Simulation and Control of Multipurpose Wheelchair for Disabled/elderly Mobility

This paper presents investigations into the development of modelling and control strategies for a multipurpose wheelchair as mobile transporter for elderly and disabled people. The research is aimed at helping people with physical weakness/disabilities in their upper and lower extremities to move in...

Full description

Bibliographic Details
Main Authors:	Normaniha, Abd Ghani, Tokhi, M. O.
Format:	Article
Language:	English English
Published:	IOS Press 2016
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/16711/ http://umpir.ump.edu.my/id/eprint/16711/ http://umpir.ump.edu.my/id/eprint/16711/ http://umpir.ump.edu.my/id/eprint/16711/1/Galley_Proof_article.pdf http://umpir.ump.edu.my/id/eprint/16711/7/fkee-2016-simulation1.pdf

id	ump-16711
recordtype	eprints
spelling	ump-167112018-02-05T02:06:00Z http://umpir.ump.edu.my/id/eprint/16711/ Simulation and Control of Multipurpose Wheelchair for Disabled/elderly Mobility Normaniha, Abd Ghani Tokhi, M. O. TK Electrical engineering. Electronics Nuclear engineering This paper presents investigations into the development of modelling and control strategies for a multipurpose wheelchair as mobile transporter for elderly and disabled people. The research is aimed at helping people with physical weakness/disabilities in their upper and lower extremities to move independently without human intervention. A novel reconfiguration which allows multi-task operations in the same wheelchair system with improved design is modelled in Visual Nastran 4D (VN4D) software. A modular fuzzy logic control mechanism with integrated phases is introduced for the overall operations and two-wheeled stabilization of the wheelchair. It is shown that the proposed modular fuzzy control approach is able to ensure system stability while performing multipurpose tasks such as manoeuvrability on flat surfaces, stairs climbing (ascending and descending), standing in the upright position on two wheels and transformation back to standard four wheels with up to 50% less initial torque in comparison to previous designs. IOS Press 2016-09-20 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/16711/1/Galley_Proof_article.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/16711/7/fkee-2016-simulation1.pdf Normaniha, Abd Ghani and Tokhi, M. O. (2016) Simulation and Control of Multipurpose Wheelchair for Disabled/elderly Mobility. Integrated Computer-Aided Engineering, 23 (4). pp. 331-347. ISSN 1069-2509 http://dx.doi.org/10.3233/ICA-160526 doi: 10.3233/ICA-160526
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Normaniha, Abd Ghani Tokhi, M. O. Simulation and Control of Multipurpose Wheelchair for Disabled/elderly Mobility
description	This paper presents investigations into the development of modelling and control strategies for a multipurpose wheelchair as mobile transporter for elderly and disabled people. The research is aimed at helping people with physical weakness/disabilities in their upper and lower extremities to move independently without human intervention. A novel reconfiguration which allows multi-task operations in the same wheelchair system with improved design is modelled in Visual Nastran 4D (VN4D) software. A modular fuzzy logic control mechanism with integrated phases is introduced for the overall operations and two-wheeled stabilization of the wheelchair. It is shown that the proposed modular fuzzy control approach is able to ensure system stability while performing multipurpose tasks such as manoeuvrability on flat surfaces, stairs climbing (ascending and descending), standing in the upright position on two wheels and transformation back to standard four wheels with up to 50% less initial torque in comparison to previous designs.
format	Article
author	Normaniha, Abd Ghani Tokhi, M. O.
author_facet	Normaniha, Abd Ghani Tokhi, M. O.
author_sort	Normaniha, Abd Ghani
title	Simulation and Control of Multipurpose Wheelchair for Disabled/elderly Mobility
title_short	Simulation and Control of Multipurpose Wheelchair for Disabled/elderly Mobility
title_full	Simulation and Control of Multipurpose Wheelchair for Disabled/elderly Mobility
title_fullStr	Simulation and Control of Multipurpose Wheelchair for Disabled/elderly Mobility
title_full_unstemmed	Simulation and Control of Multipurpose Wheelchair for Disabled/elderly Mobility
title_sort	simulation and control of multipurpose wheelchair for disabled/elderly mobility
publisher	IOS Press
publishDate	2016
url	http://umpir.ump.edu.my/id/eprint/16711/ http://umpir.ump.edu.my/id/eprint/16711/ http://umpir.ump.edu.my/id/eprint/16711/ http://umpir.ump.edu.my/id/eprint/16711/1/Galley_Proof_article.pdf http://umpir.ump.edu.my/id/eprint/16711/7/fkee-2016-simulation1.pdf
first_indexed	2023-09-18T22:22:39Z
last_indexed	2023-09-18T22:22:39Z
_version_	1777415759840935936

Simulation and Control of Multipurpose Wheelchair for Disabled/elderly Mobility

Similar Items