アクティブキャスタを用いた簡易電動車いす駆動システムに関する研究

抄録

A new wheelchair add-on drive system using an active-caster is proposed in this paper. The proposed system enables a manual wheelchair to be driven in the same manner as the conventional electric wheelchair hence it equips single drive wheel. In this paper, the kinematics and dynamics of the wheelchair with the single active-caster are modeled for deriving a control law and analyzing the motion of a motorized wheelchair. To verify the availability of the proposed drive system, a prototype wheelchair is designed and built. The experiments using the prototype show expected moving capability in which the 2DOFs of the wheelchair are controlled independently with no restrictions of a non-holonomic constraint.