片漕ぎ型パワーアシスト車いすの提案と走行制御シミュレーション

抄録

Various one hand drive type wheelchairs have been developed for persons who can use only right or left arm. However, there was not an one-hand drive type wheelchair with a power assist function. So, in this paper, we propose for several mechanisms and control methods of such a wheelchair. Then, the simulation of linear and circular tracking control was performed for the proposed wheelchair. The result showed the validity of the proposed control method.