ENHANCEMENT OF MANEUVERABILITY OF A POWER ASSIST OMNI-DIRECTIONAL WHEELCHAIR BY APPLICATION OF NEURO-FUZZY CONTROL

Kazuhiko Terashima, Juan Urbano, Hideo Kitagawa

Abstract

A power assist system has been added to an Omni-directional Wheelchair (OMW) for helping attendants of handicapped people and elderly people, . With this addition it is possible for the attendants to deal with heavy loads, but there is a problem of operability when the attendants want to easily move OMW laterally or rotate around OMW’s Gravity Center (CG). To solve the present problem, this paper provides a fuzzy reasoning method for estimating the navigation direction according to the force added by the attendants to the handgrips of the handle of OMW. A neuro-fuzzy system (ANFIS) is used for auto-tuning of the membership functions of the fuzzy system according to each attendant’s characteristics, by using input data of attendants.

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Paper Citation


in Harvard Style

Terashima K., Urbano J. and Kitagawa H. (2006). ENHANCEMENT OF MANEUVERABILITY OF A POWER ASSIST OMNI-DIRECTIONAL WHEELCHAIR BY APPLICATION OF NEURO-FUZZY CONTROL . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-972-8865-59-7, pages 67-75. DOI: 10.5220/0001213700670075


in Bibtex Style

@conference{icinco06,
author={Kazuhiko Terashima and Juan Urbano and Hideo Kitagawa},
title={ENHANCEMENT OF MANEUVERABILITY OF A POWER ASSIST OMNI-DIRECTIONAL WHEELCHAIR BY APPLICATION OF NEURO-FUZZY CONTROL},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2006},
pages={67-75},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001213700670075},
isbn={978-972-8865-59-7},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - ENHANCEMENT OF MANEUVERABILITY OF A POWER ASSIST OMNI-DIRECTIONAL WHEELCHAIR BY APPLICATION OF NEURO-FUZZY CONTROL
SN - 978-972-8865-59-7
AU - Terashima K.
AU - Urbano J.
AU - Kitagawa H.
PY - 2006
SP - 67
EP - 75
DO - 10.5220/0001213700670075