運動能力を維持·増進する電動カートの開発 —Part I：電動カートシステムの設計—

This paper explains the development of a three-wheeled electric cart that not only is a means of transportation, but also provides the driver with a way of getting some physical exercise. Based on an investigation of the physiological decline accompanying aging, pedaling was chosen to implement the function of maintaining or improving physical strength; and an ergonomically designed pedal unit was mounted on a cart. An interface board that handles inputs and outputs was assembled to simplify the design of the system. Finally, a simple bilateral master-slave control system was built to test the cart. Experimental results on a fabricated cart demonstrate the effectiveness of pedaling and the usability of the system structure.