POWER ASSIST DEVICE

摘要

A power assist device to assist a user in effecting movement of a wheeled device. The power assist device has a user interface configured to be gasped by a user. The user interface measures up to six degrees of freedom forces and torque applied to the user interface and converts measured force and torque into electronic signals. The power assist device includes a controller having a processing resource to process the electronic signals. The controller provides at least one velocity reference signal representing a desired velocity. The velocity servo has an input for receiving the velocity reference signal and outputs a velocity feedback signal representing an actual velocity. The processing resource is configured to process the electronic signals outputted by the user interface and the velocity feedback signal to generate the velocity signal.