| 摘要 |
PROBLEM TO BE SOLVED: To simplify a means for detecting human power when the drive torque of an electric auxiliary motor for running assistance is introduced into the wheelchair main body, so that the means can be controlled at low cost and by a simple program. SOLUTION: The on/off information of a switch for detecting relative rotation of an elastically supported hand rim to a wheel 3 is inputted to a motor control means 24. In the forward moving mode, the drive torque for running assistance by the electric auxiliary motor 23 is successively added to be introduced into the wheelchair main body A while a forward movement detection switch is kept on. In the brake mode, the drive torque for running assistance is changed to be the brake torque and is successively added to be introduced into the wheelchair main body A while a brake detecting switch is kept on. In the inertia movement mode in which both switches are off, the drive torque for running assistance is successively reduced to be introduced into the wheelchair main body A.
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