Research on the Optimal Design of the Assistance Equipment by a Human Technology Design (HTD)

这项研究任务是去年完成的。辅助设备实验模型和便携式驱动装置实验模型按照原研究方案进行了实验和检验。今年的研究开展了以下项目。(1)辅助电动轮椅上坡驾驶控制实验前一年进行了辅助电动轮椅驾驶实验。通过实验得到了充分的结果。因此，今年辅助电动轮椅进行了上坡驾驶试验。在实验中，对电机的驱动时间、转矩的设定和运行速度的调整进行了研究。实验结果表明：上坡行驶减轻了轮椅使用者的负担。辅助电动轮椅使辅助驾驶成为可能。(2)辅助设备辅助转矩控制分析前一年对辅助设备的实验模型进行了完善。实验模型验证了辅助转矩控制操作的分析和安全性。今年我们尝试使用辅助设备进行座位操作。实验中进行了辅助驾驶的控制设置和调节。实验结果表明：辅助驾驶控制现在可以根据用户的意图坐下。该稳定性在实验中能够得到充分的结果。关于上述项目的详细研究成果，在IEEJ、KMEC和一个国际会议上做了研究报告

This research task is the last year. The experimental model of assistance equipment and a portable drive unit performed experiment and examination in conformity with the original research program. Research, this year, carried out the following items.(1)The experiment of uphill driving control of an assistance electric wheelchairThe driving experiment of an assistance electric wheelchair was conducted the previous year. Sufficient result was able to be obtained by experiment. Therefore, the assistance electric wheelchair experimented in uphill driving this year. In the experiment, drive time of a motor, setting of torque, and adjustment of the running speed were performed. The experimental result showed the following. The running of uphill driving has reduced the wheelchair user's burden. The assistance electric wheelchair enabled assistance driving.(2)Analysis of the assistant torque control of assistance equipmentThe experimental model of assistance equipment was perfected the previous year. The experimental model examined the analysis and the safety of assistance torque control operation. We experimented about seating operation this year using assistance equipment. In the experiment, control setting and adjustment of assistance driving were performed. The experimental result showed the following. The assistance driving control can sit down now with a user's intention. The stability was able to obtain sufficient result in the experiment.About the details of the research results of the above-mentioned item, research presentation was made at IEEJ,KMEC, and an international