A modeling of a row motion on a manual wheelchair

摘要

In our previous research, we have developed a novel intelligent wheelchair based on the passive robotics. Our proposed assistive wheelchair consists of a frame, casters, wheels and servo brakes, and realizes the reference tracks by controlling a torque of the servo brake. For setting a reference track, it is important to estimate the user's intention. Thus, in this paper, we propose the estimation method for the user's intention using the row motion of a wheelchair user. For realizing this estimation, we use the minimum jerk trajectory model, which expresses the typical human movement. Our proposed system compares a beginning part of row motion by the user and this trajectory model, and estimates the whole row motion which will be operated.