Research of Power Assisted Wheelchair with Continuous Variable Torque Control

2本研究以“舒适的操作性和助力转向般的轻便轮椅”为开发理念，旨在实现具备汽车助力转向平均操作性和不少于一名使用者可以应对的坡度轻便性的电动辅助轮椅。在研究期间，研究者询问了以下问题：（1）检查。控制方法，（2）控制系统的设计和试制，（3）扭矩传感器的设计和试制，（4）扭矩传感器的设计和制造，（5）扭矩传感器的实验设备的设计和制造，（7）第一样机的制造，（8）第一样机的控制程序的开发。(9)第一台样机的数据采集，（10）第二台样机机械部分的设计和制造，（11）第二台样机控制系统的设计，（12）第二台样机的建造 ...更多信息 （13）由第二样机进行的数据采集（14）最优形式的检查，以及（15）最优控制算法的检查。作为这项研究的结果，开发了小型轻量化的手动驱动力检测器，这是一个重要的点，设计了新的方法，电力和信号传输的非接触，提出了动力辅助轮椅与连续可变扭矩控制系统，并制造了第一个原型，使用商业优雅的基础。并进行了轻量化设计，研制出第二台样机，实现了大幅度轻量化，达到了不亚于一个用户自己能应付的程度。此外，研究者认为，还需要开发一种轻型的小高度差骑跨机构，因为根据对城市区域中的高度差的调查，如果存在大约1-2步的小高度差，例如车道和人行道的高度差，则可以预期轮椅的动作范围急剧扩展。少

2In this research, as a development concept, "comfortable operativity and the lightweight wheelchair like a power-steering" were hung up and it aimed at realization of the electric auxiliary wheelchair equipped with the operativity of the power-steering average of a car, and the lightweight nature of the grade which no less than one user can deal with. In the research period concerned, investigators inquired about the following matters : (1) examination of the. control method, (2) design and trial production of a control system, (3) design and trial production of a torque sensor, (4) design and manufacture of a torque sensor, (5) design and manufacture of experiment equipment for the torque sensor, (7) manufacture of the first prototype, (8) development of the control program of the first prototype. (9) data collection by the first prototype, (10) design and manufacture of mechanism parts the second prototype, (11) design of the control system of the second prototype, (12) construction … More of the control system of the second prototype (13) data collection by the second prototype (14) examination of the optimal form, and (15) examination of the optimal control algorithm. As a result of this research, investigattors developed the small lightweight manual driving force detector which is an important point, devised the new method of the electric power and the signal transfer by un-contacting, proposed power assisted wheelchair with continuous variable torque control system, and manufactured the first prototype which used commercial elegance as the base. And also invettigators tackled the lightweight-ized design and manufactured the second prototype which realized large lightweight-ization to the grade which no less than a user itself can deal with. Moreover, investigators considered for a lightweight small level difference riding over mechanism to also need to be developed since it will be expected mat the action range of a wheelchair spreads sharply if about 1-2 steps of small level differences, such as a level difference of a driveway and a sidewalk, from the survey of the level differences in a city area. Less