In this study, we developed a small prototype of a one-degree-of-freedom portable active suspension for welfare support devices. The suspension is expected to be applied to welfare support devices such as wheelchairs, transport trolleys, and child seats. This paper presents the mechanism and the state space representation of the developed suspension, and an evaluation of the frequency domain characteristics and time domain response of the controlled system with poles assignment method. Furthermore, experiments under three road surface conditions were conducted to verify the effectiveness of the developed suspension.

中文翻译：

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福利支持装置便携式主动悬架的研制：一自由度样机的控制器设计与性能评价

在这项研究中，我们开发了一个用于福利支持设备的单自由度便携式主动悬架的小型原型。该暂停预计将应用于轮椅、运输手推车和儿童座椅等福利支持设备。本文介绍了所开发悬架的机制和状态空间表示，并评估了采用极点分配方法的受控系统的频域特性和时域响应。此外，还进行了三种路面条件下的实验，以验证所开发悬架的有效性。