前輪駆動車いすの操作性向上のための操作システムに関する研究

抄録

At present, Japan faces the issues of population decrease and a super-aging problem, and it is thought that it increases the number of person who is difficult to move by oneself. Now, we pay attention to an electric wheelchair. This is classified roughly into 2 types, by the difference of installed position of driving wheels. These result in the difference in run properties. We pay our attention to low straightness of front-wheel-drive under these properties. This research aims for finding the cause of low straightness and proposition of the improvement method. We built a human - wheelchair model and performed simulation. In addition, we performed the automatic drive with the experimental wheelchair equipped with a laser sensor. Based on these results, we devised a control method to enhance operability of a front-wheel-drive wheelchair. Finally we confirmed the usefulness of our method by simulation and auto run.