Abstract
Joysticks can be used to effectively control a powered wheelchair. The joystick is the most common control interface between the user and the wheelchair. By improving performance of powered wheelchairs and other assistive devices, the joystick, one of the man-machine-interface, becomes to be needed for more delicate operation. In such situation, for elderly persons with functionally insufficient upper extremity and handicapped persons with involuntary motion of arm, there is a possibility of causing serious problems as steering mistake. One of the effective methods is to set the mechanical stiffness characteristics of the joystick according to operator's stiffness characteristics.
