| 摘要 |
Provided is a handcart such that a walking assistance subject can adjust the direction of balance by means of his/her own sensation, even if the ground plane has a slope. The handcart is provided with: a pair of wheels; one or more drive units that cause the pair of wheels to rotate; a main body section at one side of which the pair of wheels are supported rotatably; a grip section provided to the other side of the main body section; and a support section that is, at one side thereof, connected to the main body section in a manner rotatable in the pitch direction, and that, at the other side thereof, supports one or a pair of auxiliary wheels in a rotatable manner. The angle formed by the main body section and the support section is detected, and on the basis of the detected angle, the angle formed by the main body section to the direction perpendicular to the ground plane is inferred. The input is received of a correction value for correcting a target pitch angle, and on the basis of the target pitch angle corrected by the correction value of which the input has been received, the position in the pitch direction of the main body section is controlled. |
