Development of Wheelchair with Assistive Power Unit

Kakimoto, Akira; Funakubo, Akio; Suzuki, Shigenobu; Sekiguchi, Yukio

doi:10.5136/lifesupport1986.6.3_17

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A Necessary Power Assistance1

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“…The wheelchair weighs 20kg. We assume the weight for the power add-on unit weighs about l5kg and the operator walks at lm/s based on the former research [3]. We concluded the necessary power assistance ranges from lOOW to 165W at maximum.…”

Section: A Necessary Power Assistancementioning

confidence: 93%

Development of power-assisted attendant-propelled wheelchair

Kakimoto¹,

Matsuda²,

Sekiguchi³

Proceedings of the 19th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. 'Magnificent M

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Attendant propelled wheelchairs are driven by people who often feel necessity for power assistance while pushing them up or going down on ramps, sideslopes or curbs. We propose a novel power-assisted wheelchair with a force sensing mechanism. A DC motor and a differential gear are employed. The power assistance is controlled as if it were always operated on a solid flat ground. The control alogrithm is based on a model reference adaptive control (MRAC). A prototype was made and initially tested. It was found effective to reduce operator's driving force.

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Section: A Necessary Power Assistancementioning

confidence: 93%