Urbano Gutierrez, Juan Baltazar (Toyohashi Univ. of Tech.), Terashima, Kazuhiko (Toyohashi Univ. of Tech.), Kitagawa, Hideo (Gifu National Coll. of Tech.)

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

Scheduled for presentation during the Regular Session "Neural Networks II" (ThA12), Thursday, July 27, 2006, 12:05−12:30, Room 104b

17th International Symposium on Mathematical Theory of Networks and Systems, July 24-28, 2006, Kyoto, Japan

This information is tentative and subject to change. Compiled on May 19, 2024

Abstract

For helping attendants of handicapped people and senior citizens, a power assist system is added to an Omni-directional Wheelchair (OMW). With this addition it is possible to deal with heavy loads, but there is a problem of operability when the attendant wants to move OMW laterally or rotate around OMW's gravity center. For solving this problem fuzzy rules are applied to estimate the navigation direction for the force given by the attendant. A neuro-fuzzy system is used for the tuning of the membership functions of the fuzzy system according to each attendant's characteristics. Further, a second order lag controller which transforms the force given by the attendant into the velocity of OMW, is presented for achieving rider's comfort.