Fuzzy inference type high efficient driving control of power-assisted wheelchair and verification by operating pattern

Abstract

In the super aging society of Japan in recent years, wheelchairs are cited as one of the welfare tools expected to increase demand. Power-assisted wheelchair has advantages that it can be used even by people with weak operating force and has the rehabilitation effect by operating push rim. However, since it can only be assisted with a constant assist ratio, it is likely to be jump-started or sudden stopped. In addition, its movement range is limited by the capacity of the battery.This study proposes a fuzzy inference type control method to realize the high power efficiency and high manpower efficiency driving, and verifies its effect by changing the operation pattern. The proposed control system generates the minimum assist torque necessary for acceleration to save power while the user is operating, and extends the coasting by adjusting the decrease amount of the assist torque after releasing the push rim. Furthermore, the power efficiency and manpower efficiency are evaluated with changing the operation pattern of the operating force and the time interval. As a result of the experimental verification in some high efficiency operating patterns, compared with the commercially available power-assisted wheelchair, it was shown that the improvement of the power efficiency and manpower efficiency can be realized.