2A1-T01 介護者との相対的位置関係を考慮した車椅子誘導法(人間機械協調)

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  • 2A1-T01 Control Method of a Wheelchair based on the Relative Position between a Wheelchair and its Caregiver(Cooperation between Human and Machine)

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In this paper, the aim of this research is navigation method of a wheelchair based on the relative position between a wheelchair and its caregiver. In order to realize the safe navigation, the sensors applied to both assistance grips of the wheelchair, then estimating caregiver's position from the sensors that power acts on. We suggest collision avoidance method and the switching of position between caregiver and wheelchair that considered the relative position relations of a wheelchair and its caregiver. Experimental results using Omni-directional Wheelchair showed the effectiveness of the proposed navigation method.

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