{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T03:51:52Z","timestamp":1777693912077,"version":"3.51.4"},"reference-count":48,"publisher":"SAGE Publications","issue":"4","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["ICA"],"published-print":{"date-parts":[[2016,9,20]]},"DOI":"10.3233\/ica-160526","type":"journal-article","created":{"date-parts":[[2016,7,12]],"date-time":"2016-07-12T12:43:43Z","timestamp":1468327423000},"page":"331-347","source":"Crossref","is-referenced-by-count":9,"title":["Simulation and control of multipurpose wheelchair for disabled\/elderly mobility"],"prefix":"10.1177","volume":"23","author":[{"given":"N.M.","family":"Abdul Ghani","sequence":"first","affiliation":[{"name":"Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Malaysia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.O.","family":"Tokhi","sequence":"additional","affiliation":[{"name":"Deparment of Automatic Control and Systems Engineering, The University of Sheffield, Sheffield, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","reference":[{"key":"10.3233\/ICA-160526_ref1","first-page":"443","article-title":"Functional electrical stimulation-based cycling assisted by flywheel and electrical clutch mechanism: A feasibility simulation study","volume":"61","author":"Abdulla","year":"2013","journal-title":"Robotics and Autonomous Systems"},{"key":"10.3233\/ICA-160526_ref2","volume-title":"Machine Learning - Neural Networks, Genetic Algorithms and Fuzzy Systems","author":"Adeli","year":"1995"},{"key":"10.3233\/ICA-160526_ref3","doi-asserted-by":"crossref","DOI":"10.1002\/0470867353","volume-title":"Cost Optimization of Structures - Fuzzy Logic, Genetic Algorithms and Parallel Computing","author":"Adeli","year":"2006"},{"key":"10.3233\/ICA-160526_ref4","doi-asserted-by":"crossref","unstructured":"Ahmad S., Tokhi M.O. and Siddique N.H., Modular fuzzy control with input shaping technique for transformation of two-wheeled wheelchair to four-wheeled mode, Proceeding of IEEE Industrial Electronics and Applications (ISIEA), (2010), 562-566.","DOI":"10.1109\/ISIEA.2010.5679402"},{"key":"10.3233\/ICA-160526_ref5","doi-asserted-by":"crossref","first-page":"401","DOI":"10.1007\/s10846-011-9541-0","article-title":"A modular fuzzy control approach for two-wheeled wheelchair","author":"Ahmad","year":"2011","journal-title":"Journal of Intelligent Robotic System"},{"key":"10.3233\/ICA-160526_ref6","doi-asserted-by":"crossref","first-page":"119","DOI":"10.3233\/ICA-130449","article-title":"Modelling and simulation of double-link scenario in a two-wheeled wheelchair","volume":"21","author":"Ahmad","year":"2014","journal-title":"Integrated Computer Aided Engineering"},{"key":"10.3233\/ICA-160526_ref7","doi-asserted-by":"crossref","unstructured":"Ahmad S. and Tokhi M.O., Forward and backward motion control of wheelchair on two wheels, Proceeding of IEEE Conference on Industrial and Applications, (ICIEA), (2008), 461-466.","DOI":"10.1109\/ICIEA.2008.4582558"},{"issue":"5","key":"10.3233\/ICA-160526_ref8","doi-asserted-by":"crossref","first-page":"443","DOI":"10.1016\/j.robot.2013.01.006","article-title":"Dynamic modelling and stabilization of a new configuration of two-wheeled machines","volume":"61","author":"Almeshal","year":"2013","journal-title":"Robotics and Autonomous Systems"},{"issue":"3","key":"10.3233\/ICA-160526_ref11","doi-asserted-by":"crossref","first-page":"229","DOI":"10.3233\/ICA-150485","article-title":"Using metaheuristics to optimize the combination of classifier and cluster ensembles","volume":"22","author":"Coletta","year":"2015","journal-title":"Integrated Computer-Aided Engineering"},{"key":"10.3233\/ICA-160526_ref12","first-page":"111","article-title":"Use of the independence 3000 IBOT transporter at home and in the community: A case report","volume":"1-2","author":"Cooper","year":"2006","journal-title":"Disability and Rehabilitation: Assistive Technology"},{"key":"10.3233\/ICA-160526_ref13","first-page":"22","article-title":"Electric powered wheelchairs, a review of current technology and insight into future directions","volume":"25","author":"Ding","year":"2005","journal-title":"IEEE Control Systems Magazine"},{"key":"10.3233\/ICA-160526_ref14","doi-asserted-by":"crossref","DOI":"10.1002\/9780470512517","volume-title":"Computational intelligence: An introduction","author":"Engelbrecht","year":"2007"},{"key":"10.3233\/ICA-160526_ref15","doi-asserted-by":"crossref","first-page":"123","DOI":"10.1016\/S0268-0033(99)00044-3","article-title":"Biomechanical analysis of sit-to-stand transfer in healthy and paraplegic subjects","volume":"15","author":"Fariba","year":"2000","journal-title":"Clinical Biomechanics"},{"key":"10.3233\/ICA-160526_ref16","doi-asserted-by":"crossref","unstructured":"Ghani N.M.A., Nasir A.N.K. and Tokhi M.O., Optimization of fuzzy logic scaling parameters with spiral dynamic algorithm in controlling a stair climbing wheelchair: Ascending task, Proceeding of 19th International Conference on Methods and Models in Automation and Robotics (MMAR) (2014), 776-781.","DOI":"10.1109\/MMAR.2014.6957454"},{"key":"10.3233\/ICA-160526_ref17","doi-asserted-by":"crossref","unstructured":"Goher K.M., Modelling and simulation of a reconfigurable wheelchair with sit-to-stand facility for a disabled child, Proceeding of IEEE 18Th International Conference on Methods and Models in Automation and Robotics, (MMAR), (2013), 430-434.","DOI":"10.1109\/MMAR.2013.6669947"},{"issue":"5","key":"10.3233\/ICA-160526_ref18","doi-asserted-by":"crossref","first-page":"1607","DOI":"10.1109\/TCST.2012.2214439","article-title":"Modelling and velocity control of a novel narrow vehicle based on mobile inverted pendulum","volume":"21","author":"Huang","year":"2013","journal-title":"IEEE Trans on Control Systems Technology"},{"issue":"2","key":"10.3233\/ICA-160526_ref19","doi-asserted-by":"crossref","first-page":"177","DOI":"10.3233\/ICA-130459","article-title":"A computational intelligence optimization algorithm: Cloud drops algorithm","volume":"21","author":"Chen","year":"2014","journal-title":"Integrated Computer-Aided Engineering"},{"key":"10.3233\/ICA-160526_ref20","first-page":"80","article-title":"Gillaette, using electrical stimulation to control standing posture","author":"James","year":"2001","journal-title":"IEEE Control System Magazines"},{"issue":"4","key":"10.3233\/ICA-160526_ref22","doi-asserted-by":"crossref","first-page":"309","DOI":"10.3233\/ICA-2004-11402","article-title":"Assistive navigation of a robotic wheelchair using a multi hierarchical model of the environment","volume":"11","author":"Juan-Antonio","year":"2004","journal-title":"Integrated Computer Aided Engineering"},{"issue":"2","key":"10.3233\/ICA-160526_ref23","doi-asserted-by":"crossref","first-page":"74","DOI":"10.1080\/0309190032000112306","article-title":"Standing-up robot: An assistive rehabilitative device for training and assessment","volume":"28","author":"Kamnik","year":"2004","journal-title":"Journal of Medical Engineering and Technology"},{"key":"10.3233\/ICA-160526_ref24","doi-asserted-by":"crossref","unstructured":"Lawn M. and Takeda T., Design of a robotic-hybrid wheelchair for operation in barrier present environments, Proceeding of IEEE International Conference on Medicine and Biology Society (1998), 2678-2681.","DOI":"10.1109\/IEMBS.1998.745225"},{"key":"10.3233\/ICA-160526_ref25","first-page":"33","article-title":"Development and practical application of a stair climbing wheelchair in nagasaki","volume":"2","author":"Lawn","year":"2001","journal-title":"Journal of HWRS-ERC"},{"key":"10.3233\/ICA-160526_ref26","doi-asserted-by":"crossref","first-page":"86","DOI":"10.1016\/j.engappai.2013.12.013","article-title":"Adaptive fuzzy-based motion generation and control of mobile","volume":"30","author":"Li","year":"2014","journal-title":"Engineering Applications of Artificial Intelligence"},{"key":"10.3233\/ICA-160526_ref27","doi-asserted-by":"crossref","first-page":"97","DOI":"10.1016\/j.robot.2009.07.020","article-title":"Optimized obstacle avoidance trajectory generation for a reconfigurable staircase climbing wheelchair","volume":"58","author":"Morales","year":"2010","journal-title":"Robotics and Autonomous Systems"},{"key":"10.3233\/ICA-160526_ref28","unstructured":"MSC software simulating reality, delivering certainty, MSC nastran multidisplinary structure analysis, http:\/\/www.mscsoftware.com\/product\/msc-nastran."},{"key":"10.3233\/ICA-160526_ref29","doi-asserted-by":"crossref","unstructured":"Nakajima S., Proposal for step-up gait of RT-mover, a four-wheel-type mobile robot for rough terrain with simple leg mechanism, Proceeding of IEEE International Conference on Robotics and Biomimetics (2010), 351-356.","DOI":"10.1109\/ROBIO.2010.5723352"},{"issue":"4","key":"10.3233\/ICA-160526_ref30","first-page":"117","article-title":"Evaluation of the effects of muscle stretch and weight load in patients with spastic paraplegia","volume":"13","author":"Oden","year":"1981","journal-title":"Scan J Rehabil Med"},{"key":"10.3233\/ICA-160526_ref31","doi-asserted-by":"crossref","first-page":"58","DOI":"10.1016\/j.apergo.2009.04.005","article-title":"Frequency of the sit to stand task: An observational study of free-living adults","volume":"41","author":"Philippa","year":"2010","journal-title":"Applied Ergonomics"},{"issue":"1","key":"10.3233\/ICA-160526_ref32","doi-asserted-by":"crossref","first-page":"89","DOI":"10.1016\/j.arcontrol.2013.03.004","article-title":"Review of modelling and control of two-wheeled robots","volume":"37","author":"Ping","year":"2013","journal-title":"Annual Reviews in Control"},{"key":"10.3233\/ICA-160526_ref33","doi-asserted-by":"crossref","unstructured":"Quaglia G., Franco W. and Oderio R., Wheelchair, q, a mechanical concept for a stair climbing wheelchair, Proceeding of IEEE International Conference on Robotics and Biomimetics, Guilin, China, (2009), 800-805.","DOI":"10.1109\/ROBIO.2009.5420572"},{"issue":"5","key":"10.3233\/ICA-160526_ref34","doi-asserted-by":"crossref","first-page":"1201","DOI":"10.1080\/00207179108934205","article-title":"Hierarchical fuzzy control","volume":"54","author":"Raju","year":"1991","journal-title":"International Journal of Control"},{"issue":"2","key":"10.3233\/ICA-160526_ref35","doi-asserted-by":"crossref","first-page":"111","DOI":"10.3233\/ICA-130421","article-title":"Adaptive fuzzy control for differentially flat MIMO nonlinear dynamical systems","volume":"20","author":"Rigatos","year":"2013","journal-title":"Integrated Computer Aided Engineering"},{"key":"10.3233\/ICA-160526_ref36","doi-asserted-by":"crossref","unstructured":"Siddique N. and Adeli H., Computational intelligence - synergies of fuzzy logic, Neural Networks and Evolutionary Computing, Wiley, West Sussex, United Kingdom, 2013.","DOI":"10.1002\/9781118534823"},{"key":"10.3233\/ICA-160526_ref37","doi-asserted-by":"crossref","unstructured":"Sugahara Y., Yonezawa N. and Kosuge K., A novel stair-climbing wheelchair with transformable wheeled four-bar linkages, Proceeding of IEEE\/RSJ International Conference on Intelligent Robots and Systems (2010), 3333-3339.","DOI":"10.1109\/IROS.2010.5648906"},{"issue":"1","key":"10.3233\/ICA-160526_ref38","doi-asserted-by":"crossref","first-page":"70","DOI":"10.1016\/j.apm.2014.04.035","article-title":"Type-1\/Type-2 fuzzy logic systems optimization with RNA genetic algorithm for double inverted pendulum","volume":"39","author":"Sun","year":"2014","journal-title":"Appl Math Modell"},{"key":"10.3233\/ICA-160526_ref41","unstructured":"Teng Y., Wang T., Yao C. and Li X., The research of tension optimal estimation and stair-climbing ability of transformation wheelchair robot, Proceeding of 29th Chinese Control Conference (2010), 3716-3721."},{"issue":"1625","key":"10.3233\/ICA-160526_ref43","doi-asserted-by":"crossref","first-page":"482","DOI":"10.1007\/3-540-48774-3_54","article-title":"Fuzzy control of a physical double inverted pendulum, computational intelligence","author":"Vascak","year":"1999","journal-title":"Lecture Notes in Computer Science"},{"key":"10.3233\/ICA-160526_ref44","doi-asserted-by":"crossref","first-page":"744","DOI":"10.1016\/j.conengprac.2011.04.002","article-title":"Modeling, control and experimental verification on a two-wheeled vehicle with free inclination: An urban transportation system","volume":"19","author":"Vermeiren","year":"2011","journal-title":"Control Engineering Practice"},{"issue":"2","key":"10.3233\/ICA-160526_ref45","first-page":"193","article-title":"Motion simulation with working model 2D and MSC, visual nastran 4D","volume":"1","author":"Wang","year":"2001","journal-title":"J Comput Soft Engin"},{"key":"10.3233\/ICA-160526_ref48","volume-title":"Biomechanics and motor control of human movement","author":"Winter","year":"1990"},{"key":"10.3233\/ICA-160526_ref49","doi-asserted-by":"crossref","first-page":"77","DOI":"10.1016\/j.fss.2012.04.004","article-title":"Synthesized design of a fuzzy logic controller for an underactuated unicycle","volume":"207","author":"Xu","year":"2012","journal-title":"Fuzzy Sets and Systems"},{"key":"10.3233\/ICA-160526_ref50","doi-asserted-by":"crossref","unstructured":"Hsu W.Y., Assembling a multi-feature EEG classifier for left-right motor data using wavelet-based fuzzy approximate entropy for improved accuracy, International Journal of Neural Systems 25(8) (2015).","DOI":"10.1142\/S0129065715500379"},{"issue":"8","key":"10.3233\/ICA-160526_ref51","doi-asserted-by":"crossref","first-page":"1450031","DOI":"10.1142\/S0129065714500312","article-title":"Intelligent multiagent coordination based on reinforcement hierarchical neuro-fuzzy models","volume":"24","author":"Forero Mendoza","year":"2014","journal-title":"International Journal of Neural Systems"},{"issue":"12","key":"10.3233\/ICA-160526_ref52","doi-asserted-by":"crossref","first-page":"951","DOI":"10.1111\/mice.12181","article-title":"Fuzzy cellular automata models for signalized intersections","volume":"30","author":"Chai","year":"2015","journal-title":"Computer-Aided Civil and Infrastructure Engineering"},{"issue":"11","key":"10.3233\/ICA-160526_ref53","doi-asserted-by":"crossref","first-page":"872","DOI":"10.1111\/mice.12166","article-title":"Fuzzy project scheduling problem with minimal generalized relations","volume":"30","author":"Ponz-Tienda","year":"2015","journal-title":"Computer-Aided Civil and Infrastructure Engineering"},{"issue":"9","key":"10.3233\/ICA-160526_ref54","doi-asserted-by":"crossref","first-page":"676","DOI":"10.1111\/mice.12091","article-title":"Fuzzy analytic hierarchy process synthetic evaluation models for the health monitoring of shield tunnels","volume":"29","author":"Zhang","year":"2014","journal-title":"Computer-Aided Civil and Infrastructure Engineering"},{"issue":"1","key":"10.3233\/ICA-160526_ref55","doi-asserted-by":"crossref","first-page":"43","DOI":"10.3233\/ICA-1993-1104","article-title":"A fuzzy neural network learning model for image recognition","volume":"1","author":"Adeli","year":"1993","journal-title":"Integrated Computer-Aided Engineering"},{"issue":"3","key":"10.3233\/ICA-160526_ref56","doi-asserted-by":"crossref","first-page":"287","DOI":"10.3233\/ICA-2003-10305","article-title":"Fuzzy clustering approach for accurate embedding dimension identification in chaotic time series","volume":"10","author":"Jiang","year":"2003","journal-title":"Integrated Computer-Aided Engineering"}],"container-title":["Integrated Computer-Aided Engineering"],"original-title":[],"link":[{"URL":"https:\/\/content.iospress.com\/download?id=10.3233\/ICA-160526","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T09:14:00Z","timestamp":1777454040000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.medra.org\/servlet\/aliasResolver?alias=iospress&doi=10.3233\/ICA-160526"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,9,20]]},"references-count":48,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.3233\/ica-160526","relation":{},"ISSN":["1069-2509","1875-8835"],"issn-type":[{"value":"1069-2509","type":"print"},{"value":"1875-8835","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,9,20]]}}}