1P1-J09 Attitude Control of Front Drive Type Electric Wheelchair using Driving Model on Flat Floor(Wheeled Robot/Tracked Vehicle)

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  • 1P1-J09 平坦路走行モデルを用いた前乗り型電動車椅子の姿勢制御(車輪型/クローラ型移動ロボット)

Abstract

Electrical wheelchair has been used as a convenient transport device for elderly and handicapped people. Recently, front drive type electric wheelchair has been focused, with which handicapped person get on it from a bed easily. When the wheelchair drives on the slope, the wheelchair doesn't run straight in spite of same control stick operation on flat floor. If wheelchair can be driven by same stick operation as the operation on flat floor, it will be a comfortable function for handicapped people. In this paper, we propose a wheelchair control method that realizes comfortable function, i.e. driving with same stick operation on the flat floor. The effectiveness of proposed method is confirmed by wheelchair driving simulations on the slope.

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