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Elderly people people and disabled people who have diulty in walking are increasing. As one of mobility support for them, the signi cance of power assisted wheelchair, shown in Fig. 1, which assists driving force using electric motors and spreads their areas of life has been enhanced. This paper focuses on the straight road driving of the power assisted wheelchair against the disturbance roads such as branches, grass and carpets. If only one wheel (right or left) drives on the disturbance roads, the straight driving can be prevented and the wheelchair curves to the side of the disturbance road against the operator’s will because the two wheels drive independently. Therefore, the straight road driving control system against such unknown disturbance roads is required. The disturbance torque from the road can be estimated by “disturbance observer”. The wheelchair drives straight if the disturbance torque of the right and left wheels is the same, that is, the disturbance torque di erence causes the prevention of the straight driving of the wheelchair. Therefore, the proposed control system estimates the disturabance torque difference T̂di f based on “disturbance observer” and compensates the torque to the right or left wheel.

Novel Straight Road Driving Control of Power Assisted Wheelchair Based on Disturbance Estimation of Right and Left Wheels