The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2015
Session ID : 2A2-J04
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2A2-J04 Moving Assist Control of Cycling Wheelchair by Continuously Variable Transmission and Servo Brake
Shotaro ANDOYasuhisa HIRATAKazuhiro KOSUGE
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Abstract
We developed a cycling wheelchair with CVT (Continuously Variable Transmission) and servo brake. The cycling wheelchair is a pedal driven system and support the moving of the patients with impairment of their lower extremities. In this study, we propose a control method of the CVT for keeping the angular velocity of the pedaling of the user called cadence and the control method of the servo brake to prevent the excess of the velocity of the cycling wheelchair. We conducted the experiments with and without the proposed control methods and experimental results illustrate the validity of them.
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© 2015 The Japan Society of Mechanical Engineers
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