標題: A New Criterion of Human Comfort Assessment for Wheelchair Robots by Q-Learning Based Accompanist Tracking Fuzzy Controller
作者: Wu, Bing-Fei
Chen, Po-Yen
Lin, Chun-Hsien
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: Human following;ISO 2631-1;Fuzzy controller;Comfort evaluation;Wheelchair robots
公開日期: 十二月-2016
摘要: Wheelchair users often struggle to drive safely and accompanied by caregivers. Wheelchair robots can employ the autonomous functions to avoid obstacles and reduce the workload of the caregivers. To achieve the goal, the accompanist needs to be steadily recognized and tracked by the robots. By using Q-learning based accompanist tracking fuzzy controller, wheelchair robots can peacefully follow the accompanist. Meanwhile, it is important to make the people on wheelchair robots feel comfortable. Based on ISO 2631-1, the ride qualities are obtained by averaging the acceleration data in the frequency bands, and the critical thresholds utilizing to assess the ride comfort are also determined inside. To make the level of bumpiness be as multiple as possible, four kinds of pavements are chosen in the experiments. The results show that the feelings of the occupants on the wheelchair robot are quite different from the ride comfort defined in ISO 2631-1, so a new standard is proposed to assess the ride comfort in this study. The accuracy of the proposed standard is 90.67 %, which is higher than that of ISO 2631-1, 42.48 %. Furthermore, to the best of our knowledge, this paper is thought to be the first one to present the ISO 2631-1-based comfort criterion for wheelchair robots.
URI: http://dx.doi.org/10.1007/s40815-015-0120-6
http://hdl.handle.net/11536/132779
ISSN: 1562-2479
DOI: 10.1007/s40815-015-0120-6
期刊: INTERNATIONAL JOURNAL OF FUZZY SYSTEMS
Volume: 18
Issue: 6
起始頁: 1039
結束頁: 1053
顯示於類別:期刊論文