Development of a wireless sensor node based pushrim activated wheelchair controller
Journal
Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Pages
1611-1616
Date Issued
2010
Author(s)
Abstract
In this paper, the wireless sensor node technology is used to design a pushrim activated wheelchair (PAW) controller. The proposed wireless sensor node is capable of collecting user's toques which are applied on two pushrims to generate wheelchair speed commands. In order to control a PAW smoothly, parametric sigmoid functions are developed to accelerate or decelerate wheel motors based on users' setups. In addition, the state transitions among forward, backward, and stop of wheel motors are also well arranged. Three wireless motes are used in this system, where two of them are desired for wheel motor controllers, and the remaining one serves as a network coordinator. A supervisory control is further developed to adjust the resistance, operation time factor and left-and-right bias to meet different wheelchair manipulation purposes. Finally, a wheelchair prototype is developed based on the proposed architecture to verify our approaches. ?2010 IEEE.
Subjects
Operation time
Proposed architectures
Pushrim activated wheelchairs
Sigmoid function
State transitions
Supervisory control
Wheel motors
Wheelchair controllers
Wheelchair speed
Wireless sensor node
Cybernetics
Electric network synthesis
Sensor nodes
Sensors
Telecommunication equipment
Wheelchairs
Wheels
Controllers
Type
conference paper