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An adaptable optimal controller for electric wheelchairs.

K E Brown, R M Iñigo, B W Johnson

    Journal of Rehabilitation Research and Development
    |January 1, 1987
    PubMed
    Summary
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    This study introduces an optimal control system for electric wheelchairs that adapts to user weight. This velocity feedback controller ensures stable and optimal motor control for diverse users.

    Area of Science:

    • Robotics and Control Systems
    • Biomedical Engineering
    • Human-Computer Interaction

    Background:

    • Electric wheelchairs are crucial mobility devices.
    • User weight significantly impacts wheelchair dynamics, affecting performance and stability.
    • Existing control systems may not adequately adapt to varying user weights.

    Purpose of the Study:

    • To develop a microcomputer-based optimal control system for electric wheelchairs.
    • To enhance wheelchair performance and stability by incorporating user weight into the control algorithm.
    • To achieve optimal motor velocity control for individual users.

    Main Methods:

    • Design of a velocity feedback controller.
    • Integration of a modified proportional-integral-derivative (PID) controller.

    Related Experiment Videos

  • Implementation of variable-structure control for adaptability.
  • Incorporation of user weight into the control algorithm.

    • Main Results:

    • The developed system demonstrates optimal control of motor velocities.
    • Constant system stability is assured across different user weights.
    • Experimental results validate the effectiveness of the adaptive control strategy.

    Conclusions:

    • The microcomputer-based optimal control system effectively addresses the challenge of varying user weights in electric wheelchairs.
    • The adaptive controller provides a stable and optimized user experience.
    • This approach enhances the overall functionality and safety of electric wheelchairs.