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A novel wheel-track hybrid electric powered wheelchair for stairs climbing

Weijun TAO, Yongxiang JIA, Tao LIU, Jingang YI, Hesheng WANG, Yoshio INOUE
2016 Journal of Advanced Mechanical Design, Systems, and Manufacturing  
Aiming at efficient locomotion on the ground and safe stairs climbing for aged or physical disabled people, a wheel-track hybrid electric powered wheelchair (EPW) is designed, analyzed, and demonstrated  ...  The use of the track mobile mode is primarily for climbing up and down the stairs while the wheel mobile mode is for commonly ground surfaces.  ...  Three basic locomotion designs are used for EPWs: wheel-based, leg-based and track-based EPWs (Gonzaleza A, 2009).  ... 
doi:10.1299/jamdsm.2016jamdsm0060 fatcat:6vauuscvinbfrlpzwswhgzg4g4

Kinematic analysis of an electric stair-climbing wheelchair

Giuseppe Quaglia, Walter Franco, Matteo Nisi
2016 Ingeniería y Universidad  
<p>This paper presents the functional design and the kinematic synthesis of the last version of an electric stair-climbing wheelchair.  ...  With an appropriate cam profile it is possible to compensate the oscillations introduced on the wheelchair during the climbing sequence and allow the user to obtain a translational trajectory.  ...  In this paper, a particularly novel solution for a stair-climbing wheelchair is proposed.  ... 
doi:10.11144/javeriana.iyu21-1.kaes fatcat:ozbgz7mtbzei3eiy33slrgpxu4

Simulation and control of multipurpose wheelchair for disabled/elderly mobility

N.M. Abdul Ghani, M.O. Tokhi
2016 Integrated Computer-Aided Engineering  
It is shown that the proposed modular fuzzy control approach is able to ensure system stability while performing multipurpose tasks such as manoeuvrability on flat surfaces, stairs climbing (ascending  ...  This paper presents investigations into the development of modelling and control strategies for a multipurpose wheelchair as mobile transporter for elderly and disabled people.  ...  for the climbing task and will allow the wheelchair 555 to move in two-wheeled mode on the stairs.  ... 
doi:10.3233/ica-160526 fatcat:ite5uhaadzhhbbtajegnrr23hm

Common Situation Awareness as Basis for Human-Robot Interface [chapter]

A. Halme
2006 Climbing and Walking Robots  
On the application of impedance control to a non-linear actuator p. 751 MACCEPA : the actuator with adaptable compliance for dynamic walking bipeds p. 759 A design of a walking robot with hybrid actuation  ...  123 A robot that climbs walls using micro-structured polymer feet p. 131 Novel solutions to design problems of industrial climbing robots p. 139 p. 147 4 legs positioning control of the quadruped  ... 
doi:10.1007/3-540-26415-9_1 dblp:conf/clawar/Halme05 fatcat:egsro4muxve47ilmowjv6fsr3m

Robotic Patient Lift and Transfer [chapter]

Roger Bostelman, James Albus
2008 Service Robot Applications  
negative obstacles (stairs) well before approaching them.  ...  Combination lift devices and wheelchairs have become available within the past several years. They provide stair/curb climbing, lift to reach tall shelves, etc.  ...  Furthermore, it works as a valuable resource for researchers interested in this field.  ... 
doi:10.5772/6069 fatcat:togkggu44fgbrn5cb5caygiqze

Review: Robot Devices for Gait Rehabilitation

Natasa Koceska, Saso Koceski
2013 International Journal of Computer Applications  
However, the amount of hands-on therapy that patients can receive is limited, as economic pressures are inherent in the health care system.  ...  Robotic devices has the potential to make therapy more affordable and thus more available for more patients and for more time.  ...  The ReWalk also sits, stands, allows turning and has the ability to climb and descend stairs.  ... 
doi:10.5120/10137-4279 fatcat:easl4nx3azg75pyhyp3cffit7y

Hybrid FES–robotic gait rehabilitation technologies: a review on mechanical design, actuation, and control strategies

Francisco Anaya, Pavithra Thangavel, Haoyong Yu
2018 International Journal of Intelligent Robotics and Applications  
This work reports a comprehensive review on the hybrid FES-robot technologies over the last decades, focusing on different mechanical structures, actuator designs, sensing technologies, and control approaches  ...  The combination of FES technology and RAGT devices, often named hybrid FES-robot technologies, has arisen as a promising approach to aid in gait restoration.  ...  The VIKM aims for restoration of standing, stair climbing and walking functions.  ... 
doi:10.1007/s41315-017-0042-6 dblp:journals/ijira/ReyesTY18 fatcat:qrxzjz6ngzfjvjjcztasaqqmja

Exoskeleton-Based Multimodal Action and Movement Recognition: Identifying and Developing the Optimal Boosted Learning Approach [article]

Nirmalya Thakur, Chia Y. Han
2022 arXiv   pre-print
First, it presents a novel machine learning and pattern recognition-based framework that can detect a wide range of actions and movements - walking, walking upstairs, walking downstairs, sitting, standing  ...  The performance of each of these learning approaches was boosted by using the AdaBoost algorithm, and the Cross Validation approach was used for training and testing.  ...  ACKNOWLEDGEMENTS The authors would like to thank Isabella Hall, Department of Electrical Engineering and Computer Science at the University of Cincinnati, for her assistance in improving the presentation  ... 
arXiv:2106.10331v2 fatcat:msm7scwlljbmlhwmamekiasmvi

Spring uses in exoskeleton actuation design

Shiqian Wang, W. van Dijk, H. van der Kooij
2011 2011 IEEE International Conference on Rehabilitation Robotics  
Inspired by the muscle behavior, we propose a novel actuation strategy for exoskeleton design.  ...  This imposes a great challenge for the actuator design.  ...  The REX robotic exoskeleton from REX bionics has five actuated degrees of freedom (DoFs) at each leg, and enables the user to walk, make turns, and even climb stairs and slopes [4] .  ... 
doi:10.1109/icorr.2011.5975471 pmid:22275669 fatcat:ati3yzmduzanzho5s6taqkte3a

Exoskeleton-Based Multimodal Action and Movement Recognition: Identifying and Developing the Optimal Boosted Learning Approach

Nirmalya Thakur, Chia Y. Han
2021 Advances in Artificial Intelligence and Machine Learning  
Second, it presents a comprehensive comparative study of different learning approaches -Random Forest,  ...  First, it presents a novel machine learning and pattern recognitionbased framework that can detect a wide range of actions and movements -walking, walking upstairs, walking downstairs, sitting, standing  ...  ACKNOWLEDGEMENTS The authors would like to thank Isabella Hall, Department of Electrical Engineering and Computer Science at the University of Cincinnati, for her assistance in improving the presentation  ... 
doi:10.54364/aaiml.2021.1104 fatcat:c36c4mervnaf5iknfkitizbzrq

The Myosuit: Bi-articular Anti-gravity Exosuit That Reduces Hip Extensor Activity in Sitting Transfers

Kai Schmidt, Jaime E. Duarte, Martin Grimmer, Alejandro Sancho-Puchades, Haiqi Wei, Chris S. Easthope, Robert Riener
2017 Frontiers in Neurorobotics  
It describes the textile interface, tendon actuators, and a bi-articular, synergy-based approach for continuous assistance.  ...  We conclude that the Myosuit's novel approach to assistance using a bi-articular architecture, in combination with the posture-based force controller, can effectively assist its users in gravity-intensive  ...  ACKNOWLEDGMENTS The authors acknowledge the support of Katja Stähli for manufacturing the textile interface.  ... 
doi:10.3389/fnbot.2017.00057 pmid:29163120 pmcid:PMC5663860 fatcat:estxasppu5ditezbqzhbm5uqam

TAR 2017 – Technically Assisted Rehabilitation – March 09–10, 2017

2017 Current Directions in Biomedical Engineering  
a motorized linear stage for accurate actuation in the Z axis.  ...  The main goal of this study was to develop a wheelchair based test rig on which alternate hand driven mechanisms for wheelchair propulsion can easily be mounted and propulsion efficiency as well as loads  ... 
doi:10.1515/cdbme-2017-1001 fatcat:xiklcu7fpfh5rlrz2clmo6cwum

Application of Artificial Intelligence (AI) in Prosthetic and Orthotic Rehabilitation [chapter]

Smita Nayak, Rajesh Kumar Das
2020 Service Robotics [Working Title]  
leg, mind or thought control prosthesis and exoskeletons.  ...  Application of Artificial Intelligence and robotics technology has a huge impact in achieving independent mobility and enhances the quality of life in Persons with Disabilities (PwDs).  ...  This mechanism helps the amputee to do various activities like stair climbing, jogging, running and walking in uneven terrain.  ... 
doi:10.5772/intechopen.93903 fatcat:jp2h7xcms5h3tjx7ichkckplty

A Review of Robot-Assisted Lower-Limb Stroke Therapy: Unexplored Paths and Future Directions in Gait Rehabilitation

Bradley Hobbs, Panagiotis Artemiadis
2020 Frontiers in Neurorobotics  
Stroke affects one out of every six people on Earth.  ...  Originally intended to supplement traditional post-stroke gait rehabilitation, robotic systems have gained remarkable attention in recent years as a tool to decrease the strain on physical therapists while  ...  A powered leg orthosis applies suitable forces to move the leg on a desired trajectory using an assist as needed force-field controller and linear actuators at hip joint and knee joints in Banala et al  ... 
doi:10.3389/fnbot.2020.00019 pmid:32351377 pmcid:PMC7174593 fatcat:yqy5t3yd25elbcxgtmw5gwiooa

Socio-economic impact of medical lower-limb Exoskeletons

F. Ferrati, R. Bortoletto, E. Menegatti, E. Pagello
2013 2013 IEEE Workshop on Advanced Robotics and its Social Impacts  
In order to provide a concrete contribution to the current state-of-the-art, we are working on an alternative exoskeleton design approach to overcome the identified limits to the diffusion of this new  ...  Exoskeleton robotic suits represent one of the most significant examples of what Human-Oriented Robotics is.  ...  AlterG Bionic Leg [12] is a single-leg robotic aid worn during therapy sessions to help patients in sit-to-stand, overground walking and stair-climbing exercises.  ... 
doi:10.1109/arso.2013.6705500 dblp:conf/arso/FerratiBMP13 fatcat:wl33j5frpbaz5jbyeen2kyvtwm
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