Abstract
This paper explains the development ofan electric cart that helps the elderly maintain or improve their physical strength. Unlike commercially available ones, it has a pedal unit that providessome exercise for a user in training his lower limbs. An impedance model describes the feeling of pushingthe pedals. The largest pedal load is determined based on a pedaling experiment. An $H_{\infty}$ controller isdesigned for each of the largest pedal load and virtually no load. A control law, which is based on the concept ofdynamic parallel distributed compensation, is designed using the rating of perceived exertion of a driveras a criterion to choose a pedal load between the largest and almost zero. Five university students andtwelve elderly people participated experiments to verify the system design and the validity of the system.
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