Abstract
This paper describes a straight and circular road driving control scheme for power assisted wheelchair. Power assisted wheelchair which assists the driving force by electric motors is expected to be widely used asa mobility support system for elderly people and disabled people, however, the performance of the straightand circular road driving must be further improved because the two wheels are driven independently. Thisaper proposes a straight and circular road driving control scheme based on the balanced assisted torquebetween the two wheels. The balanced assisted torque is determined from the proportion of the human inputtorque to the right and left wheels. Some experiments and performance evaluation from trial subjects showthe effectiveness of the proposed control system.
