インクルーシブスポーツに向けたスポーツタイプ足こぎ車いすの制御

抄録

Nowadays, the number of people facing mobility difficulties is growing. While these individuals can use assistive tools like wheelchairs for daily activities, participating in sports alongside individuals with typical abilities remains a challenge. In this paper, we propose a robotic system to facilitate Inclusive Sports, allowing people to enjoy sports and compete together regardless of age and disabilities. The system employs pedaling mechanisms, such as cycling wheelchairs and tricycles, as personal mobility tools. These machines, equipped with at least three wheels, aim to reduce the risk of users falling. Additionally, a power assist function is integrated to enable users with limited leg mobility to independently operate the tools. We also introduce control policies for the robots to navigate during sports competitions for people with visual impairment. Through experiments, we confirm the feasibility of the proposed system, demonstrating its potential for use in Inclusive Sports.