terashima;J.Urbano;J.Urbano
通讯作者：
J.Urbano

Skill Assist Control of an Omni-directional Wheelchair by Means of Neuro-Fuzzy Systems.

通过神经模糊系统对全向轮椅进行技能辅助控制。

DOI：
发表时间：
2006
期刊：
Proe. 17th International Symposium on Mathematical Theory of Networks and Systems
影响因子：
0
作者：
Watanabe;Kentaro;J.Urbano;J.Urbano;K.Terashima;J.Urbano
通讯作者：
J.Urbano

Assistance for Users of Omni-directional Wheelchairs by Providing Haptic Information about Close Obstacles.

通过提供有关近距离障碍物的触觉信息来为全向轮椅的用户提供帮助。

DOI：
发表时间：
2005
期刊：
Proc. of SICE Annual Conference, Okayama
影响因子：
0
作者：
J.Urbano;K.Terashima;H.Kitagawa;J.Urbano;K.Terashima;J.Urbano;J.Urbano;J.Urbano
通讯作者：
J.Urbano

Assistance for Users of Omni-directional Wheelchairs by Providing Haptic Information about Close Obstables.

通过提供有关近距离障碍物的触觉信息来为全向轮椅的使用者提供帮助。