Movement support system for electric wheelchair

An electric wheelchair can be moved on controlling the motors attached to wheel shaft by operating joystick lever located by the hand. This requires great skill. Therefore we construct a support system which makes electric wheelchair easy to operate and move safely, giving priority to the intentions of the operator even if the operator is heavily handicapped, weak, or incapable of performing delicate operations. Then we experimented on several cases to inspect the effectiveness of our system by using miniature wheelchair