Novel Driving Control of Power Assisted Wheelchair Based on Minimum Jerk Trajectory
Hirokazu Seki, Takeaki Sugimoto, Susumu Tadakuma · IEEJ Transactions on Electronics Information and Systems · 2005
This paper describes a novel trajectory control scheme for power assisted wheelchair. Human input torque patterns are always intermittent in power assisted wheelchairs, therefore, the suitable trajectories must be generated also after the human decreases his/her input torque. This paper tries to solve this significant problem based on minimum jerk model minimizing the changing rate of acceleration. The proposed control system based on minimum jerk trajectory is expected to improve the ride quality, stability and safety. Some experiments show the effectiveness of the proposed method.