ENHANCEMENT OF MANEUVERABILITY OF A POWER ASSIST OMNI-DIRECTIONAL WHEELCHAIR BY APPLICATION OF NEURO-FUZZY CONTROL

Kazuhiko Terashima, Juan Urbano, Hideo Kitagawa

2006

Abstract

A power assist system has been added to an Omni-directional Wheelchair (OMW) for helping attendants of handicapped people and elderly people, . With this addition it is possible for the attendants to deal with heavy loads, but there is a problem of operability when the attendants want to easily move OMW laterally or rotate around OMW’s Gravity Center (CG). To solve the present problem, this paper provides a fuzzy reasoning method for estimating the navigation direction according to the force added by the attendants to the handgrips of the handle of OMW. A neuro-fuzzy system (ANFIS) is used for auto-tuning of the membership functions of the fuzzy system according to each attendant’s characteristics, by using input data of attendants.

Paper Citation

in Harvard Style

Terashima K., Urbano J. and Kitagawa H. (2006). ENHANCEMENT OF MANEUVERABILITY OF A POWER ASSIST OMNI-DIRECTIONAL WHEELCHAIR BY APPLICATION OF NEURO-FUZZY CONTROL . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-972-8865-59-7, pages 67-75. DOI: 10.5220/0001213700670075

in Bibtex Style

@conference{icinco06,
author={Kazuhiko Terashima and Juan Urbano and Hideo Kitagawa},
title={ENHANCEMENT OF MANEUVERABILITY OF A POWER ASSIST OMNI-DIRECTIONAL WHEELCHAIR BY APPLICATION OF NEURO-FUZZY CONTROL},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2006},
pages={67-75},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001213700670075},
isbn={978-972-8865-59-7},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - ENHANCEMENT OF MANEUVERABILITY OF A POWER ASSIST OMNI-DIRECTIONAL WHEELCHAIR BY APPLICATION OF NEURO-FUZZY CONTROL
SN - 978-972-8865-59-7
AU - Terashima K.
AU - Urbano J.
AU - Kitagawa H.
PY - 2006
SP - 67
EP - 75
DO - 10.5220/0001213700670075