Abstract
A power-assisting device should provide appropriate support for various physical conditions of persons who need supports. Therefore motion-sensing concept is introduced into a control system for a power-assisted chair. A basis of the concept is real-time modification to a desired path. The path is transformed about a time axis by difference between a standard load pattern and an actual load pattern on a floor. This method makes a sort of compliance and is expected to realize more adaptive assisting. The control system was implemented for the power-assisted chair. The effect was investigated by experiment on the system.
