Control of a Multi Function Wheelchair for Disabled/Elderly Mobility

Transcription

1 Control of a Multi Function Wheelchair for Disabled/Elderly Mobility Nor Maniha Abdul Ghani Dr. Osman Tokhi Department of Automatic Control and Systems Engineering The University of Sheffield

2 Introduction/Problems Sunwa, 26 WL-16RII, 25 Wheelchair.q, 29 ibot, 21 Common mobility assistive techniques and recent advances in curb and stair climbing devices; crawler, leg, hybrid, wheeled types suffer from certain issues:- Complex design, incorporate many wheels and of large size [1-6]. Reliance on personal assistant or handrail to perform stair climbing tasks [7]. Lack of stability control assessment [1-7]. Use conventional control methods, PID [7], PLC [5], FLC [4] but not to extensive levels. Slide 2

3 Objectives/Methodology To develop a simple and compact wheelchair mechanism for indoor usage. To develop a suitable control strategies for climbing mechanism and ensure stability of the whole wheelchair. To design a transformation mechanism (sit and stand) manoeuvres. To apply bio inspired algorithm for optimizing the parameters of developed controller. A cluster/link rotation mechanism developed in VN to perform stair climbing by rotating a cluster to bring up the rear wheels over the front ones while maintaining stability of the overall system without slipping or tipping over the staircase. A humanoid model developed as a rigid body in Visual Nastran [8-9] with 1.5 m in height and weight of 71 kg, and a staircase of slope 29 o and steps height, h of.185m, depth, d of.335m and minimum width, w of.762m [1]. Slide 3

4 Ascending/Descending Stairs Control (DPMFLC) DPMFLC Slide 4

5 Angular position of link for 1st step (degree) Angular position of link for 2nd step (degree) Tilt angle (degree) Distance 1 (m) Front axle position(m) Yaw angle (degree).4 Torque (Nm) Distance 2 (m) Torque (Nm) Rear axle position(m) Results 1 st step N -1N N -1N N -1N nd step Time in (s) N -1N 85 +1N -1N N -1N Train of Positive and Negative Impulse Disturbances Slide 5

6 Conclusion & Future Work Conclusion A DPMFLC has been implemented to perform stair ascending/descending task with an automatic mode wheelchair system. It has been demonstrated that the control system is able to perform effectively in order to ensure stability of the maneuvering tasks. The designed controller is robust to positive and negative impulse disturbances. Future Work Transform the wheelchair from sitting to standing position. Investigate bio-inspired optimization to optimize the parameter of developed controller. Slide 6

7 References [1] Sunwa Co.Ltd (26). (1 st April 212), [Available from] [2] Top Chair, (23). The first stair-climbing powered wheelchair, (1 st April 212), [Available from] [3] Lawn, M. J., Sakai, T., Kuroiwa, M. & Ishimatsu, T. (21). Development and practical application of a stair climbing wheelchair in Nagasaki. Journal of HWRS-ERC, 2, [4] Teng, Y., Wang, T., Yao, C. & Li, X. (21). The Research of Tension Optimal Estimation and Stair-Climbing Ability of Transformation Wheelchair Robot. Proceeding of 29 th Chinese Control Conference, [5] Noborot (212). Robotic vehicle could lead to stair-climbing wheelchair by 217, (6 th November 212), [Available from] [6] Nakajima, S. (21). Proposal for step-up gait of RT-Mover, a four wheel-type mobile robot for rough terrain with simple leg mechanism. Proceeding of IEEE International Conference on Robotics and Biomimetics, [7] Johnson & Johnson Company (21): Independence Ibot mobility system. Johnson & Johnson Company. Accessed 1 April 212. [8] Wang, S.L. (21). Motion simulation with working model 2D and MSC. Visual Nastran 4D. J. Comput. Soft. Engin. 1 (2), [9] Winter, D.A. (199). Biomechanics and Motor Control of Human Movement. Wiley-Interscience, New York. [1] Canadian Centre For Occupational Safety And Health ( 21). (28 th November 212), [Available from] Slide 7