乗り心地を考慮した電動車いすの制御(機械力学,計測,自動制御)

概要

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Recently, the user of electric powered wheelchair increases, and they are requiring the improvement on the riding quality. Various factors are related on the riding quality of electric powered wheelchair. The human body tilting by acceleration and deceleration of electric powered wheelchair is one of the factor which is related to the riding quality. In case of the electric powered wheelchair, tends to become rapid acceleration and deceleration in speed control through the joystick especially. Therefore the human body becomes instability, and large effect is given in the riding quality. In this study, the control system which reduce the human body tilting was designed, using the model of human electric powered wheelchair system, and the effectiveness was examined. The optimal regulator was designed which used the two-dimensional model considering the human body tilting only of front-back direction in order to ensure the operatability of electric powered wheelchair and kalman-filter for the estimation of deflection angle of the trunk. This control method was confirmed that the reduction effect of the human body tilting by the simulation. In addition, the controller has been applied to the wheelchair with the auxiliary power unit, then the reduction effect of the human body tilting was examined.
一般社団法人日本機械学会の論文
2004-01-25