Tailor-Made Modeling and Sway Control of Human Posture Riding on Electrical Wheelchair for Comfort Driving

This paper gives an advanced driving control system that considers sway suppression of a passenger's posture in an electrical wheelchair. We proposed a passenger model that considers the passenger's physical frame and seating condition. The passenger's seating condition is classified as upright, standard, or round-shouldered posture. The sway of a passenger with round-shouldered posture is smaller than that of a passenger with upright posture, and they can be represented by the proposed model. To suppress the sway of a wheelchair passenger's posture, the wheelchair driving pattern is optimized using the proposed passenger's posture model. The comfort of the passenger with respect to the proposed wheelchair driving is evaluated through experiments.