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- Publisher Website: 10.1109/IROS.2013.6696423
- Scopus: eid_2-s2.0-84893742468
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Conference Paper: Steering assist system for a cycling wheelchair based on braking control
Title | Steering assist system for a cycling wheelchair based on braking control |
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Authors | |
Issue Date | 2013 |
Citation | IEEE International Conference on Intelligent Robots and Systems, 2013, p. 672-678 How to Cite? |
Abstract | In this study, we propose a steering control method for a cycling wheelchair. The commercially available cycling wheelchair is a pedal-driven system that is similar to a bicycle, and patients with impairment of their lower extremities can move the wheelchair based on the pedaling force if they can slightly move their legs by themselves. The user can also change the wheelchair direction using the steering handle. However, right and left turns are perceived differently and a large steering torque is required while operating the steering handle because of hardware problems associated with the cycling wheelchair. To overcome this problem, we propose a new hardware solution and a method for steering motion control using servo brakes for the cycling wheelchair. The proposed method is applied to the developed cycling wheelchair, and the experimental results illustrate the validity of the system. © 2013 IEEE. |
Persistent Identifier | http://hdl.handle.net/10722/302913 |
ISSN | 2023 SCImago Journal Rankings: 1.094 |
DC Field | Value | Language |
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dc.contributor.author | Hirata, Yasuhisa | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.contributor.author | Monacelli, Eric | - |
dc.date.accessioned | 2021-09-07T08:42:50Z | - |
dc.date.available | 2021-09-07T08:42:50Z | - |
dc.date.issued | 2013 | - |
dc.identifier.citation | IEEE International Conference on Intelligent Robots and Systems, 2013, p. 672-678 | - |
dc.identifier.issn | 2153-0858 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302913 | - |
dc.description.abstract | In this study, we propose a steering control method for a cycling wheelchair. The commercially available cycling wheelchair is a pedal-driven system that is similar to a bicycle, and patients with impairment of their lower extremities can move the wheelchair based on the pedaling force if they can slightly move their legs by themselves. The user can also change the wheelchair direction using the steering handle. However, right and left turns are perceived differently and a large steering torque is required while operating the steering handle because of hardware problems associated with the cycling wheelchair. To overcome this problem, we propose a new hardware solution and a method for steering motion control using servo brakes for the cycling wheelchair. The proposed method is applied to the developed cycling wheelchair, and the experimental results illustrate the validity of the system. © 2013 IEEE. | - |
dc.language | eng | - |
dc.relation.ispartof | IEEE International Conference on Intelligent Robots and Systems | - |
dc.title | Steering assist system for a cycling wheelchair based on braking control | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/IROS.2013.6696423 | - |
dc.identifier.scopus | eid_2-s2.0-84893742468 | - |
dc.identifier.spage | 672 | - |
dc.identifier.epage | 678 | - |
dc.identifier.eissn | 2153-0866 | - |