System design of electric wheelchair for realizing adaptive operation to human intention

Electric wheelchair is an important device to the physically handicapped persons with mobility. The aim of our study is to develop the electric wheelchair which is driven as the human intention, and we tries to extract the human intention from the adaptability of physical characteristic between embodiment system and wheelchair system in various situations. To design the system, we developed the experimental electric wheelchair which can measure dynamic posture changes of electric wheelchair and passenger, simultaneously. These measurements are carried out the straight-line motion and turning motion, etc. Results are shown the various posture change of passenger under the some conditions, and the hunting phenomenon as example of uncontrollable situation. We also derive a mathematical model to analyze this phenomenon, and we explain the simulation results. Finally, we discuss the methodology to realize adaptive operation to human intention.