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Adaptive Controller for Motion Control of Seat-Style Omnidirectional Mobile Walker
http://hdl.handle.net/10173/1482
http://hdl.handle.net/10173/1482f1f7ee22-29d9-423c-bb87-5fbcf6bea23b
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
28-5.pdf (254.0 kB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
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| 公開日 | 2017-03-24 | |||||
| タイトル | ||||||
| タイトル | Adaptive Controller for Motion Control of Seat-Style Omnidirectional Mobile Walker | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Seated training | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Seat-style omnidirectional mobile walker | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Load change | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Center of gravity shift | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Path tracking | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
| 資源タイプ | journal article | |||||
| 著者 |
Wang, Shuoyu
× Wang, Shuoyu× Watanabem, Yuto× Tan, Renpeng |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | Although the importance of rehabilitation is recognized across the spectrum of health and social care, how to realize early recovery is still a challenging subject. This paper reports the development of control method for a seat-style omnidirectional mobile walker (SOMW) to aid early recovery of patients who have not regained the power to stand. Training paths prescribed by physical therapists can be stored in the SOMW so that the patient can follow these reference paths during rehabilitation. However, path tracking errors occur due to load change and center of gravity shift when the patient is sitting on the SOMW. To address this problem, an adaptive control method is proposed herein. First, the kinematics and the kinetics of the SOMW are derived. An adaptive control strategy is then presented and the stability of the system is verified. Finally, an experiment is carried out to compare the performance of the control method with and without a load. The experimental results demonstrate the feasibility and effectiveness of the proposed method. | |||||
| 書誌情報 |
ICIC Express Letters 巻 6, 号 12, p. 3183-3188, 発行日 2012-12 |
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| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 1881-803X | |||||
| 権利 | ||||||
| 権利情報 | ICIC International © 2012 | |||||
| 著者版フラグ | ||||||
| 出版タイプ | VoR | |||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
| 出版者 | ||||||
| 出版者 | ICIC International | |||||
