1P1-C02 Development of a passive-type wheelchair using a powder brake : 4th report: Control of wheelchair braking by slope in environment(Welfare Robotics and Mechatronics (2))

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  • 1P1-C02 サーボブレーキを用いたパッシブ支援車椅子の開発 : 環境中の路面傾斜に応じた手動車椅子のブレーキ制御(福祉ロボティクス・メカトロニクス(2))

Abstract

In this research, we are developing a novel intelligent wheelchair based on the passive robotics. In this paper, we propose a driving assistance system according to the slope angle in environment. Since the road gradient there are various, travel control can respond to each is important. Important points are compensates the fact that with a tilt angle sensor, to measure the angle of the variable slope, and by controlling the servo brake, the effect of gravity varies depending angles, an important point is the driving support algorithm. The effectiveness of our proposed system is verified by the experiments with our wheelchair.

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