The bathing-assisted wheelchair suitable for the elderly is designed to enable the elderly with disability and demen-tia to arrive at the bathing place safely and lower the intensity of nursing work.Taking account of waterproof,anti-collision and skid resistance and the characteristics of human spinal curvature,the bathing-assisted wheelchair is provided with the mechanical struc-ture for flexible sitting positions.The system structure is consisted of single chip computer,magnetic guidance,motor differential drive and other functional modules.The track magnetic strips are embedded and laid.Meanwhile,the bathing-assisted wheelchair with real-time rectification of deviation model is established in consideration of key factors such as bath chair deviation angle,inde-pendent wheels speed.Besides,fuzzy PID control algorithms are used and a simulation model is established in Matlab simulink,the adaptive cruise control of the bathing-assisted wheelchair to track the magnetic strips is achieved by optimizing output control pa-rameter interval and setting magnetic guidance for deviation model.It turns out that with the algorithms,the bathing-assisted wheel-chair can rectify automatically the different deviation with a 2 mm or minus margin of error,which enables the accurate embedded-ness between the bathing-assisted wheelchair and the bathtub as well as prevents the involvement of nursing personnel.
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