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The paper describes a stabilization control of two wheels driven wheelchair based on pitch angle disturbance observer (PADO). PADO makes it possible to stabilize the wheelchair motion and remove casters. This brings a sophisticated mobility of wheelchair because the casters are obstacle to realize step passage motion and so on. The proposed approach based on PADO is robust against disturbance of pitch...
The number of elderly people increases in Japan, and the development of welfare apparatus having the effect of minimizing care is required. In this research, authors develop intelligent power wheelchair along with minimizing care needs for frail elderly people. This intelligent power wheelchair features the four functions; approach function by human gesture recognition, standing up assistance, walking...
In this research, we develop an automatic driving system using for a compact electric car ldquoi-mobilityrdquo. The system supports an elderly person and a handicapped person to move somewhere. ldquoi-mobilityrdquo avoids obstacles by using environment information and laser-range-finder for safety. ldquoi-mobilityrdquo provides a service considering situation by using environment information which...
In this research, we propose two systems for a compact electric car ldquoi-mobilityrdquo, natural interaction system and automatic driving system with walking people in urban life. We think it is important to natural interaction between human to system. For that, we constructed nonverbal interface by using human natural motion. In this system, we focused on using pointing behavior for a natural motion...
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