搭乗者の快適性を考慮した二輪駆動型車椅子の多機能化制御

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2013/04/01

タイトル(英語): Multifunctional Control of a Two-Wheel Driven Wheelchair Considering Comfort of a Passenger

著者名: 河村　琢郎（慶應義塾大学），村上　俊之（慶應義塾大学）

著者名(英語): Takuro Kawamura (Keio University), Toshiyuki Murakami (Keio University)

キーワード: 二輪駆動型車椅子，起き上がり・着地制御，軌道追従制御　　two-wheel driven wheelchair，uprising and landing control，trajectory tracking control

要約(英語): A wheelchair is a highly-popularized welfare device; however, it has two problems. One is low mobility, and the other is the difficulty faced while going over bumps. These problems are caused by the front casters. Recently, a two-wheel driven wheelchair with no casters was proposed. The aim of this research is to achieve the multifunctional control of the two-wheel driven wheelchair. In particular, this research focuses on the process of getting on and off and trajectory tracking control. Uprising and landing control are proposed in order to achieve the getting on and off motions efficiently. In addition, a variable command generation is proposed to improve comfort of a passenger. Furthermore, robust trajectory tracking control of the two-wheel driven wheelchair is proposed. The comfort of the passenger is improved by applying the proposed approaches.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.133 No.4 （2013）

本誌掲載ページ: 404-413 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/133/4/133_404/_article/-char/ja/