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The wheelchair is an important device that offers a method of transport to mobility-impaired people. For people also with hemiplegia or a hand/arm injury, a wheelchair operable with one hand is necessary. However, it is impossible to control a standard manual wheelchair or power-assist wheelchair with only one hand. An one-handed propulsion control system for a power-assisted wheelchair was proposed...
This paper presents a computational method based on automatic differentiation using a given Lagrangian function to construct output regulation of the two-dimentional-model-based nonlinear control of a monowheel robot. Hence, we compare the results of both methods that are automatic differentiation and algebraic calculation. The results that are given in the simulations show that automatic differentiation...
In this paper, at first we briefly present an overview of our developed hybrid walker and wheelchair robot. Then we focus on analysis and investigation of the movement in which the robot starts to ascend/descend a slope, and point out that the user's walking velocity and the robot's velocity are inevitably different. Further, in order to let the user get a smooth load feeling as the user use the robot...
This paper discusses problems in low speed wheeled locomotion of wheel-legged mobile robot. We show the kinematic constraints of the acceleration level for wheel-legged mobile robot performs the motion generation. Next, we describe singular configuration problems that occur in low speed wheeled locomotion. The damped least squares method is applied to solve this problem. The effectiveness of the solution...
This paper proposes a method which enables wheeled robot to climb a step that is higher than the radius of the wheel. In conventional method, the velocity at the moment of impact and impact force must be increased in order to climb the step, which causes troubles of wheeled robot. This paper proposes a method utilizing variable loads arised by changing speed and anti-dive force from suspension to...
Electric vehicles (EVs) have become a world-widely recognized solution for future green transportation. However, the mileage per charge of EVs is short compared with that of internal combustion engine vehicles. In this paper, a maximization method of regenerative energy is proposed. The method optimizes the velocity trajectory and distribution ratio of front and rear braking force using calculus of...
This study aims to develop a safer electrically-assisted bicycle by modifying the driving torque assist algorithm of commercial electrically-assisted bicycles. The assist control for commercial electrically-assisted bicycles is basically a proportional control. The proportional control leads to torque ripple and speed fluctuation due to the crank of pedals. Slowing down caused by speed fluctuation...
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