Navigation with Comfort of Omni-directional Wheelchair Driven by Joystick
نویسندگان
چکیده
Wheelchairs are the most common used device in order to allow elderly and handicapped people more independence and greater interaction in their communities. The purpose of this research is to control the motion of an Omnidirectional Mobile Wheelchair (OMW) while considering user’s comfort. A human model is built for evaluating the proposed controller, considering that the human upper body consists of two rigid parts: head and torso. The proposed controller can not only control OMW fast and effectively but can also improve users’ comfort greatly by suppressing vibration caused mainly by inappropriate acceleration while driving. Copyright c ©2005 IFAC.
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