MOTOR-DRIVER WHEELCHAIR

摘要

PROBLEM TO BE SOLVED: To provide a small-sized and inexpensive motor-driven wheelchair which is easily driven without the need of special training and gives a comfortable driving feeling. SOLUTION: In this motor-driven wheelchair, different motors are installed respectively to left and right independent driving wheels, and traveling is controlled by independently controlling the motors. The wheelchair is provided with a driving device provided with a steering means and an acceleration means and a control means provided with an actual motion numerical formula model for calculating an actual traveling track from an actual traveling state and a virtual numerical formula model for calculating the virtual traveling track of a moving means assumed from the control input of a driving person to the driving device and the actual traveling track. The control means independently controls the motors so as to match the actual traveling track calculated with the actual motion numerical formula model with the virtual traveling track calculated with the virtual numerical formula model.