Please use this identifier to cite or link to this item: https://doi.org/10.1145/1328491.1328510
Title: An elastic path controller for a collaborative wheelchair assistant
Authors: Zhou, L.
Teo, C.L. 
Burdet, E.
Keywords: CWA
EPC
Following
Path
Issue Date: 2007
Source: Zhou, L.,Teo, C.L.,Burdet, E. (2007). An elastic path controller for a collaborative wheelchair assistant. i-CREATe 2007 - Proceedings of the 1st International Convention on Rehabilitation Engineering and Assistive Technology in Conjunction with 1st Tan Tock Seng Hospital Neurorehabilitation Meeting : 73-76. ScholarBank@NUS Repository. https://doi.org/10.1145/1328491.1328510
Abstract: In this paper, we propose a new type of Elastic Path Controller (EPC), which is used to control and manipulate the Collaborative Wheelchair Assistant (CWA). The EPC is built on the basis of Brent's path planner and the control force is generated by balance between the internal restoring force and external normal force. Simulation results show that the new EPC can not only follow an arbitrary curve as a guideway but also deviate from the guideway with a normal force to avoid obstacles. This EPC can also work in the singularity area, which was not solved ever before. © ACM 2007.
Source Title: i-CREATe 2007 - Proceedings of the 1st International Convention on Rehabilitation Engineering and Assistive Technology in Conjunction with 1st Tan Tock Seng Hospital Neurorehabilitation Meeting
URI: http://scholarbank.nus.edu.sg/handle/10635/73163
ISBN: 9781595938527
DOI: 10.1145/1328491.1328510
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