Assisting control for attendant propelled wheelchair based on force velocity relationship

Area of Science:

• Assistive Technology
• Biomechanics
• Rehabilitation Engineering

Background:

• Elderly attendants require assistive devices for wheelchair propulsion to maintain fitness and minimize injury risk.
• Existing assistive systems for wheelchair propulsion lack individual adaptability and efficient energy consumption.
• Optimizing assistive technology for individual capabilities is crucial for reducing attendant energy expenditure and carbon emissions.

Purpose of the Study:

• To develop and evaluate an assistive control method for wheelchair propulsion based on the individual's force-velocity (FV) relationship.
• To create a system that adapts to individual attendant capabilities, reducing energy consumption and injury risk.
• To enable optimized energy expenditure for wheelchair propulsion in rehabilitation and training.

Main Methods:

• Proposed an assistive control method utilizing the force-velocity (FV) relationship of the individual attendant.
• Developed a controller that generates assisting force when the attendant's propelling force exceeds a boundary defined by the FV relationship.
• Validated the proposed FV assisting system through simulations using an experimental attendant wheelchair model.

Main Results:

• The simulation results confirmed that the FV assisting system functions as defined, generating appropriate assisting force trajectories.
• The FV assisting system demonstrated lower energy consumption compared to existing proportional assisting systems.
• The system allows for easy adjustment of the force distribution between attendant and assist based on individual FV relationships.

Conclusions:

• The proposed FV assisting system offers an optimized solution for individual capabilities in wheelchair propulsion.
• This technology can be effectively utilized in rehabilitation and training systems for efficient energy consumption.
• The system enhances safety and fitness maintenance for elderly attendants by adapting to their specific needs.