抄録
A self-propelled type of wheelchair with hand-rims is diffused. Although the wheelchair gives users convenience, operator's motions to propel the wheelchair fatigue them. Recently the wheelchair has been equipped with a power assist control system, which mitigates fatigue and maintains athletic ability of upper-limb. However, this system is not general that corresponding to situations of a road surface and a change of operation. In this research, we propose the model of human-wheelchair system by acquiring the human characteristics in propelling wheelchair. And then, we propose the assist power control system based on the discussion about above model in which many factors on the interaction between human and wheelchair. We consider the propelling-force first as the factor depended on human. Subjects exercised the follow-up test fixing the wheelchair velocity to the reference velocity. We can perform modeling and verification experimentally in quest of a required element.
