Ahmad, Salmiah and Tokhi, M. O.
(2008)
Forward and backward motion control of wheelchair on two wheels.
In: 3rd IEEE Conference on Industrial Electronics and Applications, 2008. ICIEA 2008. , 3 - 5 June 2008, Singapore.
Abstract
The challenge in designing wheelchair on two wheels involves the design and implementation of suitable control
strategies for a two wheeled wheelchair to perform comparably similar to a normal four wheeled wheelchair. It is important to note that a wheelchair on two wheels is expected not to take much space during mobility as compared to when it is on four wheels. Moreover, disabled people are encouraged and expected to perform most activities that others can do and hence lead an independent life. Thus, wheelchairs on two wheels are needed for disabled persons to perform some of the essential tasks in their living and work environments. In this research a model of the standard wheelchair is developed as a test and verification platform using Visual Nastran software. Novel fuzzy logic control strategies are designed for lifting up the chair transforming a four-wheeled wheelchair to a two-wheeled
wheelchair) and maintaining stability and balance while on two wheels. Furthermore, position control for forward
and backward mobility of the wheelchair on two wheels is
developed using fuzzy logic control. Simulation results of the proposed control strategy are presented and discussed.
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