車いす用簡易型電動駆動ユニットの開発外乱オブザーバによる力推定及びセンサレスパワーアシストの実現

抄録

Recently, care burdens increase rapidly in many countries because of the population aging. The powered wheelchair have been developed and studied for reduction of the burdens, but there still exist many problems. Power add-on unit (PAU) is a kind of powered wheelchair which can be attached on or detached from the manual wheelchair easily. In this study, we developed a new type PAU which can be used at the most type of manual wheelchairs, easily to be attached to or detached from it and so on. From the viewpoint of usability, it is difficult to change the speed by using switch or joystick for the attendant, because the attendant has to subject with the powered wheelchair. Therefore, we developed a force sensorless power assistance system for the PAU without using expensive force sensor.