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Torque Sensor Free Power Assisted Wheelchair
Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE), Halmstad Embedded and Intelligent Systems Research (EIS), Intelligent systems (IS-lab).
Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE), Halmstad Embedded and Intelligent Systems Research (EIS), Intelligent systems (IS-lab).
Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE), Halmstad Embedded and Intelligent Systems Research (EIS), Intelligent systems (IS-lab).
Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE), Halmstad Embedded and Intelligent Systems Research (EIS), Intelligent systems (IS-lab).
2007 (English)In: ICORR '07: 2007 IEEE 10th International Conference on Rehabilitation Robotics : June 12-15, Noordwijk, The Netherlands, Piscataway, N.J.: IEEE Press, 2007, p. 151-157Conference paper, Published paper (Refereed)
Abstract [en]

A power assisted wheelchair combines human power, which is delivered by the arms through the pushrims, with electrical motors, which are powered by a battery. Todays electric power assisted wheelchairs use force sensors to measure the torque exerted on the pushrims by the user. This leads to rather expensive and clumsy constructions. A new design, which only relies on velocity feedback, thus avoiding the use of expensive force sensors in the pushrims, is proposed in this paper. The control design is based on a simple PD-structure with only two design parameters easily tuned to fit a certain user; one parameter is used to adjust the amplification of the user’s force and the other one is used to change the lasting time of the propulsion influence. Since the new assisting control system only relies on the velocity, the torque sensor free power assisted wheelchair will besides giving the user assisting power also give an assistant, which pushes the wheelchair, additional power. This is a big advantage compared to the pushrim activated one, where this benefit for the assistant is not possible.

Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Press, 2007. p. 151-157
Series
International Conference on Rehabilitation Robotics ICORR, ISSN 1945-7898
Keywords [en]
wheelchair, power assist, electric power assisted wheelchairs, velocity feedback, torque sensor, force sensors
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:hh:diva-1799DOI: 10.1109/ICORR.2007.4428421ISI: 000255389600024Scopus ID: 2-s2.0-48349125718Local ID: 2082/2194ISBN: 978-1-4244-1320-1 OAI: oai:DiVA.org:hh-1799DiVA, id: diva2:239017
Conference
10th International Conference on Rehabilitation Robotics, June 12-15, Noordwijk, The Netherlands
Note

©2007 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

Available from: 2008-08-27 Created: 2008-08-27 Last updated: 2018-03-23Bibliographically approved

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Petersson, DanielJohansson, JonasHolmberg, UlfÅstrand, Björn

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