Sanders David A
IEEE Trans Neural Syst Rehabil Eng. 2017 Aug;25(8):1221-1229. doi: 10.1109/TNSRE.2016.2620988. Epub 2016 Oct 25.
A shared-control scheme for a powered wheelchair is presented. The wheelchair can be operated by a wheelchair driver using a joystick, or directed by a sensor system, or control can be combined between them. The wheelchair system can modify direction depending on the local environment. Sharing the control allows a disabled wheelchair driver to drive safely and efficiently. The controller automatically establishes the control gains for the sensor system and the human driver by calculating a self-reliance factor for the wheelchair driver. The sensor system can influence the motion of the wheelchair to compensate for some deficiency in a disabled driver. Practical tests validate the proposed techniques and designs.
提出了一种电动轮椅的共享控制方案。轮椅可以由轮椅驾驶员使用操纵杆操作，或者由传感器系统引导，或者两者之间可以结合控制。轮椅系统可以根据当地环境改变方向。共享控制使残疾轮椅驾驶员能够安全、高效地驾驶。控制器通过计算轮椅驾驶员的自立因子，自动为传感器系统和人类驾驶员建立控制增益。传感器系统可以影响轮椅的运动，以弥补残疾驾驶员的一些缺陷。实际测试验证了所提出的技术和设计。
