Electric power-assisting wheelchair control device

An attachable power assisting device configured to provide electrical power for moving a wheelchair, the attachable power assisting device comprising:

• a first motor mechanically coupled to a first rotatable end via a first shaft;
• a first driver electrically coupled to the first motor, the first driver configured to control a velocity of the first motor;
• a first flexible ring disposed between the first rotatable end and the first shaft;
• a first filler disposed between the first rotatable end and the first flexible ring, the first filler being more rigid than the first flexible ring;
• a second motor mechanically coupled to a second rotatable end via a second shaft;
• a second driver electrically coupled to the second motor, the second driver configured to control a velocity of the second motor;
• a second flexible ring disposed between the second rotatable end and the second shaft;
• a second filler disposed between the second rotatable end and the second flexible ring, the second filler being more rigid than the second flexible ring;
• and
• a controller for sending control signals to the first driver and the second driver, wherein the control signals include information representing a first torque, a second torque, and rotational velocities for the first rotatable end and the second rotatable end, wherein the first and second flexible rings are made of a polymer, and the first and second fillers are made from a polylactic acid.

An attachable power assisting device configured to provide electrical power for moving a wheelchair, the attachable power assisting device comprising:

• a first motor mechanically coupled to a first rotatable end via a first shaft;
• a first driver electrically coupled to the first motor, the first driver configured to control a velocity of the first motor;
• a first flexible ring disposed between the first rotatable end and the first shaft;
• a first filler disposed between the first rotatable end and the first flexible ring, the first filler being more rigid than the first flexible ring;
• a second motor mechanically coupled to a second rotatable end via a second shaft;
• a second driver electrically coupled to the second motor, the second driver configured to control a velocity of the second motor;
• a second flexible ring disposed between the second rotatable end and the second shaft;
• a second filler disposed between the second rotatable end and the second flexible ring, the second filler being more rigid than the second flexible ring;
• and
• a controller for sending control signals to the first driver and the second driver, wherein the control signals include information representing a first torque, a second torque, and rotational velocities for the first rotatable end and the second rotatable end,
• the first rotatable end has a first cylindrical body having a first radial center extending through the first cylindrical body,
• the first shaft extends through the first radial center of the first cylindrical body,
• the second rotatable end has a second cylindrical body and a second radial center extending through the second cylindrical body, and
• the second shaft extends through the second radial center of the second cylindrical body.

A wheelchair power assisting system, comprising:

• a first motor mechanically coupled to a first rotatable end via a first shaft;
• a first driver electrically coupled to the first motor, configured to control a velocity of the first motor;
• a first ring disposed between the first rotatable end and the first shaft;
• a second motor mechanically coupled to a second rotatable end via a second shaft;
• a second driver electrically coupled to the second motor, configured to control a velocity of the first motor;
• a second ring disposed between the second rotatable end and the second shaft;
• and
• a non-transitory computer readable medium storing instructions, the instructions when executed by a processor configured to cause the first driver and the second driver to transmit control signals to the first motor and second motor, respectively, each of the control signals being a pulse-modulating width signal, wherein the system is mountable behind and above a seat of the wheelchair.

A wheelchair power assisting system, comprising:

• a first motor mechanically coupled to a first rotatable end via a first shaft;
• a first driver electrically coupled to the first motor, configured to control a velocity of the first motor;
• a first flexible ring disposed between the first rotatable end and the first shaft;
• a first filler disposed between the first rotatable end and the first flexible ring, the first filler being more rigid than the first flexible ring;
• a second motor mechanically coupled to a second rotatable end via a second shaft;
• a second driver electrically coupled to the second motor, configured to control a velocity of the first motor;
• a second flexible ring disposed between the second rotatable end and the second shaft;
• a second filler disposed between the second rotatable end and the second flexible ring, the second filler being more rigid than the second flexible ring;
• a non-transitory computer readable medium storing instructions, the instructions when executed by a processor configured to cause the first driver and the second driver to transmit control signals to the first motor and second motor, respectively, each of the control signals being a pulse-modulating width signal;
• and
• a controller for transmitting control signals to the processor, wherein the processor is mounted within a housing, wherein the housing, at least, partially enclosing the first motor, the first driver, the second motor, and the second driver.

An attachable torque-supplying device comprising:

• a first motor mechanically coupled to a first rotatable end via a first shaft;
• a first driver electrically coupled to the first motor, configured to control a velocity of the first motor;
• a first ring disposed between the first rotatable end and the first shaft;
• a second motor mechanically coupled to a second rotatable end via a second shaft;
• a second driver electrically coupled to the second motor, configured to control a velocity of the first motor;
• a second ring disposed between the second rotatable end and the second shaft;
• a non-transitory computer readable medium storing instructions, the instructions when executed by a processor configured to cause the first driver and the second driver to transmit control signals to the first motor and second motor, respectively;
• a controller for transmitting control signals to the processor, wherein the control signals include a first torque, a second torque, and rotational velocities for the first rotatable end and the second rotatable end;
• and
• a housing, at least, partially enclosing the first motor, the first driver, the second motor, and the second driver, wherein the device is mountable behind and above a seat of a wheelchair.