지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학위논문
- 저자정보
- 지도교수
- 최태호
- 발행연도
- 2016
- 저작권
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Push-rim Activated Power Assisted Wheelchair (PAPAW) is one of rehabilitation assistance device which combine the advantages of manual and powered wheelchair. PAPAW can reduce the user physical fatigue by measuring the user input torques applied to the wheelchair’s push-rims with sensors and generating the assistive driving torques with motors. Since PAPAW amplifies the user propulsion torques, the unbalanced user torques may result in the PAPAW driving performance degradation. In this paper, a new torque control scheme is proposed to improve the driving performance of PAPAW.
For a PAPAW to maintain a straight driving direction, the same force must be delivered to both the right and left push-rims. However, humans typically have different strength in the right and left arms, and therefore, it is difficult to control the force uniformly at all times. As a result, the driving direction may need frequent corrections during the PAPAW operation. Toward this end, appropriate assist torques need to be generated to compensate for unbalanced propelling torques in order to maintain uniform direction in straight sections or to quickly turn the direction in curved sections. We propose a novel PAPAW driving control scheme that estimates the human driving intention by considering the temporal difference between the left and right torque signals as well as the proportion of both torques. Several computer simulation and driving experiment results show that the proposed driving control scheme has better performance than the existing method for straight and circular driving conditions.
For a PAPAW to maintain a straight driving direction, the same force must be delivered to both the right and left push-rims. However, humans typically have different strength in the right and left arms, and therefore, it is difficult to control the force uniformly at all times. As a result, the driving direction may need frequent corrections during the PAPAW operation. Toward this end, appropriate assist torques need to be generated to compensate for unbalanced propelling torques in order to maintain uniform direction in straight sections or to quickly turn the direction in curved sections. We propose a novel PAPAW driving control scheme that estimates the human driving intention by considering the temporal difference between the left and right torque signals as well as the proportion of both torques. Several computer simulation and driving experiment results show that the proposed driving control scheme has better performance than the existing method for straight and circular driving conditions.
목차
1. 서론 12. 근력보조휠체어 개요 122.1 휠체어 모델 152.2 제어시스템 모델 172.3 PAPAW 주행제어 182.3.1 YMC 방식 212.3.2 Seki 방식 243. 입력토크의 크기와 시간차에 기반한 주행제어 303.1 입력토크의 시간적 불균형 313.2 휠체어 입력토크간 시간차와 주행의도 343.3 시스템 구조 373.4 밸런스비율 β의 설정 404. 컴퓨터 시뮬레이션 454.1 주행제어 토크 시뮬레이션 464.1.1 직진주행 464.1.2 회전주행 514.1.3 제자리회전 534.2 휠체어 주행 시뮬레이션 564.2.1 운동모델 (Kinematic model) 594.2.2 직진주행 614.2.3 회전주행 644.2.4 제자리회전 665. 주행실험 695.1 실험장치 695.1.1 PAPAW 제작 705.1.2 제어기 구성 735.2 실험환경 755.3 실험결과 775.3.1 직진주행 775.3.2 회전주행 815.3.3 제자리회전 846. 결론 88참고문헌 90영문초록 97
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