FAUTEUIL ROULANT À ASSISTANCE MOTORISÉE, UNITÉ D'ASSISTANCE MOTORISÉE POUR FAUTEUIL ROULANT, DISPOSITIF DE COMMANDE POUR FAUTEUIL ROULANT À ASSISTANCE MOTORISÉE, PROCÉDÉ DE COMMANDE POUR FAUTEUIL ROULANT À ASSISTANCE MOTORISÉE, ET PROGRAMME
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.
