{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,4]],"date-time":"2025-09-04T13:28:17Z","timestamp":1756992497803},"reference-count":15,"publisher":"World Scientific Pub Co Pte Lt","issue":"02","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2018,4]]},"abstract":"<jats:p> This work presents the kinematic and dynamic modeling of a human\u2013wheelchair system which considers that its center of mass is not located in the middle of the wheel\u2019s axle. Furthermore, a novel motion controller is presented for a human\u2013wheelchair system, which is capable of performing positioning and path-following tasks in human-shared environments. This controller design is based on two cascaded subsystems: a kinematic controller, and a dynamic controller that compensates the dynamics of the human\u2013wheelchair system. Additionally, an algorithm based on fuzzy-logic is proposed and incorporated in the aforementioned path-following control for pedestrian collision avoidance. This methodology considers to quantify heuristics social rules to make a balance between modulating velocity or direction during the avoidance. Three different interference cases, commonly found during walking events, are tested in a structured scenario. The experimental results demonstrate that the system is capable of overcoming many usual interference situations with human obstacles. A good performance of the path-following control is also verified. <\/jats:p>","DOI":"10.1142\/s021984361850010x","type":"journal-article","created":{"date-parts":[[2018,3,15]],"date-time":"2018-03-15T23:02:22Z","timestamp":1521154942000},"page":"1850010","source":"Crossref","is-referenced-by-count":11,"title":["Modeling and Path-Following Control of a Wheelchair in Human-Shared Environments"],"prefix":"10.1142","volume":"15","author":[{"given":"Daniel","family":"Herrera","sequence":"first","affiliation":[{"name":"Instituto de Autom\u00e1tica, Universidad Nacional de San Juan \u2014 CONICET, Av. Libertador Oeste 1109, San Juan, Argentina"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Flavio","family":"Roberti","sequence":"additional","affiliation":[{"name":"Instituto de Autom\u00e1tica, Universidad Nacional de San Juan \u2014 CONICET, Av. 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