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Development of Omnidirectional Electric Wheelchair with Zabuton Sensor
Kenichi Iida,Hisao Yoshikawa,Taichi Mori,Toshio Hira 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
In this paper, we propose an Omnidirectional Electric Wheelchair (OEW). The proposed OEW has four omniwheels for the omnidirectional movement. Two of the omniwheels are arranged to X-axis direction and the other two are arranged to Y-axis direction. By controlling the movement of the omniwheels, the OEW can instantaneously rotate and move in all directions. Hence that, especially in the narrow spaced indoor environment, the omnidirectional nature of the OEW has an advantage over the standard wheelchair. Furthermore, the operator’ posture is used as signal to the OEW. The operator’ posture is measured by a “abuton sensor”which uses a pressure sensor to measure the pressure distribution. The effectiveness of proposed the system is reflected by the experimental results of the prototype OEW and Zabuton sensor system.