二輪車椅子における段差乗り越え支援制御とその快適性評価

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: 2013/12/02

タイトル(英語): Assisted Control of Step Passage Motion and Its Comfort Evaluation in Two-Wheel Wheelchair Systems

著者名: 平田　和也（慶應義塾大学），村上　俊之（慶應義塾大学）

著者名(英語): Kazuya Hirata (Keio University), Toshiyuki Murakami (Keio University)

キーワード: 車椅子，倒立振子，コンプライアンス制御，反力トルク推定オブザーバ　　wheelchair，inverted pendulum，compliance control，reaction torque observer

要約(英語): Recently, two-wheel wheelchair systems had attracted attention since their mobility is better than that of conventional four-wheel wheelchair systems. However, two-wheel wheelchair systems must achieve stabilization control under disturbances caused by modeling error or a road situation since two-wheel wheelchair systems are underactuated systems such as the inverted pendulum. In this study, step passage motion in two-wheel wheelchair systems is considered. A reaction torque observer (RTOB) is employed to estimate the pitch angular interaction torque and the pure external wheel disturbance. Furthermore, repulsive compliance control is employed to determine the optimal pitch angle command to compensate for the center of gravity (CoG) of a human and to assist whole step passage motion. Experimental results are evaluated in terms of comfort for the human by utilizing generalized index ISO2631-1.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.133 No.12 （2013）

本誌掲載ページ: 1120-1127 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/133/12/133_1120/_article/-char/ja/