抄録
In this study, we develop a moving device with autonomy for handicapped persons so that they may use their own chair being accustomed to sit and can move without aid of helper in a Japanese-style room. The moving device can be controlled easily with a joystick and can mount an arbitrary seating system. Moreover, it has a function of the automatic operation for persons who don't have enough motor function to move and pass a narrow space such as doors.
