Disturbance Compensation Control of Power-assisted Cycling Wheelchair

被引：0
|
作者：
Kinugawa, Jun [1 ]
Kondo, Takaaki [2 ]
Kosuge, Kazuhiro [1 ]
机构：
[1] Tohoku Univ, Dept Robot, Aoba Ward, 6-6-01 Aramaki Azaaoba, Sendai, Miyagi, Japan
[2] Tohoku Univ, Dept Robot, Sendai, Miyagi, Japan
来源：
2017 IEEE INTERNATIONAL CONFERENCE ON CYBORG AND BIONIC SYSTEMS (CBS) | 2017年
关键词：
power-assisted; disturbance compensation; cycling wheelchair;
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
Cycling wheelchairs have been developed for the rehabilitation of those with walking difficulties. They are mainly designed for indoor use and are usually difficult to use outdoors because they got easily stacked. We proposed a system with a power assist function to enable safe outdoor use of cycling wheelchairs. In this paper, we described the disturbance compensation control to counter the running resistance during running of the cycling wheelchair, and summarize the evaluation results on pedaling torque, running time, and running path by an experiment.
引用
收藏
页码：319 / 322
页数：4
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