本研究在於發展動力輔助控制技術，應用於雙輪驅動之動力輔助輪椅，使具有省力操作之功能。設計控制架構滿足動力輔助控制需求，並利用動態解耦模型簡化控制設計分析。採用主極點近似法解決輪椅乘載者所造成之影響。引進慣量–阻尼系統之概念設計虛擬阻抗於動力輔助控制架構中。藉著回授輪椅行進速度，虛擬阻抗可產生對應的力覺回饋給輪椅照護者，於行進速度過快時提供制動力。本研究透過模擬分析與實驗驗證，實現所提之動力輔助控制架構。

This research aimed to develop a power-assisted control technique for use in double-wheel driven power-assisted wheelchairs which allows for effort-saving operation. The control structure was designed based on power-assisted control requirements, while a dynamic decoupling model was used to simplify the control design analysis. The dominant pole principle was applied to solve the effect induced by wheelchair passengers. With the mass-damper system concept, the power-assisted control structure incorporates a virtual damper into the design. With the use of wheelchair propulsion velocity feedback, relative haptic can be produced by a virtual damper, through which feedback can be sent to the user. When the wheelchair propulsion velocity surpasses velocity limits, the virtual damper can provide braking force. Simulations and experimental results then verify the proposed power-assisted control structure.

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