Using Fuzzy Logic to Mitigate the Effect of Multiple-Sclerosis Tremors on a Wheelchair Joystick Controller

摘要

We have designed a fuzzy logic wheelchair controller to minimise the effect of Multiple Sclerosis hand tremors on a wheelchair joystick controller. The aim is to give people with Multiple Sclerosis better control of an electric wheelchair by removing tremors from the joystick signal. This has been achieved by creating a hybrid system which uses fuzzy logic techniques combined with certainty factors, and a fixed point defuzzification technique. This allows the system to reason under uncertainty and choose the msot appropriate direction and speed from a defined list.