In the previous study, the drive units for the front wheel of the wheelchair were developed. This drive units about the driving stability of the wheelchair have a problem. This is because individual differences between the left and right motors and the friction between the left and right wheels affect straight-line driving stability. Therefore, in this study, an attempt was made to improve the driving stability and posture stability of the wheelchair by applying proportional control based on yaw angle data. To evaluate the straight-line driving stability of the wheelchair, the rotation angles of the wheels were measured using a homemade rotary encoder. In addition, to evaluate the change in posture of the wheelchair during running, the yaw angle was measured using a 9-axis sensor. As a result of the experiment, it was confirmed that the running stability and posture stability of the wheelchair were improved by incorporating proportional control based on yaw angle data.
YASOGAWA et al. (Wed,) studied this question.