車いすに対する自律的介助操作力の推定と主観的運動評価(機械力学,計測,自動制御)

概要

論文の詳細を見る
Predicting and estimating attendant's work propelling wheelchairs is need for safe and comfortable design of assisted powered wheelchairs because propelling force determines assist force to drive wheelchairs. We investigate the propelling force against wheelchair's load based on road resistance mainly using a newly produced treadmill analyzing and obtaining suitable propelling motion against loads. The load is created by feedback of belt velocity from detected pushing force along with defined load characteristics. We determine and estimate attendant's force against various load value with the experimental system at one subject on a level and among -8-+8 deg. slopes. We obtained the pushing force and walking velocity with exercising heart ratio, and calculated mechanical power of propelling wheelchair. The result shows that the power is about 30 W in a level. On upward slopes, the power decreases because attendants need energy to climbing themselves. Finally, attendants need proper assist force on road conditions.
社団法人日本機械学会の論文
2006-03-25