{"id":"https://openalex.org/W2056314080","doi":"https://doi.org/10.1109/icra.2014.6906632","title":"Slip mitigation control for an Electric Powered Wheelchair","display_name":"Slip mitigation control for an Electric Powered Wheelchair","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2056314080","doi":"https://doi.org/10.1109/icra.2014.6906632","mag":"2056314080"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6906632","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6906632","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113045548","display_name":"Oscar Chuy","orcid":null},"institutions":[{"id":"https://openalex.org/I103163165","display_name":"Florida State University","ror":"https://ror.org/05g3dte14","country_code":"US","type":"education","lineage":["https://openalex.org/I103163165"]},{"id":"https://openalex.org/I1323276237","display_name":"Florida A&M University - Florida State University College of Engineering","ror":"https://ror.org/01v4tq883","country_code":"US","type":"education","lineage":["https://openalex.org/I103163165","https://openalex.org/I1323276237","https://openalex.org/I8248082"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Oscar Chuy","raw_affiliation_strings":["Department of Mechanical Engineering, Florida A&M University-Florida State University, Tallahassee, FL, USA","Center for Intelligent Systems, Control and Robotics (CISCOR) and the Department of Mechanical Engineering, Florida A&M University-Florida State University, Tallahassee, FL 32310, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Florida A&M University-Florida State University, Tallahassee, FL, USA","institution_ids":["https://openalex.org/I1323276237"]},{"raw_affiliation_string":"Center for Intelligent Systems, Control and Robotics (CISCOR) and the Department of Mechanical Engineering, Florida A&M University-Florida State University, Tallahassee, FL 32310, USA","institution_ids":["https://openalex.org/I103163165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038885413","display_name":"Emmanuel G. Collins","orcid":"https://orcid.org/0000-0002-4571-0538"},"institutions":[{"id":"https://openalex.org/I103163165","display_name":"Florida State University","ror":"https://ror.org/05g3dte14","country_code":"US","type":"education","lineage":["https://openalex.org/I103163165"]},{"id":"https://openalex.org/I1323276237","display_name":"Florida A&M University - Florida State University College of Engineering","ror":"https://ror.org/01v4tq883","country_code":"US","type":"education","lineage":["https://openalex.org/I103163165","https://openalex.org/I1323276237","https://openalex.org/I8248082"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Emmanuel G. Collins","raw_affiliation_strings":["Department of Mechanical Engineering, Florida A&M University-Florida State University, Tallahassee, FL, USA","Center for Intelligent Systems, Control and Robotics (CISCOR) and the Department of Mechanical Engineering, Florida A&M University-Florida State University, Tallahassee, FL 32310, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Florida A&M University-Florida State University, Tallahassee, FL, USA","institution_ids":["https://openalex.org/I1323276237"]},{"raw_affiliation_string":"Center for Intelligent Systems, Control and Robotics (CISCOR) and the Department of Mechanical Engineering, Florida A&M University-Florida State University, Tallahassee, FL 32310, USA","institution_ids":["https://openalex.org/I103163165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010458354","display_name":"Camilo Ord\u00f3\u00f1ez","orcid":"https://orcid.org/0000-0001-5338-4392"},"institutions":[{"id":"https://openalex.org/I103163165","display_name":"Florida State University","ror":"https://ror.org/05g3dte14","country_code":"US","type":"education","lineage":["https://openalex.org/I103163165"]},{"id":"https://openalex.org/I1323276237","display_name":"Florida A&M University - Florida State University College of Engineering","ror":"https://ror.org/01v4tq883","country_code":"US","type":"education","lineage":["https://openalex.org/I103163165","https://openalex.org/I1323276237","https://openalex.org/I8248082"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Camilo Ordonez","raw_affiliation_strings":["Department of Mechanical Engineering, Florida A&M University-Florida State University, Tallahassee, FL, USA","Center for Intelligent Systems, Control and Robotics (CISCOR) and the Department of Mechanical Engineering, Florida A&M University-Florida State University, Tallahassee, FL 32310, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Florida A&M University-Florida State University, Tallahassee, FL, USA","institution_ids":["https://openalex.org/I1323276237"]},{"raw_affiliation_string":"Center for Intelligent Systems, Control and Robotics (CISCOR) and the Department of Mechanical Engineering, Florida A&M University-Florida State University, Tallahassee, FL 32310, USA","institution_ids":["https://openalex.org/I103163165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004481384","display_name":"Jorge L. Candiotti","orcid":"https://orcid.org/0000-0002-4326-2022"},"institutions":[{"id":"https://openalex.org/I170201317","display_name":"University of Pittsburgh","ror":"https://ror.org/01an3r305","country_code":"US","type":"education","lineage":["https://openalex.org/I170201317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jorge Candiotti","raw_affiliation_strings":["Human Engineering Research Laboratory, University of Pittsburgh"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Human Engineering Research Laboratory, University of Pittsburgh","institution_ids":["https://openalex.org/I170201317"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100782953","display_name":"Hongwu Wang","orcid":"https://orcid.org/0000-0002-6567-9144"},"institutions":[{"id":"https://openalex.org/I170201317","display_name":"University of Pittsburgh","ror":"https://ror.org/01an3r305","country_code":"US","type":"education","lineage":["https://openalex.org/I170201317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hongwu Wang","raw_affiliation_strings":["Human Engineering Research Laboratory, University of Pittsburgh"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Human Engineering Research Laboratory, University of Pittsburgh","institution_ids":["https://openalex.org/I170201317"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079182436","display_name":"Rory A. Cooper","orcid":"https://orcid.org/0000-0003-0405-5773"},"institutions":[{"id":"https://openalex.org/I170201317","display_name":"University of Pittsburgh","ror":"https://ror.org/01an3r305","country_code":"US","type":"education","lineage":["https://openalex.org/I170201317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rory Cooper","raw_affiliation_strings":["Human Engineering Research Laboratory, University of Pittsburgh"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Human Engineering Research Laboratory, University of Pittsburgh","institution_ids":["https://openalex.org/I170201317"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.11672782,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"56","issue":null,"first_page":"333","last_page":"338"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10925","display_name":"Spinal Cord Injury Research","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2734","display_name":"Pathology and Forensic Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10925","display_name":"Spinal Cord Injury Research","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2734","display_name":"Pathology and Forensic Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9904000163078308,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/wheelchair","display_name":"Wheelchair","score":0.7330870032310486},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7321620583534241},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6665008068084717},{"id":"https://openalex.org/keywords/joystick","display_name":"Joystick","score":0.6629586219787598},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.6593396067619324},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4720735549926758},{"id":"https://openalex.org/keywords/carsim","display_name":"CarSim","score":0.45685794949531555},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3629165291786194},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34922707080841064},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.317094087600708},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.2868964672088623},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1513243317604065},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12980720400810242}],"concepts":[{"id":"https://openalex.org/C2781042323","wikidata":"https://www.wikidata.org/wiki/Q191931","display_name":"Wheelchair","level":2,"score":0.7330870032310486},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7321620583534241},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6665008068084717},{"id":"https://openalex.org/C96439379","wikidata":"https://www.wikidata.org/wiki/Q178805","display_name":"Joystick","level":2,"score":0.6629586219787598},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.6593396067619324},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4720735549926758},{"id":"https://openalex.org/C2776053266","wikidata":"https://www.wikidata.org/wiki/Q5037194","display_name":"CarSim","level":3,"score":0.45685794949531555},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3629165291786194},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34922707080841064},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.317094087600708},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2868964672088623},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1513243317604065},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12980720400810242},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6906632","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6906632","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.44999998807907104,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"},{"score":0.4000000059604645,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1564956254","https://openalex.org/W1763775273","https://openalex.org/W1840273148","https://openalex.org/W1963667728","https://openalex.org/W1977714468","https://openalex.org/W1986772304","https://openalex.org/W2019708972","https://openalex.org/W2033720059","https://openalex.org/W2035633629","https://openalex.org/W2101715975","https://openalex.org/W2108009771","https://openalex.org/W2130132683","https://openalex.org/W2131391843","https://openalex.org/W2145520800","https://openalex.org/W2161122380","https://openalex.org/W2161928589","https://openalex.org/W4252309901","https://openalex.org/W6679483376"],"related_works":["https://openalex.org/W2172827307","https://openalex.org/W2899737318","https://openalex.org/W2120422838","https://openalex.org/W2789946196","https://openalex.org/W1864091273","https://openalex.org/W2703250229","https://openalex.org/W2117758670","https://openalex.org/W2163077615","https://openalex.org/W2584508748","https://openalex.org/W2055575216"],"abstract_inverted_index":{"Most":[0],"wheelchairs":[1],"have":[2],"low":[3],"directional":[4],"stability":[5],"due":[6],"to":[7,42,72,81,93,109],"their":[8],"wheel-drive":[9],"system":[10],"configurations.":[11],"Hence,":[12],"when":[13],"a":[14,56,62,68,94],"wheelchair":[15,35],"experiences":[16],"excessive":[17],"slip,":[18],"it":[19],"will":[20],"create":[21],"an":[22,40,50],"uncontrollable":[23],"moment":[24],"that":[25,54,102],"changes":[26],"its":[27],"heading":[28],"direction,":[29],"endangering":[30],"the":[31,34,79,87,106,110,116,124,127,133,136],"safety":[32],"of":[33,67,126,135],"user.":[36],"This":[37],"paper":[38],"presents":[39],"approach":[41,145],"longitudinal":[43],"slip":[44,104,143],"reduction":[45,144],"(or":[46],"traction":[47],"control)":[48],"for":[49],"Electric":[51],"Powered":[52],"Wheelchair":[53],"uses":[55],"variable":[57],"reference":[58,128,137],"model,":[59],"which":[60,77,90,119],"is":[61,70,86,91,101,112,120,139,146],"mass-damper":[63],"system.":[64],"The":[65,84,98,141],"position":[66],"joystick":[69],"mapped":[71],"force":[73],"and":[74],"torque":[75,108],"values,":[76],"are":[78],"input":[80],"this":[82,131],"model.":[83,129],"output":[85],"desired":[88,117],"trajectory,":[89],"fed":[92],"trajectory":[95],"tracking":[96],"controller.":[97],"key":[99],"idea":[100],"if":[103],"occurs,":[105],"applied":[107],"wheels":[111],"reduced":[113],"by":[114,122],"decreasing":[115],"acceleration,":[118],"achieved":[121],"changing":[123],"parameters":[125],"In":[130],"study,":[132],"mass":[134],"model":[138],"changed.":[140],"proposed":[142],"validated":[147],"via":[148],"experiments.":[149]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
