1P1-N09 パウダブレーキを用いたパッシブ支援車椅子の開発 : 第2報:ユーザー漕ぎ動作を用いた進行方向推定法(福祉ロボティクス・メカトロニクス(1))

Abstract

In this research, we propose a novel intelligent wheelchair based on the passive robotics. In our previous report, we realize assistance algorithm, which controls the servo brake cooperation with the user's operation. For realizing the driving assistance function, our system requires the reference trajectory. Therefore, in this paper, we propose the direction estimation scheme its user wants. For realizing the estimation, we use the minimum jerk trajectory model, which expresses the typical human movement. We test our proposed assistance system by the experiment with our prototype and verify its effectiveness.