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Analysis of driving backward in an electric-powered wheelchair

Ding, D and Cooper, RA and Guo, S and Corfman, TA (2004) Analysis of driving backward in an electric-powered wheelchair. IEEE Transactions on Control Systems Technology, 12 (6). 934 - 943. ISSN 1063-6536

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The purpose of this study was to examine the influences of caster orientations and driving speeds on the reverse directional stability of electric-powered wheelchairs. An experiment was set up to record wheelchair trajectories and ground reaction forces/moments for the front caster wheels and rear wheels when a wheelchair initiates reverse motions at six initial caster orientations and three desired driving speeds. A kinematic model as well as a dynamic model were developed to simulate the wheelchair motion and conduct a parametric study of different factors on wheelchair reverse directional stability. The experimental and simulation results show agreement, both of which indicate that different caster orientations at the start of reverse driving introduce disturbances and the faster the intended speed, the less deviation of the wheelchair from its desired heading. The center of gravity (CG) was also found to be a dominant influence on the reverse directional stability of power wheelchairs. © 2004 IEEE.


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Item Type: Article
Status: Published
CreatorsEmailPitt UsernameORCID
Ding, Ddad5@pitt.eduDAD5
Guo, S
Corfman, TA
Centers: Other Centers, Institutes, Offices, or Units > Human Engineering Research Laboratories
Date: 1 November 2004
Date Type: Publication
Journal or Publication Title: IEEE Transactions on Control Systems Technology
Volume: 12
Number: 6
Page Range: 934 - 943
DOI or Unique Handle: 10.1109/tcst.2004.833638
Schools and Programs: School of Health and Rehabilitation Sciences > Rehabilitation Science and Technology
Refereed: Yes
ISSN: 1063-6536
Date Deposited: 28 Jan 2013 15:17
Last Modified: 30 Oct 2018 12:58


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