介助者・車いす系の自律駆動操作モデルの構築と性能検証(機械力学,計測,自動制御)

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  • Estimation of a Propelling Motion Model under an Autonomous Manipulation on the Human-Wheelchair System(Mechanical Systems)
  • 介助者・車いす系の自律駆動操作モデルの構築と性能検証
  • カイジョシャ クルマイスケイ ノ ジリツ クドウ ソウサ モデル ノ コウチク ト セイノウ ケンショウ

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抄録

Driving attendant-propelled wheelchairs has large physical and mental burden. So its usage is limited in short time and small area. To reduce the burden, it is very important to employ auxiliary assisting device to assist propelling. The development of the device according to attendant's performances, needs well-organized estimation of the propelling load under various operation. To validate the load in various conditions on real road is difficult to carry out. We propose a newly motorized treadmill to simulate the various road conditions based on an attendant-wheelchair model. We investigate and organize the various propelling load on the treadmill, then develop an attendant model for design of auxiliary assisting device. From our results, we found that attendants autonomously regulate propelling force by subjective physical load, and validated the model. Finally, our proposed attendant's model can successfully estimate the propelling load on various roads, and apply for the design of assisting device.

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