Desenvolvimento e analise de estrategias de controle colaborativo para cadeiras de rodas

TL;DRAbstract

The aim of this dissertation is to develop control strategies for servo-assisted motorization. The system brings the power wheelchair advantages because it increases the accessibility and mobility, but it also brings manual wheelchair advantage that is the opportunity to increase the muscular and cardiovascular capacity. Thus the servo assisted wheelchair is a therapeutic wheelchair which allows the user increases his physical and pulmonary capacity without risk of injury for repetitive effort. The motorization only turns on when the propulsion force applied by the user is higher than a specific value. Methodologically was defined a biomechanical model for analysis of the efforts during the propulsion cycle. This model was associated with a wheelchair dynamic model. The new model allows the analysis and simulation of the control strategies proposed. For control strategies generation it was used methodology axiomatic design integrated with the structures of multi-agents control systems,

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