4106 Evaluation of maneuverability on attendant propelled wheelchairs with assisting control based on autonomous propelling model

Abstract

To design an assisting system on attendant propelled wheelchairs, we evaluate maneuverability on a human-wheelchair system having our developed model based assisting system. We solved sensitivities of propelling force, assisting force and wheelchair velocity against additional forces and resistant forces of a wheelchair, then calculated them with a real condition based on experiments. We found that our proposed system has advantage against additional propelling force and general proportional system has other advantage against additional resistant force.