Abstract
This report is about relative motion between a helper and a power assisted wheelchair. A method of reduction force to push a wheelchair for a helper is a power assisted wheelchair. The power assisted wheelchair is driven by a helper force and a auxiliary wheel torque driven a motor. Torque of the auxiliary wheel calculated by a controller to detect a helper force. The controller designed for comfortableness of a helper. Comfortableness of a helper determined relative motion of a helper and the power assisted wheelchair. Comparisons the relative motions at a variety of proportion of helper and auxiliary force is examined, and conclusions drawn about dynamic characteristics of system of a helper and the wheelchair. Finally, the controller to comfort a helper is proposed and inspected.
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