2P1-E03 4WD全方向移動車いすのパワーアシストシステム

概要

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This paper presents a fundamental discussion and testing for designing a power assist system for an omnidirectional wheelchair with 4WD mechanism. It is our aim to develop a power assist system which allows care-givers and wheelchair-users to maneuver wheelchairs using a power assist function. To achieve this functionality, it is required to install a force-torque sensing device on the bottom of a chair. We develop a force-torque sensing system for a omnidirectional wheelchair since a device which is fit to our specification was not found on the market. The developed system was installed on the omnidirectional wheelchair prototype and fundamental functionalities were tested. In the experiments, step climbing and maneuvering by applied force on the front side of the chair were realized by the prototype wheelchair
2009-05-25