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Research of Power Assisted Wheelchair with Continuous Variable Torque Control

连续变扭矩控制助力轮椅的研究

基本信息

批准号：
10555094
负责人：
KUMAGAI Kazushi
金额：
$ 2.82万
依托单位：
Sendai National College of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
1998
资助国家：
日本
起止时间：
1998 至 2001
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-10555094/
关键词：
Wheelchair PowerAssist Torque Control Software Servo System ServoMotor Torque Sensor Rotary Transformer

项目摘要

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

2本研究将“舒适性操纵性和轻量化轮椅如动力转向”作为一种开发理念，旨在实现电动辅助轮椅配备的电动辅助轮椅具有汽车的平均助力操纵性，以及不少于一名使用者就能应付的等级的轻量化。在有关研究期间，调查人员询问了以下事项：(1)审查。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)扭矩传感器实验装置的设计和制造，(7)第一台样机的制造，(8)第一台样机控制程序的开发。(9)第一台样机的数据采集，(10)第二台样机机械零件的设计与制造，(11)第二台样机控制系统的设计，(12)施工…更多的是对控制系统的第二样机(13)进行数据采集，通过对第二样机(14)进行最优形式的检验，以及(15)对最优控制算法的检验。在这项研究的基础上，研究人员开发了小型轻型手动驱动力检测仪，设计了非接触式电能和信号传输的新方法，提出了连续可变扭矩的动力辅助轮椅控制系统，并制造了第一台以商用优雅为基础的样机。发明者还攻克了轻量化设计，制造了第二个原型，实现了大规模轻量化，达到了不低于用户自己可以处理的级别。此外，调查人员还认为，还需要开发一种轻量级的小水平差骑行机构，因为从城市地区的水平差调查中，如果大约1-2个台阶的小水平差，如车道和人行道的水平差，轮椅的作用范围将急剧扩大。较少