ACTION CONTROL METHOD FOR POWERED WHEELCHAIRS CONSIDERING CONTROL INPUT AND ENVIRONMENTAL INFORMATION

Yu Ishihara, Masaki Takahashi

2011

Abstract

Powered wheelchair is a mobility commonly used for people with disabilities. Recently, to improve the safety and efficiency of powered wheelchairs, various systems with control assistance are proposed. However most of the systems suppose joystick as input device and doesn’t consider about people with difficulties using it. Not all devices alternative to joystick have enough operability compared to joystick. In this paper, considering corridor passing as verification environment, an action control method to drive through the corridor safely and efficiently for wheelchairs controlled by devices with low operability is presented. To achieve safe and efficient driving, proposed method considers the time series of passenger’s input commands and combines the environmental information to select effective direction and speed for the wheelchair instead of passenger. Moreover for environment recognition, corridor detection algorithm is also proposed. To verify the effectiveness of proposed method, simulations and experiments were carried out.

Paper Citation

in Harvard Style

Ishihara Y. and Takahashi M. (2011). ACTION CONTROL METHOD FOR POWERED WHEELCHAIRS CONSIDERING CONTROL INPUT AND ENVIRONMENTAL INFORMATION . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 28-36. DOI: 10.5220/0003534500280036

in Bibtex Style

@conference{icinco11,
author={Yu Ishihara and Masaki Takahashi},
title={ACTION CONTROL METHOD FOR POWERED WHEELCHAIRS CONSIDERING CONTROL INPUT AND ENVIRONMENTAL INFORMATION},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={28-36},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003534500280036},
isbn={978-989-8425-75-1},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - ACTION CONTROL METHOD FOR POWERED WHEELCHAIRS CONSIDERING CONTROL INPUT AND ENVIRONMENTAL INFORMATION
SN - 978-989-8425-75-1
AU - Ishihara Y.
AU - Takahashi M.
PY - 2011
SP - 28
EP - 36
DO - 10.5220/0003534500280036