Master–Slave Electric Cart Control System for Maintaining/Improving Physical Strength

This paper explains the development of a new-concept three-wheeled electric cart that not only is a means of transportation, but also provides the driver with a way of getting some physical exercise. Based on an investigation of the physiological decline accompanying aging, pedaling was chosen to implement the function of maintaining or improving physical strength; and an ergonomically designed pedal unit was mounted on a cart. An interface board that handles inputs and outputs was assembled to simplify the design of the system. Finally, an impedance model was devised to describe the feeling of pushing the pedals, and a bilateral master–slave
$H_infty$
control system was built to control the speed of the cart. Experimental results on a prototype cart demonstrate the effectiveness of pedaling and the usability of the system architecture.