Novel Driving Control of Power Assisted Wheelchair Based on Minimum Jerk Trajectory

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  • Seki Hirokazu
    Department of Electrical, Electronics and Computer Engineering, Faculty of Engineering, Chiba Institute of Technology
  • Sugimoto Takeaki
    Department of Electrical, Electronics and Computer Engineering, Faculty of Engineering, Chiba Institute of Technology
  • Tadakuma Susumu
    Department of Electrical, Electronics and Computer Engineering, Faculty of Engineering, Chiba Institute of Technology

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Other Title
  • 躍度最小軌道に基づくパワーアシスト車椅子の走行制御法
  • ヤクド サイショウ キドウ ニ モトヅク パワーアシスト クルマイス ノ ソウコウ セイギョホウ

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Abstract

This paper describes a novel trajectory control scheme for power assisted wheelchair. Human input torque patterns are always intermittent in power assisted wheelchairs, therefore, the suitable trajectories must be generated also after the human decreases his/her input torque. This paper tries to solve this significant problem based on minimum jerk model minimizing the changing rate of acceleration. The proposed control system based on minimum jerk trajectory is expected to improve the ride quality, stability and safety. Some experiments show the effectiveness of the proposed method.

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