TW201742609A - Power-assisted wheelchair structure and method for operating the same - Google Patents

Abstract

The invention relates to a power-assisted wheelchair structure and a method for operating the same. Primarily, it is used for assisting limb disorders, the elderly and those with limited mobility to conduct rehabilitation and assist actions. It can provide relative auxiliary power according to the magnitude of the user's hand urging force and foot kicking force to reduce the burden on the user. A velocity sensor is used for measuring the rotational speed of the user's hand urging force, and the user's hand urging force is estimated by the difference of the measured speed. Furthermore, a displacement meter is used for measuring the swing speed of the user's foot kicking force, and the user's foot kicking force is estimated by the measured swing speed to further control auxiliary power provided by an auxiliary power source. Accordingly, it can not only be used for those with limited mobility to proceed with rehabilitation and sport for their hands and feet but also be used for carry a user to move during the procedure of conducting rehabilitation and sport. The use is not limited to indoor and outdoor. It can also lower the manufacturing costs, so as to increase the practicality and efficiency for the whole implementation.

Description

Power assisted wheelchair structure and operation method

The present invention relates to a power assisted wheelchair structure and an operation method, and more particularly to a method for not only providing mobility and inconvenience to the rehabilitation and movement of the hands and feet, but also during rehabilitation and exercise. It is equipped with a user-inspired designer who is not limited to indoors and outdoors, and can effectively reduce the production cost, and is more innovative in terms of power-assisted wheelchair structure and operation method.

In recent years, with the gradual increase of the elderly population, the life care of the elderly has become an important issue. Due to aging, many elderly people are weak and have the ability to lose their independent lives. Therefore, in the market There are a lot of rehabilitation equipment developed for the elderly to use for rehabilitation and training their own muscle strength, thereby improving the daily life function of the elderly.

In addition, with the development of the economy, the relative living standards of the people have gradually increased, which has led to the diversification of various indoor and outdoor activities, which has led to an increase in the number of patients with various hand and foot injuries. Overnutrition, and the phenomenon of people's stroke and abnormal function of hands and feet are endless; people pay more attention to health, and the hands and feet are the most important organs of human beings, in order to ensure the hands and feet. Normal function, had to recover by rehabilitation training.

Among them, the common regenerators that are commonly sold in the market are generally limited to indoor use and do not have the function of carrying the user's movement, and the commercially available rehabilitation wheelchairs are usually bulky, heavier, and have only a single function. It is not possible to provide the function of rehabilitation for the user's hands and feet at the same time; for example:

1. The rehabilitation chair used by the hemiplegia is a one-piece hemiplegia rehabilitation chair that can assist the action. It is not only suitable for patients with hemiplegia, but also has no auxiliary power design, and is more expensive in price.

2. Ergonomic hand and foot exercise machine, which is designed by motor drive. It is suitable for general silver hair, weak body and hands and feet, and inconvenient outpatients. It can be used for rehabilitation and active muscles and muscles. The auxiliary device; however, it has no auxiliary power design, can not be moved arbitrarily, can not be equipped with user-assisted mobile functions, and is limited to indoor use.

3. The electric wheelchair with auxiliary power is generally designed as a double motor, and a force sensor is arranged on the rim push ring for the user to grasp, so that the user's force can be sensed, and then the motor is controlled. The auxiliary torque is output; however, since the motor, the control circuit and the battery are all integrated into the rim, the production cost is increased, and the price of the wheelchair is relatively high, which is difficult to popularize, and the wheelchair cannot be evaluated. A tool for the rehabilitation of the user's hands or feet.

Please refer to the "Power-assisted structure for power-assisted wheelchair structure and operation method" published on December 21, 2007, No. I291347, which is mainly composed of a motor and an activation mechanism in each of the wheels on both sides of a wheelchair; Wherein: the wheelchair is provided with a wheel on each side of the wheel, a wheel hub is arranged at the center of the wheel, and a motor is arranged on the hub to fix the rotor of the motor and the hub, and the stator of the motor is fixedly coupled with the frame of the wheelchair; It is disposed on the side of the hub of the wheelchair and can be used as a motor power starting mechanism for the wheelchair. The utility model mainly comprises: a shell cover, which is closed on one side of the hub, and a shaft hole is formed at a central position of the shell cover, respectively, at different radial positions. The ring is provided with a plurality of first-class slots and a plurality of second-class slots, and a plurality of limiting protrusions are formed on the outer end surface of the cover; a plurality of first actuators are respectively formed into a wide axis And the thin shaft; the first shaft of the first actuator is sleeved with a spring and then embedded in the first-class slot of the cover, so that the first actuator is inserted into the first-class slot Elastic displacement; a plurality of second actuators are respectively formed into a wide shaft and a thin shaft; the second shaft of the second actuator is sleeved with a spring and embedded in the second-class slot of the cover, so that the second The actuator is elastically displaced in the second-class slot; a first touch disk is disposed on the inner end surface of the cover, and is combined with the end face of the first actuator; a second touch pad is provided It is disposed on the inner end surface of the cover and is combined with the end face of the second actuator; the drive plate is disposed on the outer end surface of the cover, and the shaft tube is sleeved on the shaft hole of the cover. A limiting piece is coupled to the end of the shaft tube to restrict the driving disc from coming out of the cover; the limiting hole corresponding to the position and the number of the limiting protrusion is opened on the driving plate, so that the limiting protrusion is located in the limiting hole, so that the driving plate is driven The rotation operation of the limit hole stroke range is performed on the side of the cover; the end face of the drive plate and the cover is arranged, and corresponding to the position of the class slot, a plurality of first-class chutes and a plurality of The second-class chute, the first and second-stage chutes are continuously and gradually formed into shallow And the deep end, but the shallow end and the deep end of the first and second class chutes are opposite to each other; a plurality of return springs are disposed between the cover and the drive plate, and are capable of transmitting elastic force through the return spring The wide shaft end of one mover maintains a normal state with the deep end of the first stage chute, and the wide shaft end of the second actuator maintains a normal state with the deep end of the second stage chute; The first switch can be fixed to the motor stator to correspond to the first touch panel, and the first switch is triggered by the first touch panel to be turned on and off, and the forward driving is started. Or the motor operation is turned off; a second switch is fixed to the motor stator to correspond to the second touch panel, and the second switch is activated and closed by the second trigger disk to perform the reverse driving to start or shut down the motor operation.

In addition, please refer to No. I306399 “Auxiliary Power Assisted Sensing Device” announced on February 21, 2009, which is mainly provided with a transmission device connected to the active end and the driven end, and has auxiliary power. The device assists the driving of the driven end; wherein: the transmission device is provided with a first helical gear on the shaft sleeve, the first helical gear is outwardly convexly provided with an extension for the active end sleeve fixed, and the first helical gear Just meshing with the first bevel gear fixed by the first sleeve on the shaft, and the sun gear is additionally sleeved on the shaft, the one side of the sun gear meshes with the first bevel gear, and the other side is The second bevel gear fixed on the second sleeve of the shaft is separately engaged, and the second bevel gear is simultaneously meshed with the second helical gear on the shaft, and the second helical gear is also outwardly An extension portion is provided for the linkage wheel to be fixedly fixed, and the linkage wheel is fixed to the outer sleeve of the transmission device, so as to be able to rotate the driven end sleeve on the outer sleeve through the linkage wheel; the auxiliary power device , which has a fixed plate and is second in the transmission The outer sleeve is provided with a transmission gear that meshes with a sensing gear of the sensing element disposed on the fixed plate member, so that the second sleeve of the transmission can be measured by the sensing gear of the sensing element. The rotation angle controls the power source output power, and the output end of the power source is coupled to the linkage wheel of the transmission device.

In addition, please refer to the No. I359011 "Power-Assisted Wheelchair Structure and Operation Method" published on March 1, 2012, including: a wheelchair body consisting of a chair body and a set of wheels, and the group of wheels can drive the The chair body moves; an electric motor is connected to the set of wheels, the electric motor can drive the set of wheels to rotate; a power assisting device is located on the set of wheels, the power assisting device further comprises: a thrust detecting device located at the On the group of wheels, the thrust detecting device includes at least one pressure sensor; and a first wireless transmission module coupled to the thrust detecting device for transmitting a detection result of the pressure sensor; The system is located on the chair body and connected to the electric motor, and the smart system is connected to the power assisting device. The smart system further comprises: a first controller connected to the electric motor; and a fuzzy inference module a plurality of rehabilitation modules and a memory respectively connected to the first controller; a second wireless transmission module connected to the controller, the second wireless The transmission module is connected to the first wireless transmission module by radio, and the second wireless transmission module can transmit the detection result to the first controller, and the first controller performs processing; and a level meter, and The first controller is connected, the level is used to detect a horizontal tilt angle of the wheelchair body; and when a user pushes the set of wheels by hand, the smart system is based on the rehabilitation module and the fuzzy inference model Group, giving the user an auxiliary power.

The above-mentioned "power-assisted structure of the power-assisted wheelchair structure and operation method", "assisted power-assisted sensing device" and "power-assisted wheelchair structure and operation method" all have the expected efficacy of rehabilitation assistance. However, it is also found in its actual operation and use that this type of structure still only has a single rehabilitation effect, and it still cannot be used for the rehabilitation of the user's hands and feet at the same time, so that there is still improvement in the overall structural design. Space.

Therefore, in view of this, the inventors have long been engaged in the rich design and development and practical production experience of the relevant industries for many years, and have researched and improved the existing structures and defects to provide a power-assisted wheelchair structure and operation method, in order to achieve better practical value. The purpose of sex.

The main object of the present invention is to provide a power assisted wheelchair structure and an operation method, which are mainly capable of providing rehabilitation and movement of the hands and feet at the same time, and can be used for rehabilitation and exercise. At the same time, the user is equipped to move, and the use is not limited to indoors and outdoors, and the production cost can be effectively reduced, and the utility model is further enhanced in practical use.

The main purpose and effect of the power assisted wheelchair structure of the present invention are achieved by the following specific technical means:

It mainly includes a wheelchair body and a control system;

The wheelchair body is provided with a seat portion for the user to ride, and corresponding driving wheels are respectively disposed at the bottoms of the two sides of the wheelchair body, and corresponding manual wheels are disposed on the two sides of the wheelchair body corresponding to the seat portion. The manual wheel can be rotated by the user's hand, the manual wheel and the driving wheel are connected by a linking member, and the corresponding front foot swinging frame is pivoted at the front end of the seat portion. The bottom of the swinging frame is provided with a foot pedal, so that the user's feet are placed on the foot swinging frame, and the user's sole can step on the foot pedal, and the user can drive the foot when the user swings with both feet. The swinging frame swings;

The control system is disposed on the wheelchair body, the control system is provided with a control unit, and the control unit is connected with a power supply unit for supplying power, and the control unit is connected with an auxiliary power source for connecting and driving the wheelchair. The driving wheel of the main body is connected with a speed sensor, and the speed sensor is connected to the manual wheel of the wheelchair body to sense the rotation speed of the manual wheel by using the speed sensor. Calculating the rotational speed of the driving wheel that is interlocked with the manual wheel, and connecting an angular displacement meter to the control unit, the angular displacement meter is connected to the foot swinging frame of the wheelchair body.

In a preferred embodiment of the power assisted wheelchair structure of the present invention, the manual wheel train of the wheelchair body is detachable and can be disassembled when not in use.

In a preferred embodiment of the power assisted wheelchair structure of the present invention, the linkage of the wheelchair body is either a belt or a chain.

A preferred embodiment of the power assisted wheelchair structure of the present invention, wherein the speed sensor of the control system is any one of a rotary encoder and a speedometer.

A preferred embodiment of the power assisted wheelchair structure of the present invention, wherein the control unit is coupled to a rehabilitation evaluation module.

The main purpose and effect of the power assisted wheelchair operation method of the present invention are achieved by the following specific technical means:

The user mainly rides the seat portion of the wheelchair body, and the user can hold the corresponding manual wheel on both sides of the seat portion, and the user's feet are reliably placed at the front end of the seat portion. The two are corresponding to the foot swinging frame, and at the same time, the user's foot is stepped on the foot pedal provided at the bottom of the foot swinging frame, so that the user's hands rotate the manual wheel, and the wheelchair body is linked by the linking member. The corresponding driving wheel is disposed at the bottom bottom portion, so that the wheelchair body can travel and move, and the user's hands are used to rotate the manual wheel and the two feet to control the swinging of the foot swinging frame to reach the user's hand and foot. Rehabilitation;

When the user applies the two hands to the manual wheel, the speed sensor connected to the control unit of the control system of the wheelchair body senses the rotation speed of the manual wheel and calculates the rotation speed of the driving wheel. Then, the control unit calculates the rotational speed of the driving wheel under the action of no external force, and estimates the user's hand force by the difference between the actual rotational speed and the estimated rotational speed;

When the user swings the foot swing frame to control the foot swing frame, the foot swing frame drives the angular displacement meter connected to the control unit to rotate, and the control unit measures the swing speed of the user's feet by the angular displacement meter. To further estimate the size of the user's kick;

The control unit of the control system calculates the reference displacement of the left and right driving wheels according to the estimated user's hand force and foot kicking force, and performs displacement control of the left and right driving wheels in a fixed time. The auxiliary power source connected by the control unit provides auxiliary power corresponding to the left and right driving wheels, thereby reducing the burden on the user.

A preferred embodiment of the power assisted wheelchair operating method of the present invention, wherein the control unit estimates the rotational speed of the drive wheel without external force through a torque estimation real time algorithm.

A preferred embodiment of the power assisted wheelchair operating method of the present invention, wherein in order to accurately provide the auxiliary power, the displacement control must be performed within a fixed time according to the reference displacements of the left and right driving wheels, so the neural network is applied The basic adaptive control method, based on the Lyapunov theorem, ensures the stability of the entire system.

A preferred embodiment of the power assisted wheelchair operating method of the present invention, wherein the control unit is coupled with a rehabilitation evaluation module, such that the rehabilitation evaluation module can be used to record the user applying force to the manual wheel and swinging the foot swing The kicking force of the rack is made into a health condition graph as a reference for assisting in assessing the patient's rehabilitation.

For a more complete and clear disclosure of the technical content, the purpose of the invention and the effects thereof achieved by the present invention, it is explained in detail below, and please refer to the drawings and drawings:

First, please refer to the first embodiment of the present invention, a schematic view of a side view of the present invention, and a second view of the circuit diagram of the present invention. The present invention mainly includes a wheelchair body (1) and control. System (2); where:

The wheelchair body (1) is provided with a seat portion (11) for the user to ride, and corresponding driving wheels (12) are respectively arranged at the bottoms of the two sides of the wheelchair body (1), and the wheelchair body (1) Corresponding to the two sides of the seat portion (11), there is a corresponding detachable manual wheel (13), the manual wheel (13) is available for the user to rotate by hand, and the manual wheel (13) is not used It can be disassembled [please refer to the fourth figure for the manual wheel disassembly state diagram of the present invention], and the manual wheel (13) and the driving wheel (12) are connected by a linking member (14), and the linkage The piece (14) may be a belt, a chain, etc., and at the front end of the seat portion (11), two corresponding foot swinging frames (15) are pivoted, and a foot is arranged at the bottom of the foot swinging frame (15). a pedal (151) for the user to rest on the foot swing frame (15) while the user's foot can step on the foot pedal (151), and when the user swings with both feet, the belt is driven The foot swing frame (1 ) Swing.

The control system (2) is disposed in the wheelchair body (1), the control system (2) is provided with a control unit (21), and the power supply unit (22) is connected to the control unit (21) for power supply. The control unit (21) is connected with an auxiliary power source (23) for connecting the driving wheel (12) for driving the wheelchair body (1), and the speed of the control unit (21) is connected a sensor (24), the speed sensor (24) may be a rotary encoder or a speedometer, and the speed sensor (24) is connected to the manual wheel (13) of the wheelchair body (1), The speed of the manual wheel (13) can be sensed by using the speed sensor (24), and the rotational speed of the driving wheel (12) associated with the manual wheel (13) is calculated, and the control unit (21) is further An angular displacement meter (25) is connected, and the angular displacement meter (25) is connected to the foot swing frame (15) of the wheelchair body (1), and the control unit (21) is connected with a rehabilitation evaluation. Group (26).

In this way, please refer to the fifth diagram, which is shown in the schematic diagram of the use state of the present invention, so that the user can ride on the seat portion (11) of the wheelchair body (1), and the user can hold the hand. Holding the manual wheel (13), the user's feet are reliably placed on the foot swing frame (15), and the user's foot is stepped on the foot pedal (151) to allow the user's hands Rotating the manual wheel (13), and interlocking the driving wheel (12) via the linking member (14), so that the wheelchair body (1) can travel and move, while rotating the manual wheel (13) with the user's hands. And the feet control the swinging frame (15) of the foot to swing, and the user's hands and feet are rehabilitated.

When the user applies the two hands to the manual wheel (13), the speed sensor (24) connected to the control unit (21) of the control system (2) senses the wheelchair body ( 1) the rotation speed of the manual wheel (13) and calculating the rotation speed of the driving wheel (12), and then the control unit (21) estimates the driving wheel (12) by using a torque estimation real time algorithm. The speed of the external force is not used, and the difference between the actual speed and the estimated speed is used to estimate the hand force of the user.

a. The torque estimator is established by the dynamic equation of the wheelchair body (1) as follows:

[1]

Wherein, A _o and B _o are state arrays of the wheelchair body (1), which can be expressed as follows:

, , , ,

i _L and i _R are the control currents of the left and right drive wheels (12). Sgn (·) is a symbolic function defined as follows:

,

Yes Estimated value, Yes Estimated value, with The rotational speeds of the left and right driving wheels (12) of the wheelchair body (1), respectively. with They are estimates of the left and right urging torques T _dL and T _dR of the user, respectively. L is a gain array [gain matrix], each element of which is defined as follows

[2]

[3]

[4]

[5]

[6]

[7]

[8]

[9]

with Is the normal number associated with the wheelchair body (1), and , , by [1]

The estimated speed of the left and right driving wheels (12) of the wheelchair body (1) can be calculated. with .

b. Define the user's torque

[10]

[11]

among them, , r is the radius of the left and right drive wheels (12) of the wheelchair body (1).

with Represents the left and right force torque of the user. Since the auxiliary power is supplied according to the magnitude of the user's force, the displacement control is performed within a fixed time, so k _τ =1, ε = 0.09, and ε is the threshold value of the effective torque.

With the present torque estimator algorithm, even if the wheelchair body (1) is running, when the user applies the manual wheel (13), the user's hand can be estimated, so the wheelchair body (1) ) Auxiliary power is still available while driving.

When the user swings the foot swing frame (15) to assist the user in performing the foot movement or the foot rehabilitation process, the foot swing frame (15) drives the angular displacement meter (25). Rotating, the control unit (21) can measure the swing speed of the user's feet by the angular displacement meter (25) to further estimate the kicking force of the user.

Define the user's kick strength as follows:

[12]

[13]

among them, with Representing the kicking force of the user's left and right feet, respectively. with Representing the amount of voltage variation of the angular displacement meter at the upper end of the kicking rod when the user swings the kicking club with two feet, Is a constant. Since the auxiliary power is provided according to the magnitude of the user's kicking force, the displacement control is performed within a fixed time, so k _s =1, ε _s = 0.03, and ε _s is the threshold value of the effective kicking force.

The control unit (21) of the control system (2) calculates the reference displacement of the left and right driving wheels (12) according to the estimated user's hand force or kicking force, and performs about a fixed time. The displacement control of the two driving wheels (12) is to provide corresponding auxiliary power by the auxiliary power source (23), thereby reducing the burden on the user. The auxiliary power source (23) can adjust the hand force parameter for calculating the reference displacement according to the user. Or foot kick parameter To provide appropriate auxiliary power.

In order to accurately provide the auxiliary power, the displacement control must be performed within a fixed time according to the reference displacements of the left and right driving wheels (12). Therefore, the adaptive control method based on the neural network is applied, based on the Lyapunov theorem. [Lyapunov theorem] can ensure the stability of the entire system.

The dynamic equation of the wheelchair body (1) can be expressed by the following formula:

[14]

among them, , , , with The rotation angles of the left and right driving wheels (12) of the power assisted wheelchair structure and the operation method, respectively. with It is the control current of the left and right two driving wheels (12).

The control law of the wheelchair body (1) The definition is as follows:

[15]

among them, Is a neural network control signal, Is switching control signals, Is the reference control signal.

[16]

[17]

[18]

Is the reference displacement trajectory of wheelchair movement, ,

[19]

with Is a weighting matrix of the neural network, Is a (4 × 4) positive definite matrix [positive definite], Yes Virtual inverse matrix .

with The online [on-line] learning rule is defined as follows:

[20]

[21]

The displacement control is performed within a fixed time according to the magnitude of the user's hand force.

The reference displacements of the left and right drive wheels (12) are defined as follows:

[22]

[23]

among them, with Is the reference displacement of the left and right driving wheels (12), It is a constant that can be adjusted according to the needs of the user to provide appropriate auxiliary power by the auxiliary power source (23).

The displacement control is performed within a fixed time according to the kicking force of the user's foot.

The reference displacements of the left and right drive wheels (12) are defined as follows:

[24]

[25]

among them, It is a constant that can be adjusted according to the needs of the user to provide appropriate auxiliary power by the auxiliary power source (23).

Since the control unit (21) is connected to the rehabilitation evaluation module (26), the rehabilitation evaluation module (26) can be used to record that the user applies force to the manual wheel (13) and swings the foot. The kicking force of the frame (15) is made into a health condition graph as a reference for assisting in assessing the patient's rehabilitation.

As described above, the use of the present invention shows that the present invention is mainly related to the prior art, and the present invention mainly aims to provide rehabilitation and movement of the hands and feet simultaneously, not only for providing mobility problems, but also In the process of rehabilitation and exercise, the user can be moved at the same time, and the use is not limited to indoors and outdoors, and the production cost can be effectively reduced, and the utility model is further enhanced in practical use.

However, the above-described embodiments or drawings are not intended to limit the structure or the use of the present invention, and any suitable variations or modifications of the invention will be apparent to those skilled in the art.

In summary, the embodiments of the present invention can achieve the expected use efficiency, and the specific structure disclosed therein has not been seen in similar products, nor has it been disclosed before the application, and has completely complied with the provisions of the Patent Law. And the request, the application for the invention of a patent in accordance with the law, please forgive the review, and grant the patent, it is really sensible.

(1) ‧‧‧ Wheelchair body

(11) ‧‧‧ Seating Department

(12)‧‧‧ drive wheels

(13)‧‧‧Manual wheel

(14)‧‧‧ linkages

(15)‧‧‧foot swinging frame

(151)‧‧‧ pedals

(2) ‧‧‧Control system

(21) ‧‧‧Control unit

(22)‧‧‧Power Supply Department

(23) ‧‧‧Auxiliary power source

(24)‧‧‧Speed sensor

(25)‧‧‧Angle Displacement Meter

(26) ‧‧‧Rehabilitation Assessment Module

First Figure: First Figure Schematic diagram of the three-dimensional structure of the present invention

Second figure: schematic view of the side view of the present invention

Third figure: circuit diagram of the present invention

Fourth: Schematic diagram of the manual wheel disassembly state of the present invention

Figure 5: Schematic diagram of the state of use of the present invention

(1) ‧‧‧ Wheelchair body

(11) ‧‧‧ Seating Department

(12)‧‧‧ drive wheels

(13)‧‧‧Manual wheel

(14)‧‧‧ linkages

(15)‧‧‧foot swinging frame

(151)‧‧‧ pedals

(2) ‧‧‧Control system

(24)‧‧‧Speed sensor

(25)‧‧‧Angle Displacement Meter

Claims (9)

A power-assisted wheelchair structure mainly includes a wheelchair body and a control system, wherein: the wheelchair body is provided with a seat portion for the user to ride, and corresponding drive wheels are respectively disposed at the bottom sides of the wheelchair body, and A corresponding manual wheel is disposed on the side of the wheelchair body corresponding to the side of the seat portion, and the manual wheel is rotatable by the user's hand, and the manual wheel and the driving wheel are connected by a linking member, and the seat is further The front end of the foot is provided with two corresponding foot swinging frames, and a foot pedal is arranged at the bottom of the foot swinging frame, so that the user's feet are placed on the foot swinging frame, and the user's sole can Stepping on the pedal, when the user swings with both feet, the foot swinging frame is swayed; the control system is disposed on the wheelchair body, the control system is provided with a control unit, and is connected to the control unit The power supply unit is configured to supply power to the control unit, and the auxiliary power source is connected to the driving wheel for driving the wheelchair body, and the speed sensor is connected to the control unit. The speed sensor is connected to the manual wheel of the wheelchair body to sense the rotation speed of the manual wheel by using the speed sensor, and simultaneously calculate the rotation speed of the driving wheel that is interlocked with the manual wheel, and is connected to the control unit. An angular displacement gauge is coupled to the foot swing frame of the wheelchair body. The power assisted wheelchair structure according to claim 1, wherein the manual wheel train of the wheelchair body is detachable and can be disassembled when not in use. The power assisted wheelchair structure according to claim 1, wherein the linkage of the wheelchair body is any one of a belt and a chain. The power assisted wheelchair structure according to claim 1, wherein the speed sensor of the control system is a rotary encoder or a speedometer. The power assisted wheelchair structure according to claim 1, wherein the control unit is connected with a rehabilitation evaluation module. The utility model relates to a power assisted wheelchair operation method, which mainly enables a user to ride on a seat portion of a wheelchair body, and a user can hold a corresponding manual wheel on both sides of the seat portion, and the user's feet are reliably placed. Two corresponding foot swinging frames are pivoted at the front end of the seat portion, and the foot of the user is stepped on the foot pedal provided at the bottom of the foot swinging frame to allow the user's hands to rotate the manual wheel and The linkage member interlocks the corresponding driving wheels disposed at the bottoms of the two sides of the wheelchair body, so that the wheelchair body can travel and move, and simultaneously rotates the manual wheel and the feet with the user's hands to control the swinging of the foot swinging frame to achieve the use The hand and the foot are rehabilitated; when the user applies the two hands to the manual wheel, the speed sensor connected to the control unit of the control system of the wheelchair body senses the manual The rotational speed of the wheel and the rotational speed of the driving wheel are calculated, and the control unit calculates the rotational speed of the driving wheel under the action of no external force, and estimates the user's hand force by the difference between the actual rotational speed and the estimated rotational speed. When the user's feet control the swing of the foot swing frame, the foot swing frame drives the angular displacement meter connected to the control unit to rotate, and the control unit measures the swing of the user's feet by the angular displacement meter. Speed, in order to further estimate the kicking power of the user; the control unit using the control system calculates the reference displacement of the left and right driving wheels according to the estimated user's hand force and foot kicking force, and is fixed The displacement control of the left and right driving wheels is performed in a time period, and the auxiliary power corresponding to the driving wheels is provided by the auxiliary power source connected to the control unit, thereby reducing the burden on the user. The power assisted wheelchair operating method according to claim 6, wherein the control unit estimates the rotational speed of the driving wheel without an external force through a torque real-time algorithm. For example, in the power assisted wheelchair operation method described in claim 6, in order to accurately provide the auxiliary power, the displacement control must be performed in a fixed time according to the reference displacements of the left and right driving wheels, so the neural network is applied. The road-based adaptive control method, based on the Lyapunov theorem, ensures the stability of the entire system. The power assisted wheelchair operating method according to claim 6, wherein the control unit is connected with a rehabilitation evaluation module, so that the rehabilitation evaluation module can be used to record the user applying force to the manual wheel and swinging the foot. The kicking force of the swinging frame is made into a health condition graph as a reference for assisting in assessing the patient's rehabilitation.