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Load-free control of power-assisted cycle

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3 Author(s)
Kosuge, K. ; Dept. of Bioengineering & Robotics, Tohoku Univ., Sendai, Japan ; Yabushita, H. ; Hirata, Y.

Society is rapidly aging. Assistance with a daily life of elderly people is one of the most important social issues. In this article, we introduce an alternative control algorithm of a power-assisted cycle for assisting daily locomotion of elderly people. The proposed algorithm compensates dragging force completely so that a biker could ride the cycle on any road as if he/she rides on a horizontal road. The proposed control algorithm is experimentally applied to an electrical tricycle and the experimental results illustrate the validity of the proposed algorithm.

Published in:

Robotics and Automation, 2004. TExCRA '04. First IEEE Technical Exhibition Based Conference on

Date of Conference:

18-19 Nov. 2004

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