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

本课题是去年的研究课题。辅助设备和便携式驱动单元的实验模型进行了实验和检查，符合原来的研究计划。今年的研究工作包括以下几个方面。（1）辅助电动轮椅的上坡行驶控制的实验辅助电动轮椅的行驶实验是在前一年进行的。通过实验，取得了较好的效果。因此，辅助电动轮椅今年在上坡行驶中进行了试验。在实验中，进行电机的驱动时间、转矩的设定和运行速度的调整。实验结果表明：上坡行驶的运行减轻了轮椅使用者的负担。辅助电动轮椅可实现辅助驾驶。（2）助力装置助力力矩控制分析助力装置的实验模型是去年完善的。实验模型检验了辅助转矩控制操作的分析和安全性。今年我们使用辅助设备进行了座椅操作的实验。在实验中，控制设置和调整的辅助驾驶。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。关于上述项目的研究结果的详细内容，在IEEJ、KMEC、国际交流协会等进行了研究报告。

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