POWER ASSIST WHEELCHAIR, POWER ASSIST UNIT FOR WHEELCHAIR, CONTROL DEVICE FOR POWER ASSIST WHEELCHAIR, CONTROL METHOD FOR POWER ASSIST WHEELCHAIR, AND PROGRAM

摘要

A power assist wheelchair includes: a wheel; an electric motor that drives the wheel; an encoder that detects rotation of the electric motor; and a control device that controls the electric motor. The control device includes: a total torque value calculation unit that calculates a total torque value based upon only a detection signal of the encoder; an assist torque value calculation unit that calculates an assist torque value based upon an output current of the electric motor; a manual torque value calculation unit that calculates a manual torque value based upon a difference obtained by subtracting the assist torque value from the total torque value; and a target current determination unit that determines a target current of the electric motor based upon the manual torque value.