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急勾配スロープにおける電動車いすのアシスト及びアシスト率の自動調節法

急勾配スロープにおける電動車いすのアシスト及びアシスト率の自動調節法

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カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2020/05/01

タイトル(英語): Power Assistance for an Electric Wheelchair on a Steep Slope and the Automatic Adjustment of its Assistive Ratio

著者名: 李 沛譲(前橋工科大学),劉 暢(前橋工科大学),松澤 隆一(前橋工科大学),梁 宏博(前橋工科大学),上田 直哉(前橋工科大学),渡邉 大貴(前橋工科大学),朱 赤(前橋工科大学)

著者名(英語): Peirang Li (Maebashi Institute of Technology), Chang Liu (Maebashi Institute of Technology), Ryuichi Matsuzawa (Maebashi Institute of Technology), Hongbo Liang (Maebashi Institute of Technology), Naoya Ueda (Maebashi Institute of Technology), Taiki Watanabe (Maebashi Institute of Technology), Chi Zhu (Maebashi Institute of Technology)

キーワード: パワーアシスト,センサレス推定,アドミッタンス制御,電動車いす,外乱オブザーバ  power assistance,sensorless estimation,admittance control,electric wheelchair,disturbance observer

要約(英語): In this paper, an electric wheelchair with a low-cost force sensing mechanism was developed for power assistance on a steep slope. Steep slopes can be found in mountainous areas and so on. In particular, 17° slopes have been used in some mobile examination cars, in which, two or three staffs have to push and pull a wheelchair so that it can enter the car and enable medical examinations to be conducted. However, most electric wheelchairs in the market cannot climb such a steep slope. Therefore, in this study, we first developed an electric powered assistive wheelchair for such steep slopes and then proposed extended admittance control to provide assistance when climbing such slopes. The extended admittance control can distribute the burden due to the gravity of the entire wheelchair and the rider to the caregiver and the electric wheelchair. Meanwhile, an automatic parameter adjustment method was proposed for deriving the maximum power of the motor for assistance according to the weight change of the wheelchair and the rider. Verification experiments were used to evaluate the proposed assistive control, and its effect was verified.

本誌: 電気学会論文誌D(産業応用部門誌) Vol.140 No.5 (2020) 特集:2019年産業応用部門大会

本誌掲載ページ: 364-371 p

原稿種別: 論文/日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/140/5/140_364/_article/-char/ja/

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