Realization of an FPGA-based motion control system for electric standing wheelchairs

Ying Shieh Kung, Ping Hang Huang, Fong Chin Su, Tain Song Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

With the characteristics of convenience and mobility, electric standing wheelchairs (ESW) enable patients to freely move and stand up. Being extensively utilized, electric wheelchairs have already been one of the indispensable medical rehabilitation devices. Without doubt, the increase of standing function on electric wheelchairs would be further beneficial to patients. The controller system of the ESW is mainly based on the SoPC (System on a Programmable Chip) constructed by FPGA (Field Programmable Gate Array) and one Nios II processor produced by Altera company. The electric wheels are built up by two DC rim motors while the standing frame is composed of a linear motion mechanism and a parallel four-bar linkage mechanism. The motion controller IC is realized by PDL with the function of standing frame and two DC rim motors' speed control. The controller of standing frame consists of one motor drive and four channels of PWM (Pulse Width Modulation) signal outputs. Therefore, the necessary all digital drive controller of ESW is realized in one FPGA. This ESW enable not only the two-wheel machine to locate, synchronize, turn left or right, move forward or backward, brake and stop, but also the standing frame to lift and fall. Finally, this work completes one experiment system including a FPGA board, three converters, one two-wheel drive standing wheelchair platform that further evidences both the effectiveness and accuracy of the FPGA-based motion controller for ESW.

Original languageEnglish
Title of host publication2011 IEEE Symposium on Industrial Electronics and Applications, ISIEA 2011
Pages47-52
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 1
Event2011 IEEE Symposium on Industrial Electronics and Applications, ISIEA 2011 - Langkawi, Malaysia
Duration: 2011 Sep 252011 Sep 28

Publication series

Name2011 IEEE Symposium on Industrial Electronics and Applications, ISIEA 2011

Other

Other2011 IEEE Symposium on Industrial Electronics and Applications, ISIEA 2011
CountryMalaysia
CityLangkawi
Period11-09-2511-09-28

Fingerprint

Wheelchairs
Motion control
Field programmable gate arrays (FPGA)
Control systems
Controllers
Wheels
DC motors
Speed control
Brakes
Patient rehabilitation
Pulse width modulation

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

Cite this

Kung, Y. S., Huang, P. H., Su, F. C., & Chen, T. S. (2011). Realization of an FPGA-based motion control system for electric standing wheelchairs. In 2011 IEEE Symposium on Industrial Electronics and Applications, ISIEA 2011 (pp. 47-52). [6108757] (2011 IEEE Symposium on Industrial Electronics and Applications, ISIEA 2011). https://doi.org/10.1109/ISIEA.2011.6108757
Kung, Ying Shieh ; Huang, Ping Hang ; Su, Fong Chin ; Chen, Tain Song. / Realization of an FPGA-based motion control system for electric standing wheelchairs. 2011 IEEE Symposium on Industrial Electronics and Applications, ISIEA 2011. 2011. pp. 47-52 (2011 IEEE Symposium on Industrial Electronics and Applications, ISIEA 2011).
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abstract = "With the characteristics of convenience and mobility, electric standing wheelchairs (ESW) enable patients to freely move and stand up. Being extensively utilized, electric wheelchairs have already been one of the indispensable medical rehabilitation devices. Without doubt, the increase of standing function on electric wheelchairs would be further beneficial to patients. The controller system of the ESW is mainly based on the SoPC (System on a Programmable Chip) constructed by FPGA (Field Programmable Gate Array) and one Nios II processor produced by Altera company. The electric wheels are built up by two DC rim motors while the standing frame is composed of a linear motion mechanism and a parallel four-bar linkage mechanism. The motion controller IC is realized by PDL with the function of standing frame and two DC rim motors' speed control. The controller of standing frame consists of one motor drive and four channels of PWM (Pulse Width Modulation) signal outputs. Therefore, the necessary all digital drive controller of ESW is realized in one FPGA. This ESW enable not only the two-wheel machine to locate, synchronize, turn left or right, move forward or backward, brake and stop, but also the standing frame to lift and fall. Finally, this work completes one experiment system including a FPGA board, three converters, one two-wheel drive standing wheelchair platform that further evidences both the effectiveness and accuracy of the FPGA-based motion controller for ESW.",
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Kung, YS, Huang, PH, Su, FC & Chen, TS 2011, Realization of an FPGA-based motion control system for electric standing wheelchairs. in 2011 IEEE Symposium on Industrial Electronics and Applications, ISIEA 2011., 6108757, 2011 IEEE Symposium on Industrial Electronics and Applications, ISIEA 2011, pp. 47-52, 2011 IEEE Symposium on Industrial Electronics and Applications, ISIEA 2011, Langkawi, Malaysia, 11-09-25. https://doi.org/10.1109/ISIEA.2011.6108757

Realization of an FPGA-based motion control system for electric standing wheelchairs. / Kung, Ying Shieh; Huang, Ping Hang; Su, Fong Chin; Chen, Tain Song.

2011 IEEE Symposium on Industrial Electronics and Applications, ISIEA 2011. 2011. p. 47-52 6108757 (2011 IEEE Symposium on Industrial Electronics and Applications, ISIEA 2011).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Kung YS, Huang PH, Su FC, Chen TS. Realization of an FPGA-based motion control system for electric standing wheelchairs. In 2011 IEEE Symposium on Industrial Electronics and Applications, ISIEA 2011. 2011. p. 47-52. 6108757. (2011 IEEE Symposium on Industrial Electronics and Applications, ISIEA 2011). https://doi.org/10.1109/ISIEA.2011.6108757