2P1-B12 足こぎ車椅子の走行抵抗補償制御(福祉ロボティクス・メカトロニクス(3))

抄録

Though the recently introduced cycling-wheelchair have enabled paraplegia and hemiplegia patients to travel smoothly and quickly, it has problem going through some environments such as slopes and level differences. Power-assisting the cycling-wheelchair would be an solution. Practically used power-assist control multiples force of the user by constant. However, multiplying the force by constant is not enough on steep uphill and the user is not able to get off the cycling-wheelchair to push. In this paper we have utilized travel resistance compensation control into a cycling-wheelchair to evaluate its efficacy.