抄録
In this study, in order to develop a power assisted cart having low cost and high operability, we have developed a cart of one motor drive. It is controlled so as to have an impedance characteristic in cart by using operation force. In order to realize low cost, operation force is calculated from the angle of the movable handle, and the handle angle is measured by a potentiometer. We have mapped the relationships of operation force and the handle angle. We have assessed operability of the cart by using the SD method.
