Research of Power Assisted Wheelchair with Continuous Variable Torque Control

2在本研究中，作为一个开发理念，“舒适的操作性和像动力转向一样的轻便轮椅”被挂起，旨在实现电动辅助轮椅具有汽车动力转向的平均操作性，以及不少于一个用户可以处理的轻量化等级。在有关研究期间，调查人员询问了以下事项：(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)扭矩传感器实验设备的设计和制造，(7)第一台样机的制造，(8)第一台样机的控制程序的开发。(9)由第一原型机收集数据，（10）设计制造第二原型机的机构部件，（11）设计第二原型机的控制系统，（12）构造第二原型机的控制系统，（13）由第二原型机收集数据，（14）检验最优形式，以及（15）检验最优控制算法。在此基础上，研制了小型轻便的手动驱动力检测仪，设计了非接触式电力和信号传递的新方法，提出了带连续变扭矩控制系统的助力轮椅，并制造了第一台以商业优雅为基础的样机。研究人员还解决了轻量化设计，并制造了第二个原型机，实现了大轻量化，达到了不低于用户自己可以处理的程度。此外，研究人员还考虑开发一种轻便的小高差骑乘机构，因为从城市地区的高差调查中可以预期，如果车道和人行道的高差相差1-2步左右，轮椅的动作范围就会急剧扩大。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