Tracking strategy for controlling power transport wheelchair

Wheelchairs are widely used for people with walking disabilities, and almost all wheelchairs are manipulated by caregivers. However most of the wheelchair designs and improvements were focused on for riders rather than caregivers. The aim of this study is to develop a controlling strategy for power transport wheelchair to reduce burdens of caregivers. Our wheelchair will detected the caregiver's intent and follow the user motion automatically. This paper presents the simple control method and the experiment results. It was showed that our design does not only reduce the caregiver's burden need but also comfortable for riders.