Skill Assist Neuro-Fuzzy Control of Omni-Directional Wheelchair for Attendants Considering Rotation Center of Vehicle

For improving the operability of an omni-directional wheelchair provided with a power assist system, the system must be able to adapt to the individual characteristics of the many different attendants that will use it. For achieving this purpose, an innovative human-interface using a touch panel that provides easy input and feedback information in real time of the operation of a power-assisted wheelchair was developed. The system was tested experimentally with many different attendants and the results show that in addition to providing a human friendly interface by using the touch panel system with a monitor, the system can successfully adapt to the particular habits of the attendants. Furthermore, control of the rotation center of the OMW is proposed by making use of the OMW’s potential advantage and coordination transformation.