Development of Taylor Made Electric Wheelchair Realizing Comfort Drive for Various Passenger

本文研究了一种考虑乘客身体晃动抑制的电动轮椅驱动控制系统。由于乘客的姿势行为根据车架和残疾的不同而不同，轮椅的驾驶控制需要适应乘客的性格。因此，在本研究中，提出了考虑乘客体型和肌肉力量的乘客姿势行为模型。由于该模型考虑了乘客的身体与靠背的接触，因此该模型可以准确地表示乘客的行为。利用该模型开发了轮椅驱动控制系统。然后，以主观评价和出汗测量为客观评价，对所开发的轮椅驾驶控制系统的乘坐品质进行评价。在此基础上，利用乘客行为模拟器，构建了轮椅搭载肌肉无力乘客的驾驶控制系统，并通过仿真验证了所提出的驾驶控制的有效性。

This study is concerned with a driving control system for electric wheelchair considering sway suppression of passenger's body. Since the passenger's posture behavior differs according to the frame and disability, the wheelchair's driving control is required to adopt the passenger's character. Therefore, in this study, the passenger's posture behavior model considering the passenger's frame and muscle strength is proposed. Since the model is involved that the passenger's body contacts to the backrest, the passenger's behavior can be represented by the proposed model precisely. By using the proposed model, the wheelchair driving control system is developed. Then, the developed wheelchair driving control system is evaluated a ride quality by subjective assessment and sweat measurement as objective evaluation. Furthermore, by using the passenger's behavior simulator, the proposed driving control system is constructed to the wheelchair taking the passenger with muscle weakness, and then the effectiveness of the proposed driving control is demonstrated in the simulation.