A Multi-pose Electrically Powered Wheelchair Controller: Design and Test / 中国康复理论与实践

ABSTRACT

@#Objective To develop an electrically powered wheelchair driving system with better interactivity, intelligence, controllability and comfortableness, to improve mobility and posture adjustment of electrically powered wheelchair. Methods An electrically powered wheelchair system was constisted of double STMicroelectronics 32 controller (STM32), a joystick controlling the speed and direction, Controller Area Network (CAN) bus communication mode, the intelligent control algorithm, the pulse width modulation (PWM) driver H-Bridge, and the motor differential operation. Results The position, velocity and acceleration of the electrically powered wheelchair met the desired requirements based on the Vicon simulation.Conclusion The controller well meets the requirements of multi-pose electrically powered wheelchair.