Control of Wheelchair on the Ramp Trajectory Using Bioelectric Impedance with Fuzzy-PID Controller

A person who has a severe disability, have difficulty walking, climbing, and descending stairs, so requires assistive devices for daily mobility. in particular, the paralysis of the upper and lower limbs resulted in them being unable to use the wheelchair properly. So that in this study, an electric wheelchair that can be used by persons with disabilities is made, which is able to move based on the bioelectrical impedance signal on the part of the body that can still be moved. The pre-existing research is controlling wheelchairs on flat roads, whereas when the road goes up or down, the wheelchair has an unstable speed. This research was developed by utilizing Fuzzy-PID control, which is able to control the wheelchair speed so that it is more stable. This electric wheelchair with Fuzzy-PID control is able to walk on an up and down ramp at an angle not exceeding 10°, at a stable speed. The trial subjects used were four people with different weights. The error rate at each speed increases as the ramp gets steeper, and the user load gets higher. Success in this trial is at an average success rate of 80%. This occurs because of the change in the width of the bioimpedance signal, which affects the slow and fast commands when given the command to move, and the tilt angle of the track which affects the motor speed when the wheelchair crosses the track.