ADAPTIVE CONTROL BY NEURO-FUZZY SYSTEM OF AN OMNI-DIRECTIONAL WHEELCHAIR USING A TOUCH PANEL AS HUMAN-FRIENDLY INTERFACE

Kazuhiko Terashima, Yoshiyuki Noda, Juan Urbano, Sou Kitamura, Takanori Miyoshi, Hideo Kitagawa

Abstract

For improving the operability of an omni-directional wheelchair provided with a power assist system, the system must be able to adapt to the individual characteristics of the many different attendants that will use it. For achieving this purpose, an innovative human-interface using a touch panel that provides easy input and feedback information in real time of the operation of a power-assisted wheelchair was developed. The system was tested experimentally with many different attendants and the results show that in addition to providing a human friendly interface by using the touch panel system with monitor it can adapt successfully to the particular habits of the attendants.

References

  1. Kitagawa, H. et al. (2002). Motion control of omnidirectional wheelchair considering patient comfort. In Proc. IFAC World Congress, T-Tu-E20.
  2. Kitagawa, H. et al. (2004). Fuzzy power assist control system for omni-directional transport wheelchair. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and SystemsC1580-1585.
  3. Lin, C. T. and Lee, C. S. G. (1991). Neural-network-based fuzzy logic control and decision system. In IEEE Trans. on Computers, Vol. 40(12), pp. 1321-1336.
  4. Maeda, H. et al. (2000). Development of omni-directional cart with power assist system (in japanese). In Proc. 18th Annual Conf. of Robotics Society of Japan, 15, pp.1155-1156.
  5. MathWorks (2002). Fuzzy logic toolbox user's guide version 2, pp. 3-18. The Matworks Inc.
  6. Seki, H. et al. (2005). Novel driving control of power assisted wheelchair based on minimum jerk trajectory. In IEEJ Trans. EIS Vol. 125(7) (in Japanese), pp. 1133 - 1139.
  7. Terashima, K. et al. (2004). Frequency shape control of omni-directional wheelchair to increase user's comfort. In Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA), pp. 3119-3124.
  8. Terashima, K. et al. (2006). Enhancement of maneuverability of a power assist omni-directional wheelchair by application of neuro-fuzzy control. In Proceedings of the 3nd International Conference on Informatics in Control Robotics and Automation (ICINCO 2006), pp. 67-75.
  9. Wada, M. and Asada, H. (1999). Design and control of a variable footprint mechanism for holonomic omnidirectional vehicles and its application to wheelchairs. In Proc. IEEE Trans. Robot. Automat, 15, pp. 978- 989.
  10. West, M. and Asada, H. (1992). Design of a holonomic omnidirectional vehicle. In Proc. IEEE Int. Conf. Robot. Automat., pp. 97-103.
Download


Paper Citation


in Harvard Style

Terashima K., Noda Y., Urbano J., Kitamura S., Miyoshi T. and Kitagawa H. (2007). ADAPTIVE CONTROL BY NEURO-FUZZY SYSTEM OF AN OMNI-DIRECTIONAL WHEELCHAIR USING A TOUCH PANEL AS HUMAN-FRIENDLY INTERFACE . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 25-32. DOI: 10.5220/0001648700250032


in Bibtex Style

@conference{icinco07,
author={Kazuhiko Terashima and Yoshiyuki Noda and Juan Urbano and Sou Kitamura and Takanori Miyoshi and Hideo Kitagawa},
title={ADAPTIVE CONTROL BY NEURO-FUZZY SYSTEM OF AN OMNI-DIRECTIONAL WHEELCHAIR USING A TOUCH PANEL AS HUMAN-FRIENDLY INTERFACE},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={25-32},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001648700250032},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - ADAPTIVE CONTROL BY NEURO-FUZZY SYSTEM OF AN OMNI-DIRECTIONAL WHEELCHAIR USING A TOUCH PANEL AS HUMAN-FRIENDLY INTERFACE
SN - 978-972-8865-83-2
AU - Terashima K.
AU - Noda Y.
AU - Urbano J.
AU - Kitamura S.
AU - Miyoshi T.
AU - Kitagawa H.
PY - 2007
SP - 25
EP - 32
DO - 10.5220/0001648700250032