Power-Assisted Cart Based on Inherently Safe Control

Abstract

This paper proposes a high-safety power-assisted cart that can be operated on a slope by applying little-changed manual power even if the inclination changes. In this cart, balancing operation to compensate for load increments due to the increase in the inclination by using a spring is achieved in the safe state with the cart held by the brake application, while dangerous moving operation is performed by safe human power. Firstly, the principle of a power assist system using a coil spring is introduced. Secondly, the mechanism and control sequence of the power-assisted cart is described. Lastly, the effectiveness of the power-assisted cart is verified by experiments.