Figure 16

Experimental results (measurement of Quick MAG). We measured tracks of the wheels of the wheelchair with Quick MAG IV type II (OKK Inc.). Three tracks, the front caster, the large wheel, and the drive wheel, are shown in this figure. The position of the front caster when the experiment started is 0mm and the wheelchair motion, (a), (c), (e) and (h), are shown in this figure. The track of the active-caster uses the estimated value between (a) and (c), because it is out of the area which the device can measure.