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Electrical wheelchair has been used as a convenient transport device for elderly and handicapped persons. Recently, front drive type electric wheelchair has been focused on, with which handicapped person get on it from a bed easily. However, the front drive type wheelchair is difficult to run straight not only on slope but also on flat floor because of its(More)
— As one of the leading method of electric wheelchairs, platoon driving using Adaptive Cruise Control (ACC) has been proposed to keep constant time-headway. The platoon driving system has been widely used assuming straight roads that has good visibility, but has not been used in narrow corridor. While, the gross weight of wheelchair changes drastically(More)
In the coexistence circumstance with humans and robots, sensory and emotional feeling of human should be considered when the robots interact to human. A typical unpleasant feeling at interaction is "pain". It is difficult to separate the robots from human in the sense of time or place in coexisting environment unlike factory automation design. Thus a new(More)
Recently, the fractional-order PID (FO-PID) control, which is the generalization of the PID control, has been focused. Even though the FO-PID needs the high-order filter, it is difficult to realize the high-order one due to the memory limitation of the micro-controller unit (MCU). For implementation of the FO-PID, approximation of the fractional integrator(More)
Continuous passive motion (CPM) is an orthopedic treatment or physiotherapy after injury or operation. Most of CPM devices used for treatment of the elbow joint have one degree of freedom in flex-/extension. This causes that the patients are limited in pro-/supination of the forearm with flex- /extension of the elbow joint due to the movement of CPM device.(More)