Development of Power-Assisted Attendant-Propelled Wheelchair.
Development of Power-Assisted Attendant-Propelled Wheelchair.
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动力辅助服务员推进轮椅的开发。
DOI：
10.2493/jjspe.65.1126
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发表时间：
1999
影响因子：
--
通讯作者：
Y. Sekiguchi
中科院分区：
文献类型：
--
作者：
A. Kakimoto;H. Matsuda;Y. Sekiguchi
已开发出不同类型的助力轮椅动力附加装置，其中一些已在市场上出售。它们大多没有考虑操作员的推拉能力，必须在握住推杆的同时用开关调节功率。对老年人来说，要做到这一点并不容易，特别是当他们需要采取紧急行动时，如突然停车。感应推进力将使操作变得容易得多，而不是操作开关。在本研究中，为了提高操纵性和紧凑性，采用了带有差动齿轮的单电机系统。作为推进力传感器，采用磁致伸缩传感器，检测操作者的推力或拉力。作为控制方法，提出了一种模型参考控制。操作者控制助力装置，就像操作者在坚固的地面上操纵轻便轮椅一样。该模型用质量和粘性阻尼因子来描述。制作了样机，并在地面和坡面上进行了初步试验。实践证明，它能有效地降低操作者的推进力。本文介绍了它的控制方法、机械设计、控制电路、控制仿真和样机试验结果。
Different types of power add-on units for attendant propelled wheelchairs have been developed and some of them are available on the market. Most of them do not consider the operator's pushing or pulling capability and he must adjust the power with a switch while holding the pushing handle. It is not easy for elderly people to do so especially when they need to take a prompt action such as sudden stop. Sensing the propulsion force would make the operation much easier instead of operating the switch. In this study, one motor system is adopted with a differential gear for maneuverability and compactness. As propulsion force sensor, a magnetostrictive sensor is employed and it detects pushing or pulling force by the operator. As control method a model reference control is proposed. The power assist is controlled as if a lightweight wheelchair was operated on solid flat ground by the operator. The model is described with mass and viscous damping factor. A prototype was made and initially tested on floor and slope. It was found effective to reduce operator's propelling force. This paper describes its control method, mechanical design, control circuit, control simulation and test results of the prototype.