ROBOTIC WHEELCHAIR CONTROL CONSIDERING USER COMFORT - Modeling and Experimental Evaluation

Razvan Solea, Urbano Nunes

2008

Abstract

This paper analyzes the comfort of wheelchair users when a sliding-mode trajectory-tracking controller is used. The transmission of the horizontal (fore-and-aft) vibration to the head-neck complex (HNC) in the seated human body may cause unacceptable discomfort and motion sickness. A double-inverted pendulum model with two degrees of freedom is considered as a model for the HNC. The user comfort is examined not only in the time domain (using the fourth power vibration dose value), but also in the frequency domain (using the cross-spectral density method). For measuring the acceleration of the wheelchair, along the trajectory, an inertial measurement unit was used.

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Paper Citation


in Harvard Style

Solea R. and Nunes U. (2008). ROBOTIC WHEELCHAIR CONTROL CONSIDERING USER COMFORT - Modeling and Experimental Evaluation . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8111-31-9, pages 37-44. DOI: 10.5220/0001487100370044


in Bibtex Style

@conference{icinco08,
author={Razvan Solea and Urbano Nunes},
title={ROBOTIC WHEELCHAIR CONTROL CONSIDERING USER COMFORT - Modeling and Experimental Evaluation},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2008},
pages={37-44},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001487100370044},
isbn={978-989-8111-31-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - ROBOTIC WHEELCHAIR CONTROL CONSIDERING USER COMFORT - Modeling and Experimental Evaluation
SN - 978-989-8111-31-9
AU - Solea R.
AU - Nunes U.
PY - 2008
SP - 37
EP - 44
DO - 10.5220/0001487100370044