Velocity pattern generation for power assisted wheelchair based on jerk and acceleration limitation

This paper describes a novel velocity pattern generation scheme for power assisted wheelchair based on jerk and acceleration limitation. 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. As one of the high performance control systems for the power assisted wheelchair, this paper proposes a real-time velocity pattern generation scheme to improve the ride quality and safety. The proposed system generates various velocity patterns with the limited jerk and acceleration and human's intent can be well reflected in the velocity patterns such as the driving distance. Some experiments show the effectiveness of the proposed control system.