Novel Control Scheme of Power Assisted Wheelchair for Preventing Overturn (Part II)-Variable Assistance Ratio Control Based on Estimation of Center-of-Gravity Angle and Phase Plane-

Abstract

Aged people and disabled people who have difficulty in walking are increasing. As one of mobility support, significance of a power assisted wheelchair which assists driving force using electric motors and spreads their living areas has been enhanced. However, the increased driving force often causes a dangerous overturn of wheelchair. This paper proposes a novel control method to prevent power assisted wheelchair from overturning.© 2004, The Institute of Electrical Engineers of Japan. All rights reserved.