Driving assist device for hemiplegic person wheelchair and hemiplegic person wheelchair

摘要

PROBLEM TO BE SOLVED: To easily drive and steer a wheelchair on which a hemiplegic person seats by the physical capabilities left in the left or right unilateral hand and leg of the body of the hemiplegic person, capable of pivotally turning the wheelchair so as to change the advancing direction in a narrow floor surface, and easily adding wheelchair traveling assist mechanisms to an existing standard type wheelchair. SOLUTION: The rotation of paralyzed-body size wheels of the wheelchair is controlled to follow the rotation of the healthy body side wheels with the rotation angle of the healthy body side wheels of the wheelchair set to a target value, the healthy body side wheels and the paralyzed-body side wheels are rotated in the same direction at the same rotation speed so that the wheelchair is linearly advanced in the front/rear. The both wheels are reversely rotated at the same speed so that the wheelchair is pivotally turned.