Studies on Manipulability and Ride Comfort of Omni-directional Wheelchair

全向轮椅操控性及乘坐舒适性研究

• 批准号: 14550250
• 负责人: KITAGAWA Hideo
• 金额: $ 2.18万
• 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: 2002
• 资助国家: 日本
• 起止时间: 2002 至 2003
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-14550250/
• 关键词: Wheelchair; Rehabilitation; Robot; Omni-directional Movement; Haptic; Collision Avoidance; Sonar; Environment Recognition; ハプティックフィードバック; 快適性; 固有振動数; パワーアシスト; ファジィ推論

The development of technology that facilitates the rehabilitation of people with severe and multiple handicaps in everyday life is desirable. An omni-directional wheelchair is highly maneuverable in narrow or crowded areas such as residences, offices and hospitals.A motion control method 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.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.A novel method for the semi-autonomous control of an omni-directional wheelchair was 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.

希望在日常生活中促进严重和多个障碍的人们的康复技术的发展。 Omni方向轮椅在狭窄或拥挤的地区（例如住宅，办公室和医院）都可以高度机动。开发了全面轮椅的运动控制方法。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。展示了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，通过使用方向估计器来提高旋转的操作性。一种新的方法用于半自主控制综合轮椅的新方法。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

J.Urbano, H.Kitagawa, T.Miyoshi, K.Terashima: "Impedance Control for Safety and Comfortable Navigation of an Omni-directional Mobile Wheelchair."Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Sendai(Accepted). (2004)

J.Urbano、H.Kitakawa、T.Miyoshi、K.Terashima：“全向移动轮椅的安全和舒适导航的阻抗控制。”Proc。

K.Terashima, H.Kitagawa, T.Miyoshi, J.Urbano: "Freaqency Shape Control of Omni-directional Wheelchair to Increase User's Comfort"Proc.IEEE 2004 Int.Conf.on Robotics and Automation, New Orleans. ThE-13 (2004)

K.Terashima、H.Kitakawa、T.Miyoshi、J.Urbano：“全向轮椅的频率形状控制以提高用户的舒适度”Proc.IEEE 2004 Int.Conf.on 机器人与自动化，新奥尔良。

J.Urbano, H.Kitagawa, T.Miyoshi, K.Terashima: "Haptic Feedback Control of Omni-directional Wheelchair Considering User's Comfort and Safety."Proc. 35th Int. Sym on Robotics. Paris. 23 (2004)

J.Urbano、H.Kitakawa、T.Miyoshi、K.Terashima：“考虑用户舒适度和安全性的全向轮椅触觉反馈控制”。

J.Urbano, H.Kitagawa, T.Miyoshi, K.Terashima: "Impedance Control for Safety and Comfortable Navigation of an Omni-directional Mobile Wheelchair"Proc.IEEE/RSJ Int.Conf.on Intelligent Robots and Systems, Sendai. (Accepted). (2004)

J.Urbano、H.Kitakawa、T.Miyoshi、K.Terashima：“全向移动轮椅安全舒适导航的阻抗控制”Proc.IEEE/RSJ Int.Conf.on 智能机器人和系统，仙台。

H.Kitagawa: "Motion Control of Omnidirectional Wheelchair considering Patient Comfort"Proc. 15th IFAC World Congress. T-Tu-E20 (2002)

H.Kitakawa：“考虑患者舒适度的全向轮椅运动控制”Proc。