Title: Controle da locomoção assistida de cadeiras de rodas manuais por meio do controle de impedância: análise via controle ótimo
Abstract: Assisted mobility is a growing topic in the research branch due to global aging and the increasing number of people with disabilities.In the range of options for people with disability in the lower limbs, the wheelchair is one of the most populars means of assistance, mainly due to its versatility and handling.However, it has a low efficient propulsion, which could bring problems of fatigue and muscle strains in the upper limbs.Because of this problem, research into "hybrid" systems is becoming common.In this kind of system, the patient still needs to use his physical strength but, is aided by an electro-mechanical device to reduce physical effort and avoid injury, while maintaining its versatility and handling that fully automatic devices usually doesn't have.The interaction between men and machine present in this type of system should be made with caution in order to avoid imposing excessive physical efforts on the operator.One of the most common ways in the scientific literature to obtain this interaction is to create a virtual "resistance" in the person + assistance system by creating a relationship between forces and velocities.To this kind of control is given the name "impedance control".The impedance control consists in fixing the relation between external forces with the kinematics of the controlled dynamic system in order to act according to a specified dynamic model of reference.This research intends to propose an impedance control applied to a motorized wheelchair for assistance in longitudinal propulsion and an evaluation through optimal control.The dissertation will involve the definition and design of the impedance control and the optimal control formulation used to evaluate the efforts of the person compared to manual wheelchair.