Departmental Bulletin Paper 生体信号による操縦装置を用いた電動車いすの操縦方法の改善

小西, 遼一

57pp.1 - 8 , 2016-03-24 , 法政大学大学院 理工学・工学研究科
In this study, a control system of an electric wheelchair (EWC) to assist disabled people such as persons with spinal cord injury was improved to enhance maneuverability of the EWC. The control device is attached to a joy-stick of the ready-made EWC and controls the joy-stick by motor drive. The surface electromyograms (SEMGs) of four muscles, which are the neck, both sides of shoulder and the cheek, are measured, and the EWC is navigated based on the SEMG of the user. By identifying the SEMGs, seven patterns of the navigation of the EWC are possible, which are stop, advance, back, right turn, left turn, right back turn, and left back turn. Thus, users can navigate the EWC by their own intention without using their hands. This study focused on improvement of the four motions, which are right turn, left turn, right back turn, and left back turn. For these motions, two new methods to determine the target angle of the joy-stick based on both the degree and duration of the muscular activity during straining the corresponding muscle are proposed. In order to verify the maneuverability of the EWC by the proposed two new methods, run experiments in two test courses were carried out, and results were compared with the previous method. Key Words : Electric wheelchair(EWC), Surface electromyogram (SEMG), Control device, Maneuverability

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