Systems and methods of wheelchair systems enabling fine manual motion control are disclosed. In one embodiment, a wheelchair system includes a wheelchair. The wheelchair includes one or more wheels, at least one actuator coupled to the one or more wheels, a processing device, and a non-transitory, processor-readable storage medium in communication with the processing device. The non-transitory, processor-readable storage medium includes one or more programming instructions that, when executed, cause the processing device to determine a wheel torque on the one or more wheels, determine a compensation value, and actuate the at least one actuator applying the compensation value to the one or more wheels to remove at least a portion of the wheel torque such that less external force is required to physically move the powered wheelchair than when the compensation value is not applied.

A patient support apparatus that is adaptable to multiple modes of transport includes a variable length base and a drive system that includes two independently drivable wheels that are responsive to inputs from a user to steer the patient support apparatus. A barrier assembly is secured to the upper frame by a tab which is received into a receiver formed in a head end of the frame.

An auxiliary drive device for a wheelchair has at least one freely pivotable electrically driven drive wheel and a coupling mechanism for coupling the auxiliary drive device to the wheelchair. The coupling mechanism includes a movable locking element which is movably supported in the coupling mechanism. The movable locking element can be in a locking position in which it causes locking in a positive-locking manner so that the auxiliary drive device is coupled to the wheelchair and, by operation of a handle, the locking element can be moved in a release position in which uncoupling of the auxiliary drive device from the wheelchair is possible.

An auxiliary drive device for a wheelchair has at least one freely pivotable electrically driven drive wheel and a coupling mechanism for coupling the auxiliary drive device to the wheelchair. The coupling mechanism includes a movable locking element which is movably supported in the coupling mechanism. The movable locking element can be in a locking position in which it causes locking in a positive-locking manner so that the auxiliary drive device is coupled to the wheelchair and, by operation of a handle, the locking element can be moved in a release position in which uncoupling of the auxiliary drive device from the wheelchair is possible.

An auxiliary drive device for a wheelchair has at least one freely pivotable electrically driven drive wheel and a coupling mechanism for coupling the auxiliary drive device to the wheelchair. The coupling mechanism includes a movable locking element which is movably supported in the coupling mechanism. The movable locking element can be in a locking position in which it causes locking in a positive-locking manner so that the auxiliary drive device is coupled to the wheelchair and, by operation of a handle, the locking element can be moved in a release position in which uncoupling of the auxiliary drive device from the wheelchair is possible.

An auxiliary drive device for a wheelchair has at least one freely pivotable electrically driven drive wheel and a coupling mechanism for coupling the auxiliary drive device to the wheelchair. The coupling mechanism includes a movable locking element which is movably supported in the coupling mechanism. The movable locking element can be in a locking position in which it causes locking in a positive-locking manner so that the auxiliary drive device is coupled to the wheelchair and, by operation of a handle, the locking element can be moved in a release position in which uncoupling of the auxiliary drive device from the wheelchair is possible.

A medical bed includes a bed frame and a powered wheel mounted to the bed frame via a suspended wheel mechanism including an actuator for displacing the powered wheel between a deployed position and a retracted position where a clearance gap is defined between the powered wheel and the floor surface. An end board mounted to the bed frame includes a load cell integrated therein, the load cell detecting a magnitude of a force applied on the end board by a user and providing input signals to a control system. The input signals indicative of the magnitude of the force applied on the end board by the user. The control system is in communication with the powered wheel to drive the powered wheel with a level of power assistance proportional to the magnitude of the force applied on the end board when the powered wheel is in the deployed position.

A drive unit usable in an electrically assisted wheelchair includes a controller to acquire an output signal from a torque sensor and an output signal from a speed sensor; measure a time period in which a first state, where the output signal from the torque sensor indicates that a forward-direction torque applied to a hand rim has a value no smaller than a first predetermined value, continues; and when the measured time period is a first time period or longer, start control of an electric motor in a cruise control mode by which the electrically assisted wheelchair runs while keeping a running speed at a target speed.

A control device for a power assist wheelchair which includes a compensation turning torque calculation unit that calculates a compensation turning torque value for compensating for at least a part of the shortage or excess of the actual turning torque value with respect to the predicted turning torque value, in which the compensation turning torque value is smaller when the vehicle speed is a first speed than when the vehicle speed is a second speed faster than the first speed; a first target current determination unit that determines a target current of the first electric motor based upon the first manual torque value and the compensation turning torque value; and a second target current determination unit that determines a target current of the second electric motor based upon the second manual torque value and the compensation turning torque value.

The disclosure provides a driving force applied position estimation system that can accurately estimate an applied position of a driving force from an occupant. A measurement system includes a six-axis force sensor provided in a wheelchair, a rotation angle recognition part which recognizes a rotation angle of the six-axis force sensor, and a COP estimation part which estimates a COP that is the applied position of the driving force from the occupant to the wheelchair. The COP estimation part estimates the COP based on a translational force and a moment detected by the six-axis force sensor and based on the rotation angle recognized by the rotation angle recognition part to improve estimation accuracy of the COP estimation part and measurement accuracy of the measurement system.