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

Kazuhiko Terashima, Juan Urbano, Hideo Kitagawa

2006

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.

References

  1. FrankMobilitySystems (2002). Frank mobility systems inc. In http://www.frankmobility.com/.
  2. Harris, C. J. et al. (1993). Intelligent control. World Scientific.
  3. Jang, J. (1993). Anfis: Adaptive-network-based fuzzy inference system. In IEEE Transactions on Systems, Man, and Cybernetics, Vol. 23(3), pp. 665-685.
  4. Kitagawa, H. et al. (2001). Semi-autonomous obstacle avoidance of omnidirectional wheelchair by joystick impedance control. In Proc. IEEE/RSJ Int. Symp. on Intelligent Robots and Systems, pp. 2148-2153.
  5. Kitagawa, H. et al. (2002). Motion control of omnidirectional wheelchair considering patient comfort. In Proc. IFAC World Congress, T-Tu-E20.
  6. 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.
  7. 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.
  8. 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.
  9. Mamdani, E. H. and Assilian, S. (1985). An experiment in linguistic synthesis with a fuzzy logic controller. In International Journal of Man-Machine Studies, Vol. 7(1), pp. 1-13.
  10. MathWorks (2002). Fuzzy logic toolbox user's guide version 2, pp. 3-18. The Matworks Inc.
  11. 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.
  12. Takagi, T. and Sugeno, M. (1985). Fuzzy identification of systems and its applications to modeling and control. In IEEE Transactions on Systems, Man and Cybernetics, Vol. 15(1), pp. 116 - 132.
  13. 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.
  14. 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.
  15. 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., 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