Abstract:

Walk assisting wheelchair is a kind of bionic multifunctional wheelchair. When the walk assisting wheelchair is in the walking mode, its stability depends on the detection of center of gravity (COG) of the combination of the wheelchair and the patient to provide a basis to the wheelchair gait control. We introduce a wheelchair COG detection system in this paper. We construct a mathematical model, and derive relationship between the sensor output and the COG. A double layer mechanical structure of the COG detection system is designed, with a signal processing circuit and a digital signal processing （DSP） based data acquisition system. By analyzing experimental data acquired by the DSP, precision and the system error are obtained.

Key words: center of gravity (COG); digital signal processing （DSP）; weight sensor