Control of Wheelchair on the Ramp Trajectory Using

Bioelectric Impedance with Fuzzy-PID Controller

Masyitah Aulia1, Achmad Arifin1 and Djoko Purwanto1
Department Of Electrical Engineering, Electrical Technology Faculty, Institut
Teknologi Sepuluh Nopember, Surabaya, Indonesia
e-mail: masyitah.aulia1994@gmail.com, arifin_sendai@yahoo.com,
djoko@ee.its.ac.id

Abstract. Someone who suffer disabilities or paralysis has a limitation in moving. In severe
cases of disability, they even have difficulty in walking, climbing and down the stairs, even in
ramp trajectory so they need tools for daily mobility. They can not depend on the others to help
them to move. In this case, the wheelchair is considered as a tool that is able to help the mobility
of its user easier. However, for cases of paralysis in the upper and lower body parts, they are
unable to use a wheelchair as they should. In this study, an electric wheelchair that can be used
by people with severe disabilities, who are able to move a part of their body that can be detected
with bioelectrical impedance signal were made. Pre-existing research was controlling the
wheelchairs on flat roads, whereas when the road goes up or down, the wheelchair speed was
unstable. So, in this research, the development of electric wheelchair was carried out with
implementing Fuzzy-PID controller in it, so the speed of the wheelchair is more stable. The
electric wheelchair with Fuzzy-PID control is able to walk on ramp trajectory that goes up or
down up to 30 degrees of angle, with a stable speed. This experiment was tested with 4 people
with different weights. The result is, as the weight or the angle of ramp trajectory getting stepper,
the error rate gets greater. Success in this trial was at an average success rate of 80%. This occurs
because of changes in the width of the bioimpedace signal which affects the slow and fast order
when given a moving command, and the tilt angle of the track that affects the speed of the motor
when the wheelchair crosses the track.