Abstract
This paper describes a novel real-time velocity pattern generation system for power assisted wheelchair. Power assisted wheelchair which assists the driving force by electric motors is expected to be widely used as a mobility support vehicle for elderly people and disabled people, however, it is required to further improve the driving performance such as the ride quality and safety. The proposed system can flexibly generate various velocity patterns with bounded jerk and acceleration values based on the human input torque information in order to improve the ride quality and safety. Some experiments show the effectiveness of the proposed control system.
