Realization of "Wheelie" Function on Power Assisted Wheelchair

Aged people and disabled people who have diÆculty in walking are increasing especially in Japan. As one of mobility support, signi cance of power assisted wheelchairs which assist driving force using electric motors and spread their areas of life has been enhanced. Power Assisted Wheelchair has received high appreciation from users. However, if they try "wheelie" for climbing over steps, there is high risk that wheelchairs are overturned. Therefore, an additional function which realize \wheelie" in safety is required. In this paper, a new method of "wheelie" on a power assisted wheelchair is proposed. By adjusting the input torque imposed by users, safe "wheelie" motion without overturn can be realized. キーワード:高齢者・障害者支援, パワーアシスト車椅子, ウィリー機能, 転倒防止, 模擬慣性機能 (