段差乗り越え機構を用いた倒立振子型電動車椅子の開発

抄録

This study investigated the development and control of an inverted pendulum electric wheelchair that can move forward and backward and can rotate according to the movement of the user's center of gravity, without requiring use of the hands. The wheelchair is moved forward and backward by means of an integrated gyro + accelerometer that monitors shifts in the user's center of gravity. Left/right rotation is controlled according to the difference in air pressure between the right and left sides of an air cushion placed on the seat surface. In addition, this study developed a step climbing function and confirmed the effectiveness by experiment.