Power assist control of robotic wheelcha
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Naoki Oda; Hiroyuki Shimizu
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Article
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2009
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John Wiley and Sons
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English
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## Abstract This paper describes a method of visionβbased selfβvelocity estimation and its feedback system in force/torque sensorless power assisting control of a wheelchair robot. In this method, threeβdimensional information obtained from stereo images is used along with optical flow vectors for