Oscillation suppression control for electric wheelchair using human body motion interface

This research proposes an intuitive interface for an electric wheelchair by using Human Body Motion Interface. In particular, this paper offers oscillation suppression control when the user leans his/her body in forwarding direction. Mainly our proposed wheelchair system is controlled by human body movement. The wheelchair moves to the direction which user leans his/her body. When wheelchair starts running, users' body is pulled back, and then the leaning body angle is changed. As a result, the wheelchair velocity is decreased. Therefore user leans his/her body to increase the velocity of the wheelchair. Thus the body movement becomes to have oscillated. Wheelchair's acceleration causes this body oscillation. To suppress this oscillation, we design the low pass filter to eliminate this body movement. Thus we identified human oscillation model to distinguish the filter parameters. This model expresses the relationship between wheelchair acceleration and upper body movement. By conducting the verification experiment, we can confirm the significant between the none-filtered control system and filtered control system through multiple conditions. Thus, introducing this low pass filter; it is possible to operate the electric wheelchair without influences by unexpected human body oscillation.