Formulation of electric wheelchair dynamical model with consideration of castor dynamics

Abstract

We propose an entirely new model of the electric wheelchair that consists of the castors and the main body. The equations of motion about the castors and the main body are derived by the physical law. In particular, the dynamics of the castor is considered in this study. In order to confirm the validity of the constructed electric wheelchair model, the comparison between the experimental result and the simulation result about the castor behavior is performed. Then, we examine the parameter of the electric wheelchair to suppress the disturbance (for example, the behavior of the castor and the road gradient) as an application of the proposed model.