Prevention of overturn of power assisted wheelchair using novel stability condition

Last 10 years we have been experiencing a constant evolution in the field of power assisted wheelchairs, which allows more flexibility of use for disabled people. However, motor output is quite big, and without proper control, power assisted wheelchair are much easier to fall backward than traditional ones. Therefore, in this work, to prevent the overturn, three kinds of stability conditions, including the novel one based on Lagrange equation have been proposed. They are compared by using experimental data and the best one is adopted. Its validity, as well as practicality, is authenticated by experiments on both horizontal plane and slope.