A Control Method for Power-Assist Devices using a BLDC Motor for Manual Wheelchairs

김동윤,김종휴,김광식,김장목 전력전자학회 2016 JOURNAL OF POWER ELECTRONICS Vol.16 No.2

This paper proposes a new operation and control strategy for Power-Assisted Wheelchairs (PAW) using one brushless DC (BLDC) motor. The conventional electrical wheelchairs are too heavy and large for one person to move because they have two electric motor wheels. On the other hand, the proposed PAW system has a small volume and is easy to move due to the presence of a single wheel motor. Unlike the conventional electric wheelchairs, this structure for a PAW does not have a control joystick to reduce its weight and volume. To control the wheelchair without a joystick, a special control system and algorithm are needed for proper operation of the wheelchair. In the proposed PAW system uses only one sensor to detect the acceleration and direction of PAW’s movement. By using this sensor, speed control can be achieved. With a speed control system, there are three kinds of operations that can be done on the speed of a PAW: the increment of PAW speed by summing external force, the decrement of PAW speed by subtracting external force, and emergency breaking by evaluating the time duration of external force. The validity of the proposed algorithm is verified through experimental results.

A Control Method for Power-Assist Devices using a BLDC Motor for Manual Wheelchairs

Kim, Dong-Youn,Kim, Yong-Hyu,Kim, Kwang-Sik,Kim, Jang-Mok The Korean Institute of Power Electronics 2016 JOURNAL OF POWER ELECTRONICS Vol.16 No.2

This paper proposes a new operation and control strategy for Power-Assisted Wheelchairs (PAW) using one brushless DC (BLDC) motor. The conventional electrical wheelchairs are too heavy and large for one person to move because they have two electric motor wheels. On the other hand, the proposed PAW system has a small volume and is easy to move due to the presence of a single wheel motor. Unlike the conventional electric wheelchairs, this structure for a PAW does not have a control joystick to reduce its weight and volume. To control the wheelchair without a joystick, a special control system and algorithm are needed for proper operation of the wheelchair. In the proposed PAW system uses only one sensor to detect the acceleration and direction of PAW's movement. By using this sensor, speed control can be achieved. With a speed control system, there are three kinds of operations that can be done on the speed of a PAW: the increment of PAW speed by summing external force, the decrement of PAW speed by subtracting external force, and emergency breaking by evaluating the time duration of external force. The validity of the proposed algorithm is verified through experimental results.

A Control Method for Power-Assist Devices using a BLDC Motor for Manual Wheelchairs

Dong-Youn Kim,Yong-Hyu Kim,Kwang-Sik Kim,Jang-Mok Kim 전력전자학회 2016 JOURNAL OF POWER ELECTRONICS Vol.16 No.2

This paper proposes a new operation and control strategy for Power-Assisted Wheelchairs (PAW) using one brushless DC (BLDC) motor. The conventional electrical wheelchairs are too heavy and large for one person to move because they have two electric motor wheels. On the other hand, the proposed PAW system has a small volume and is easy to move due to the presence of a single wheel motor. Unlike the conventional electric wheelchairs, this structure for a PAW does not have a control joystick to reduce its weight and volume. To control the wheelchair without a joystick, a special control system and algorithm are needed for proper operation of the wheelchair. In the proposed PAW system uses only one sensor to detect the acceleration and direction of PAW’s movement. By using this sensor, speed control can be achieved. With a speed control system, there are three kinds of operations that can be done on the speed of a PAW: the increment of PAW speed by summing external force, the decrement of PAW speed by subtracting external force, and emergency breaking by evaluating the time duration of external force. The validity of the proposed algorithm is verified through experimental results.

Effect of Ramp on Joint Moment of Attendants during Manual Control of Wheelchairs

김낙환 대한임상통증학회 2022 Clinical Pain Vol.21 No.1

Objective: This study aimed to predict the injury risk to attendants by simulating and analyzing the joint moment that occurs during wheelchair transportation for five different ramp ratios and five different velocities. Method: Three-dimensional musculoskeletal models and rigid structure of a standard wheelchair were developed using the AnyBody Modeling System. The ramp ratio was set to 1:6 (the steepest), 1:8, 1:10, 1:12, and 1:14 (the gentlest). The wheelchair speeds were set to 0.4, 0.5, 0.6, 0.7, and 0.8 m/s. Both the uphill and downhill movement conditions were investigated. Results: Most of the joint moments that occur in the wrist joint, elbow and shoulder while driving uphill increased or decreased proportionally to the slope and speed of the ramp. However, the external moment of the wrist occurring downhill was largely influenced by the slope, and the joint moment of the shoulder showed a dynamic pattern of change in the middle of the ramp in spite of constant driving speed. Conclusion: The influence that occurs during deceleration while wheelchair driving on a ramp is primarily on the proximal shoulder joint, and the influence of the release control in the middle of driving primarily causes loads on the distal wrist and forearm. A high risk of damage exists because the moment change value of the load on the shoulder joint is relatively large and increases with inclination. The increase in wrist abduction moment for deceleration while driving downhill also suggests the possibility of damage.

척수손상 장애인 대상 휴식기 신진대사량과 휠체어 주행속도별 신진대사 해당치 측정 연구

강정선(J. S. Kang),김규석(G. S. Kim),홍응표(E. P. Hong),장윤희(Y. H. Chang) 한국재활복지공학회 2020 재활복지공학회논문지 Vol.14 No.2

척수손상 장애인들의 신체활동량 저하와 관련된 문제점들이 대두되면서, 그들의 신체활동 모니터링을 위해 휠체어 활동과 관련된 트래커 개발이나 에너지소비 추정 알고리즘 개발 연구들이 진행되고 있다. 본 연구는 척수손상 장애인의 에너지소비 추정 알고리즘을 개발하기 위한 기초연구로써, 척수손상장애인의 휴식기 신진대사량과 휠체어 주행 속도에 따른 신진대사 해당치를 측정하였다. 9명의 척수손상 장애인을 대상으로 이동식 무선 호흡가스분석기를 이용하여 RMR과 MET를 측정한 후 RMR 측정치와 상용화된 5종 RMR 방정식의 추정치를 비교하였다. 연구결과, 척수손상 장애인의 실제 측정 RMR 값은 Revised Harris-Benedict 방정식 추정치와 가장 근사하였으며, 휠체어 주행속도별 MET 값은 2 km/h 에서 3.00±0.98, 3.5 km/h 에서 4.24±1.48, 5.0 km/h 에서 6.43±2.04으로 나타났으며, 이는 각각 RPE 9, 11, 13단계의 활동수준으로 정상인 RPE 수준보다 고강도의 운동임을 확인하였다. 본 연구결과는 척수손상 휠체어 사용자의 에너지소비 추정 알고리즘 개발을 위한 기초 데이터로써 활용하고자 한다. As problems related to the decrease in physical activity of disabled people with spinal cord injuries are being raised, researches on the development of tracker or energy consumption estimation algorithm related to wheelchair activity are being conducted to monitor their physical activity. This study is a basic study to develop an energy consumption estimation algorithm for disabled people with SCI, and we measured the Resting Metabolic Rate and the Metabolic Equivalent of Task of their by wheelchair driving speed. RMR and MET were measured using a portable wireless breathing gas analyzer for 9 patients with spinal cord injury and the measured RMR values and the estimated values by five RMR equation were compared. The results showed that the actual measured RMR values of SCI patients were close to those of the Revised Harris-Benedict equation. And the MET values for each wheelchair speed was 3.00 ± 0.98 at 2 km / h, 4.24 ± 1.48 at 3.5 km / h and 6.43 ± 2.04 at 5.0 km / h, respectively. It was confirmed that the exercise intensity was higher than the normal RPE level. Our results are intended to be used as basic data for the development of energy consumption estimation algorithm for wheelchair users with SCI.

전동머신을 위한 마찰 드라이브 개발

노수영(S. Y. Noh),김배진(B. J. Kim),오세훈(S. H. Oh),전한수(H. S. Jun),김진남(J. N. Kim) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월

The traction drive have a high power transmission efficiency and small size, a light weight, a low noise. So it is expected that alternative drive part of engine. Because it is necessary stillness that essential condition of drive part used moving tool in a room, it has many-sided in field of application. This traction drive is better suitable than other speed reducer as drive part of electric wheelchair. Also it is sufficiently necessary capacity of existing advanced product as apply traction drive to electric wheelchair.

수동휠체어의 변속 기능이 추진 동작에 미치는 영향

신응수 ( Eung Soo Shin ) 한국운동역학회 2007 한국운동역학회지 Vol.17 No.3

휠체어 추진 속도에 따른 척주의 운동학적 특성 변화에 관한 연구

이선민 대구대학교 특수교육재활과학연구소 2010 특수교육재활과학연구 Vol.49 No.1

장애인 및 노인들의 사회 참여와 삶의 질 확보를 위한 이동 수단으로 사용되는 휠체어는 접근성 향상뿐만 아니라, 신체에 나타날 수 있는 이차적 장애를 예방 및 보완하고, 교정하기 위해 가장 보편적으로 사용되는 재활보조도구이다. 그러나 부적절한 휠체어 사용과 저하된 신체 조절 능력 및 휠체어 추진으로 인해 발생된 근피로는 측만증이나 후만증과 같은 이차적 척주 기형을 초래하여 장애인 및 노인들의 잔존 신체 능력을 저하시켜, 삶의 질을 떨어뜨리고 있다. 본 연구의 목적은 휠체어 추진 시 척주의 운동학적 특성 변화를 파악하여 체간 안정성 향상을 위한 기초 자료를 제공하는 것이다. 이를 위해 본 연구에서는 휠체어 사용 경험이 없으며, 상지와 체간에 근골격계 및 신경계, 그리고 심혈관계통의 이상이 없는 건강한 성인 30명을 대상으로 서로 다른 추진 속도(0.65m/s, 1.0m/s, 1.35m/s)에서 휠체어를 추진하는 동안 각 척주 분절의 전ᆞ후 및 좌ᆞ우 움직임 변화를 분석하였다. 그 결과, 경추, 흉추, 그리고 요추 분절의 시상면 상의 전ᆞ후 움직임은 추진 속도에 따라 유의한 변화를 보였다(p<.05). 반면, 전두면상의 좌ᆞ우 움직임은 요추 분절에서만 유의한 변화를 나타냈다(p<.05). 그러므로 휠체어 추진 속도는 각 척주 분절의 전ᆞ후 및 좌ᆞ우 움직임에 영향을 미쳐 체간 안정성 변화를 야기시키는 것으로 사료된다. 이상의 결과로 미루어 볼 때, 휠체어 추진 시 추진 속도는 척주의 전ᆞ후 및 좌ᆞ우 움직임 변화에 영향을 미쳐 체간 안정성 변화 요인으로 작용하므로 다양한 중재 방안 마련을 통해 체간의 안정성 확보와 이차적인 위험 요인을 감소시켜야 할 것으로 사료된다. The purpose of this study was to describe the kinematic characteristics of spine column from unimpaired individuals during wheelchair propulsion under various speed conditions. Thirty unimpaired subjects was participated in this study after providing informed consent. Subjects propelled test on a motor-driven wheelchair treadmill under three different speed conditions: 0.65m/s, 1.0m/s and 1.35m/s. Spinal column movement was recorded for each speed condition. This study was investigated about the spinal column movements in the wheelchair propulsion were registered by Sonosence. In order to assure the statistical significance of the results, the one-way ANOVA and independent t-test were applied at the .05 level of significance. The results of this study were as follows. 1. There were statistically significant differences in mSBI value variations of cervical column anterior/posterior movement with wheelchair propulsion speed changes (p<.05). But mFBI value variations of cervical column right/left movement were no statistically different(p>.05). 2. There were statistically significant differences in mSBI value variations of thoracic column with wheelchair propulsion speed changes(p<.05). But mFBI value variations of thoracic column were no statistically different(p>.05). 3. There were statistically significant differences in mSBI value variations of lumbar column with wheelchair propulsion speed changes(p<.05). And mFBI value variations of lumbar column were also statistically different(p<.05). These results suggest that spinal columns during wheelchair propulsion under various speed conditions is essential for the trunk stability, with lower back muscle and lumbar column predominating. To prevent risk from trunk instability, wheelchair users should train lower trunk muscle endurance program and artificially stimulating paralyzed trunk muscles. Moreover, education of propulsion posture and a suitable joint position with customizing wheelchair may improved spinal stability and propulsion performance.

Orientation Compensation for Initially Misaligned Caster Wheels

이두암,정동근,우광식,김낙교,목형수,한수희 제어·로봇·시스템학회 2013 International Journal of Control, Automation, and Vol.11 No.5

This study presents an effective orientation compensation scheme for four-wheel vehicles with misaligned caster wheels in order to correct unexpected driving errors due to an unbalanced load or power. By accumulating angular differentials from the desired heading until achieving steady state driving, we obtain the net rotation angle and then compensate for it by controlling the speed difference of the two driving wheels on left and right sides. It is shown through experiments with an electric-powered wheelchair that the proposed orientation compensation scheme prevents transient swerve due to misaligned caster wheels and thus enables the vehicle to follow its expected driving path.