Skill Assist Neuro-Fuzzy Control of Omni-Directional Wheelchair for Attendants Considering Rotation

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 a monitor, the system can successfully adapt to the particular habits of the attendants. Furthermore, control of the rotation center of the OMW is proposed by making use of the OMW's potential advantage and coordination transformation.

[1]  Kazuhiko Terashima,et al.  Enhancement of maneuverability of a power assist omni-directional wheelchair by application of neuro-fuzzy control , 2006, ICINCO-ICSO.

[2]  Kazuhiko Terashima,et al.  Fuzzy power assist control system for omni-directional transport wheelchair , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[3]  P. Antsaklis.  Intelligent control , 1986, IEEE Control Systems Magazine.

[4]  Jyh-Shing Roger Jang,et al.  ANFIS: adaptive-network-based fuzzy inference system , 1993, IEEE Trans. Syst. Man Cybern..

[5]  H. Harry Asada,et al.  Design of a holonomic omnidirectional vehicle , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[6]  Kazuhiko Terashima,et al.  Semi-autonomous obstacle avoidance of omnidirectional wheelchair by joystick impedance control , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[7]  Kazuhiko Terashima,et al.  MOTION CONTROL OF OMNIDIRECTIONAL WHEELCHAIR CONSIDERING PATIENT COMFORT , 2002 .

[8]  Lotfi A. Zadeh,et al.  Fuzzy Logic Toolbox User''''s Guide , 1995 .

[9]  Chin-Teng Lin,et al.  Neural-Network-Based Fuzzy Logic Control and Decision System , 1991, IEEE Trans. Computers.

[10]  Kazuhiko Terashima,et al.  Frequency shape control of omni-directional wheelchair to increase user's comfort , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[11]  Hirokazu Seki,et al.  Novel Driving Control of Power Assisted Wheelchair Based on Minimum Jerk Trajectory , 2005 .

[12]  H. Harry Asada,et al.  Design and control of a variable footprint mechanism for holonomic omnidirectional vehicles and its application to wheelchairs , 1999, IEEE Trans. Robotics Autom..

[13]  Barbara Hayes-Roth,et al.  Intelligent Control , 1994, Artif. Intell..