Abstract: 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 calculator that calculates a total torque value based upon only a detection signal of the encoder, an assist torque value calculator that calculates an assist torque value based upon an output current of the electric motor, a manual torque value calculator 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 determiner that determines a target current of the electric motor based upon the manual torque value.

Abstract: 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 calculator that calculates a total torque value based upon only a detection signal of the encoder, an assist torque value calculator that calculates an assist torque value based upon an output current of the electric motor, a manual torque value calculator 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 determiner that determines a target current of the electric motor based upon the manual torque value.

Abstract: An electrically assisted wheelchair includes a controller that obtains an inclination assist value by correcting the assist value when a road surface is inclined in a left-right direction of the seat, and performs a downhill turning preventing operation of causing the wheelchair body to travel straight by applying right auxiliary power and left auxiliary power corresponding to the inclination assist value. The controller adjusts the right auxiliary power and the left auxiliary power by correcting the inclination assist value based on a hand rim operation of the user to operate at least one of the right hand rim and the left hand rim in the downhill turning preventing operation.

Abstract: An electrically assisted wheelchair includes a controller that obtains an inclination assist value by correcting the assist value when a road surface is inclined in a left-right direction of the seat, and performs a downhill turning preventing operation of causing the wheelchair body to travel straight by applying right auxiliary power and left auxiliary power corresponding to the inclination assist value. The controller adjusts the right auxiliary power and the left auxiliary power by correcting the inclination assist value based on a hand rim operation of the user to operate at least one of the right hand rim and the left hand rim in the downhill turning preventing operation.