2A2-J04 無段変速機とサーボブレーキを用いた足こぎ車椅子の走行支援制御

抄録

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.