Controller Development of the Omni-Directional Power Wheelchair Combined with Mobile Devices

• Main Authors: Chen-Hao Chang, 張程皓
• Other Authors: Yeh-Liang Hsu
• Format: Others
• Language: zh-TW
• Online Access: http://ndltd.ncl.edu.tw/handle/09878886437707534305

碩士 === 元智大學 === 機械工程學系 === 102 === To facilitate mobility, people with disability frequently employ mobility assistive technology (MAT). The power wheelchair is the most common mobility aids. In the other hand, as the rise of mobile devices in recent years, combined the hardware and mobile device become the trend. Therefore, for the user of power wheelchair, how to combine the mobile device with power wheelchair in order to improve the product life cycle of power wheelchair is an important issue being studied. The purpose of this study is to develop the controller of the Omni-directional power wheelchair combined with mobile devices. Use the “Body, Cerebellar &; Brain” structure as the design concept. In this structure, Cerebellar will have the basic algorithm to determine the movement direction and movement speed. In addition, the algorithm has the movement control strategy for the stability and comfort. In the other hand, in order to make sure the correctness and completeness of the common transmits between the Cerebellar and Neurons. Use the K-USIP (Kim - Universal Serial I2C Protocol) format which designed by ourselves to doing the data transmission. And last, but not least, any customized and innovative functions would be extended by updating the app continuously “Body, Cerebellar &; Brain” structure separate the hardware and software obviously. It improve the product life cycle of power wheelchair would be extended by updating the app continuously and could be apply in many different situation. “Body, Cerebellar &; Brain” structure is not only the innovative design of controller system of power wheelchair but could bring the innovative business model for the power wheelchair.