セキ　ヒロカズ   SEKI Hirokazu   関　弘和    所属   千葉工業大学  工学部 機械電子創成工学科    千葉工業大学  工学研究科 工学専攻    千葉工業大学  工学研究科 機械電子創成工学専攻    職種   教授
言語種別	英語
発行・発表の年月	2012/11
形態種別	学術雑誌
査読	査読あり
標題	Fuzzy Control for Electric Power-Assisted Wheelchair Driving on Disturbance Roads
執筆形態	共著
掲載誌名	IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
掲載区分	国外
出版社・発行元	IEEE
巻・号・頁	42(6),pp.1624-1632
著者・共著者	Hirokazu Seki and Naoki Tanohata
概要	This paper describes a driving control scheme of electric power-assisted wheelchairs for assistive driving on various large disturbance roads. The "power-assisted wheelchair" which assists the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people; however, there are lots of large disturbance roads such as uphill and rough roads and operators need to push hand-rims with larger power load to obtain enough driving distance and velocity. This study proposes a fuzzy algorithm based torque control scheme to realize the assistive driving on large disturbance roads. The proposed controller has a simple structure because high-performance controllers are difficult to be carried on practical wheelchairs. The assisted torque after the operator releases hand-rims will be adjusted so that the enough velocity is kept. Experiment and evaluation results are provided to verify the effectiveness of the proposed control system.