Proposal of Power-Assisted Cart Based on Inherently Safe Control

摘要

This paper proposes a high-safety power-assisted cart that can be operated on a slope by applying little-changed manual power even if the inclination changes. In this cart, balancing operation to compensate for load increments due to the increase in the inclination by using a spring is achieved in the safe state with the cart held by the brake application, while dangerous moving operation is performed by safe human power. Firstly, this paper describes a passive dynamic control and an inherently safe control, both of which form the basis of the system of the power-assisted cart, and the principle of a power assist system using a coil spring. Secondly, this paper describes the mechanism and control sequence of the power-assisted cart. Lastly, this paper verifies the effectiveness of the power-assisted cart by experiments.