PURPOSE: A method for driving a force-assisted electric wheelchair is provided to easily apply the method to an existing manual wheelchair or electric wheelchair, and to provide sensors of which the manufacturing costs are lower than the costs of the existing sensors. CONSTITUTION: A method for driving a force-assisted electric wheelchair includes: a step of measuring a force on a hand rim applied by a user using FSR(Force Sensing Registor) sensors(34R,34L)； a step of receiving and gathering information measured by the FSR sensors； a step of determining a linear acceleration and an angular acceleration of the center of a wheelchair body by applying a fuzzy algorithm to the information measured by the FSR sensors； a step of calculating and outputting the rotational velocities of motors(50R,50L) driving wheels through the linear acceleration and the angular acceleration； and a step of outputting a motor control signal for driving the motors based on the rotational velocities, and driving the motors. [Reference numerals] (20L) Hand rim L； (20R) Hand rim R； (30L) Sensor module L； (30R) Sensor module R； (34L) FSR sensor L； (34R) FSR sensor R； (35L) AD converter L； (35R) AD converter R； (36L) First communication unit L； (36R) First communication unit R； (40) Control module； (41) Second communication unit； (42) Acceleration determination unit； (43) Wheel speed conversion unit； (43R) FSR sensor R； (44L) Motor control unit L； (44R) Motor control unit R； (50L) Motor L； (50R) Motor R； (60) Power supply unit；본 발명은 힘 보조형 전동 장치 및 힘 보조형 전동 휠체어와 그 구동 방법에 관한 것으로, 더욱 구체적으로는 퍼지 알고리즘을 이용하여 사용자가 가하는 힘에 대하여 구동 의지력을 명확히 판단하고 모터를 구동시키도록 함으로써, 사용자가 상지 근력을 강화하는 운동을 할 수 있고, 평탄한 지형이 아니더라도 주행이 가능한 수동 휠체어와 전동 휠체어의 장점을 모두 가지고 있다.
