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Real-time model based electrical powered wheelchair control

Wang, H and Salatin, B and Grindle, GG and Ding, D and Cooper, RA (2009) Real-time model based electrical powered wheelchair control. Medical Engineering and Physics, 31 (10). 1244 - 1254. ISSN 1350-4533

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The purpose of this study was to evaluate the effects of three different control methods on driving speed variation and wheel slip of an electric-powered wheelchair (EPW). A kinematic model as well as 3D dynamic model was developed to control the velocity and traction of the wheelchair. A smart wheelchair platform was designed and built with a computerized controller and encoders to record wheel speeds and to detect the slip. A model based, a proportional-integral-derivative (PID) and an open-loop controller were applied with the EPW driving on four different surfaces at three specified speeds. The speed errors, variation, rise time, settling time and slip coefficient were calculated and compared for a speed step-response input. Experimental results showed that model based control performed best on all surfaces across the speeds.


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Item Type: Article
Status: Published
CreatorsEmailPitt UsernameORCID
Wang, Hhow11@pitt.eduHOW11
Salatin, B
Grindle, GGggg3@pitt.eduGGG3
Ding, Ddad5@pitt.eduDAD5
Centers: Other Centers, Institutes, Offices, or Units > Human Engineering Research Laboratories
Date: 1 December 2009
Date Type: Publication
Journal or Publication Title: Medical Engineering and Physics
Volume: 31
Number: 10
Page Range: 1244 - 1254
DOI or Unique Handle: 10.1016/j.medengphy.2009.08.002
Schools and Programs: School of Health and Rehabilitation Sciences > Rehabilitation Science and Technology
Refereed: Yes
ISSN: 1350-4533
MeSH Headings: Activities of Daily Living; Algorithms; Computer Simulation; Computers; Electricity; Equipment Design--methods; Humans; Models, Theoretical; Neural Networks (Computer); Robotics; Software; Task Performance and Analysis; Time Factors; Wheelchairs
Other ID: NLM NIHMS138964, NLM PMC2811532
PubMed Central ID: PMC2811532
PubMed ID: 19733494
Date Deposited: 18 Oct 2012 20:50
Last Modified: 02 Feb 2019 16:58


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