Abstract
The purpose of this study is to design the power assist control system based on attendant propelling model. First, we proposed the model including the pushing power characteristic of an attendant against walking speed and the load characteristic of a wheelchair determined by road resistance. An experiment results for validating the model provide good correspondence. Next, we optimized the power assist PID controller based on the model at both flat surface and + 4deg. slope. As the results, the solved PID controller on try and error basis shows good reduction of the attendant's operating force, in addition, secures safe movement of the wheelchair.
