| 摘要 |
PROBLEM TO BE SOLVED: To realize high linear stability during driving, prevention of one-sided driving, unsteadiness and the like, and high safety during operation in a power vehicle or a power assisted vehicle. SOLUTION: A wheelchair with motive power 1 comprises driving wheels 3 driven independently on the left and right sides and used both as propulsion and steering. Operation external force added in an operation part 6 and comprised in a vehicle body 2 is detected at an external force means 7, and separated to the external force in a propulsive direction and the external force in a steerable direction by a control means 8. Any system of torque control, position control, speed control and acceleration control is set as a control system producing an assist force for the propulsive and the steering in the driving wheels 3 based on the external force, and a different system among the control systems against the propulsive direction and the steering direction is set. The set of the control system is selected and set according to the external force and road conditions (a slope, an off-road and a rugged road or the like) added in the operating part by operators. COPYRIGHT: (C)2004,JPO |
