Authors:
Kazuhiko Terashima
1
;
Juan Urbano
1
and
Hideo Kitagawa
2
Affiliations:
1
Toyohashi University of Technology, Japan
;
2
Gifu National College of Technology, Japan
Keyword(s):
Omni-directional wheelchair, power assistant, neuro-fuzzy systems, operability.
Related
Ontology
Subjects/Areas/Topics:
Artificial Intelligence
;
Artificial Intelligence and Decision Support Systems
;
Computational Intelligence
;
Enterprise Information Systems
;
Fuzzy Control
;
Fuzzy Systems
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Soft Computing
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.