A comparison of different assistance strategies in power assisted wheelchairs using an optimal control formulation

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dc.contributor.authorCUERVA, V. I.
dc.contributor.authorMarko Ackermann
dc.contributor.authorFabrizio Leonardi
dc.contributor.authorOrcidhttps://orcid.org/0000-0001-8056-7645
dc.date.accessioned2022-01-12T21:59:20Z
dc.date.available2022-01-12T21:59:20Z
dc.date.issued2016-08-18
dc.description.abstractPower assisted wheelchairs are a promising solution to overcome problems associated with manual wheelchair propulsion, such as the incidence of upper limbs injuries and muscle fatigue. However, there are still open questions regarding the most appropriate assistance strategy. The main goal of this paper is to compare three different types of assistance in power assisted wheelchairs: constant force, proportional force and a novel type of assistance inspired on the impedance control theory. The comparison was performed using a simple model and an optimal control formulation that searched for optimal user actuation and controller parameters so as to minimize the user effort. The fairness of the comparison was ensured by imposing an upper bound on the energy consumption by the motors. The results show that the proportional and impedance controlbased strategies are the most appropriate steady state conditions. In typical daily activities such as obstacle avoidance, the impedance control has advantage as it permits a faster system's response.
dc.description.firstpage99
dc.description.lastpage106
dc.identifier.citationCUERVA, V. I.;ACKERMANN, M.; LEONARDI, F. A comparison of different assistance strategies in power assisted wheelchairs using an optimal control formulation. Proceedings of the 6th IASTED International Conference on Modelling, Simulation and Identification, MSI 2016, p. 99-106, Aug. 2016.
dc.identifier.doi10.2316/P.2016.840-042
dc.identifier.urihttps://repositorio.fei.edu.br/handle/FEI/3923
dc.relation.ispartofProceedings of the 6th IASTED International Conference on Modelling, Simulation and Identification, MSI 2016
dc.rightsAcesso Restrito
dc.subject.otherlanguageAccessibility
dc.subject.otherlanguageCompliance control
dc.subject.otherlanguageImpedance control
dc.subject.otherlanguageOptimal control
dc.subject.otherlanguagePush-rim activated power wheelchair
dc.subject.otherlanguageWheelchair propulsion
dc.titleA comparison of different assistance strategies in power assisted wheelchairs using an optimal control formulation
dc.typeArtigo de evento
fei.scopus.citations4
fei.scopus.eid2-s2.0-85015645083
fei.scopus.subjectAccessibility
fei.scopus.subjectImpedance control
fei.scopus.subjectOptimal controls
fei.scopus.subjectPower wheelchair
fei.scopus.subjectWheelchair propulsion
fei.scopus.updated2024-05-01
fei.scopus.urlhttps://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85015645083&origin=inward
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