Design and Implementation of a Position, Speed and Orientation Fuzzy Controller Using a Motion Capture System to Operate a Wheelchair Prototype

Sensors

Teodiano Bastos-Filho¹  Mauro Callejas-Cuervo²  Aura Ximena González-Cely² 

[1]Posgraduate Program in Electrical Engineering, Federal University of Espírito Santo, Av. Fernando Ferrari, 514, Vitoria 29075-910, Brazil

[2]Software Research Group, Universidad Pedagógica y Tecnológica de Colombia, Av. Central del Norte 39-115, Tunja 150001, Colombia

关键词: inertial measurement unit;    fuzzy control;    motion capture;    position;    velocity;    orientation;   

DOI  :  10.3390/s21134344

来源: DOAJ

【 摘 要 】

The design and implementation of an electronic system that involves head movements to operate a prototype that can simulate future movements of a wheelchair was developed here. The controller design collects head-movements data through a MEMS sensor-based motion capture system. The research was divided into four stages: First, the instrumentation of the system using hardware and software; second, the mathematical modeling using the theory of dynamic systems; third, the automatic control of position, speed, and orientation with constant and variable speed; finally, system verification using both an electronic controller test protocol and user experience. The system involved a graphical interface for the user to interact with it by executing all the controllers in real time. Through the System Usability Scale (SUS), a score of 78 out of 100 points was obtained from the qualification of 10 users who validated the system, giving a connotation of “very good”. Users accepted the system with the recommendation to improve safety by using laser sensors instead of ultrasonic range modules to enhance obstacle detection.

【 授权许可】

Unknown