5輪簡易電動車いすの段差昇降動作と操作支援システムの提案

抄録

The five-wheeled wheelchair is composed by a manual wheelchair with an add-on mechanism on the back of a wheelchair. The add-on mechanism has the link configuration with the active-caster drive unit and the linear actuator. The active-caster is used for propelling the wheelchair and the linear actuator is used for changing the posture of the wheelchair. In our previous work, we confirmed that the proposed wheelchair could climb over a 100 mm step stably. In this paper, we propose the step descending strategy of the wheelchair and derive the design condition to satisfy the step climbing/descending strategies. Also, we propose the motion control system for the step climbing and descending motion.