The demand for safe and user-friendly mobility support systems has increased with the aging population and the need to assist disabled people. Wheelchairs are one of the targets of such systems, with motorized functions that extend usability across diverse scenarios. This paper presents a control system for power-assisted wheelchairs operating in sloping terrain using an Inertial Measurement Unit (IMU) sensor. Unlike conventional methods that only consider straight uphill movement, the proposed approach compensates for disturbances encountered when the wheelchair moves along a slope diagonally.
Keywords
Power-assisted wheelchair, inertial measurement unit, disturbance compensation