A Multi-pose Electrically Powered Wheelchair Controller: Design and Test

VernacularTitle:多姿态电动轮椅控制器的设计和测试
Author: Xinying SHAN ^{1
,

2
,

3} ; Wei CHEN ^{1
,

3} ; Heping YAN ^{1
,

3}
Author Information

1. National Research Center for Rehabilitation Technical Aids, Beijing 100176, China;
2. School of Biomedical Science and Medical Engineering, Beihang University, Beijing 100191, China;
3. Beijing Key Laboratory of Rehabilitation Technical Aids for Old-Age Disability, Beijing 100176, China
Publication Type:Journal Article
Keywords: multi-pose electrically powered wheelchair, STM32, H-Bridge, Vicon
From: Chinese Journal of Rehabilitation Theory and Practice 2018;24(5):604-609
CountryChina
Language:Chinese
Abstract: Objective To develop an electrically powered wheelchair driving system with better interactivity, intelligence, controllability and comfortableness, to improve mobility and posture adjustment of electrically powered wheelchair. Methods An electrically powered wheelchair system was constisted of double STMicroelectronics 32 controller (STM32), a joystick controlling the speed and direction, Controller Area Network (CAN) bus communication mode, the intelligent control algorithm, the pulse width modulation (PWM) driver H-Bridge, and the motor differential operation. Results The position, velocity and acceleration of the electrically powered wheelchair met the desired requirements based on the Vicon simulation.Conclusion The controller well meets the requirements of multi-pose electrically powered wheelchair.