Fig. 3
From: SenseJoy, a pluggable solution for assessing user behavior during powered wheelchair driving tasks
The block diagram of the complementary filtering for the left/right joystick axis. Differential acceleration between joystick and EPW is used to calculate the angular variation in the left/right joystick axis. This value is compared to the estimated angle variation updated by gyrometer measurement and corrected with the previous angle estimation. The same operations are done for the backward/forward axis