Evaluation of changes in power wheelchair maneuver induced by a downhill turning prevention control on cross sloped surfaces

In order to improve direction stability of a power wheelchair on a cross-sloped surface, a downhill turning prevention control (DTPC) has been developed by some researchers and wheelchair suppliers. The DTPC-induced effect on wheelchair maneuver, however, has not been well clarified. In this study, we quantitatively assessed DTPC-induced changes in joystick control strategies during a driving task on a cross-sloped test course. Among several evaluation measures calculated from the joystick inputs during the test trials, the x-axis joystick displacement amount was found to be significantly decreased by the DTPC. This result suggests that the DTPC can save wheelchair users from the burden of compensation control on cross-sloped surfaces.