A previously developed electric cart was improved by installing a knob that allows the driver to continuously vary the pedal load between the strenuous and assisted modes. This paper explains how the pedal load is determined and a design method for the cart control system. First, the largest pedal load is determined from the standpoint of ergonomics on the basis of the rating of perceived exertion and the Karvonen formula with a special focus on the motor function of the elderly. Then, a gain-scheduling cart control system for any pedal load in the allowed range is described, and a stability condition is derived using dynamic parallel distributed compensation. Experimental results demonstrate the validity of the cart control system.
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