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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.  ...  This updated solution has greater stability during stair-climbing operation and satisfy the safety requirements introduced by ISO 7176-28:2012, "Requirements and test methods for stair-climbing devices  ...  In this paper, a particularly novel solution for a stair-climbing wheelchair is proposed.  ... 
doi:10.11144/javeriana.iyu21-1.kaes fatcat:ozbgz7mtbzei3eiy33slrgpxu4

Design and Fabrication of Low Cost Modified Maneuverable Standing Stretcher Wheelchair Transport System

Srinidhi Acharya S.R, Suresh P.M
2021 ACS Journal for Science and Engineering  
Wheel Chairs are one of the convenient man made structure which are highly useful for person with disability. The major problem of this wheelchair is the architectural obstacles such as stairs etc.  ...  It is stair climbing wheelchair design which concept which overcomes the structural obstacles. The fabrication of an ergonomically designed battery operated wheel chair for multi usage is done.  ...  Another type wheel chair with stair-climbing capacity and its components consisted of a leg shaped elements which was useful for climbing the stairs. It was designed by Jianjun Yuan et al. [6] .  ... 
doi:10.34293/acsjse.v1i2.7 fatcat:bsi3gnbn2ngxlebbunulzys6mq

On Climbing Winding Stairs For A Robotic Wheelchair

Chun-Ta Chen, Te-Tan Liao, Hoang-Vuong Pham
2010 Zenodo  
For now, the robotic wheelchair is operated in an open mode to climb winding stairs by a dynamic turning, therefore, the dynamics model is required to ensure a passenger-s safety.  ...  Equations of motion based on the skid-steering analysis are developed for the trajectory planning and motion analysis on climbing winding stairs.  ...  The climbing processes are shown in Fig. 10 This paper presents a novel stair-climbing robotic wheelchair in which a pair of rotational multi-limbed structures pivotally mounted on opposite sides of  ... 
doi:10.5281/zenodo.1331523 fatcat:eq2emionb5ernbcuhzkk5payvq

Smart Stair-Climbing Wheelchair using Tri-Wheel Mechanism for Disabled and Elderly

Kashish Rangari
2019 International Journal for Research in Applied Science and Engineering Technology  
The project aims at developing an automatic Stair-Climbing Wheelchair, a mechanism for climbing up and down over stairs for physically disabled and elderly people.  ...  The tri-wheel mechanism for stair-climbing wheelchair makes it easy to climb up and down on stairs.  ...  A smart wheelchair can make climbing of stairs for aged and physically handicapped a pleasant affair.  ... 
doi:10.22214/ijraset.2019.3274 fatcat:7w5sbjmqgffehh2dzclcrd7wbe

High-Order Sliding Mode-Based Synchronous Control of a Novel Stair-Climbing Wheelchair Robot

Juanxiu Liu, Yifei Wu, Jian Guo, Qingwei Chen
2015 Journal of Control Science and Engineering  
For the attitude control of a novel stair-climbing wheelchair with inertial uncertainties and external disturbance torques, a new synchronous control method is proposed via combing high-order sliding mode  ...  Secondly, considering the coordination of the multiple joints, a high-order sliding mode synchronization controller is designed to reduce the synchronization errors and tracking errors based on the controller  ...  Based on a novel stair-climbing wheelchair robot which was designed in [18] , a new control method is proposed in this paper via combining the HOSMC techniques and crosscoupling techniques.  ... 
doi:10.1155/2015/680809 fatcat:rlkscorp5jdv5b5djezkfrm3mq

Simulation and control of multipurpose wheelchair for disabled/elderly mobility

N.M. Abdul Ghani, M.O. Tokhi
2016 Integrated Computer-Aided Engineering  
This paper presents investigations into the development of modelling and control strategies for a multipurpose wheelchair as mobile transporter for elderly and disabled people.  ...  A modular fuzzy logic control mechanism with integrated phases is introduced for the overall operations and two-wheeled stabilization of the wheelchair.  ...  Tokhi / Simulation and control of multipurpose wheelchair for disabled/elderly mobility Architecture of the modular fuzzy controller.  ... 
doi:10.3233/ica-160526 fatcat:ite5uhaadzhhbbtajegnrr23hm

Kinematic Model of a New Staircase Climbing Wheelchair and its Experimental Validation

R. Morales, V. Feliu, A. González, P. Pintado
2006 The international journal of robotics research  
This paper describes the mechanical devices, the movements and the associated kinematic models of a novel wheelchair prototype capable of climbing staircases.  ...  This decoupling makes possible many different climbing strategies, the overall mechanism being extraordinarily versatile from a control point of view.  ...  The second important change occurred in the mid-1990s when the first stair-climbing powered wheelchairs appeared, specially designed to surpass architectural barriers.  ... 
doi:10.1177/0278364906069149 fatcat:62jb57exjrcqtabwac5e2c2ugm

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

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

A. Halme
2006 Climbing and Walking Robots  
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  ...  analysis p. 953 A portable light-weight climbing robot for personal assistance applications p. 961 Modeling and control of upright lifting wheelchair p. 969 A humanoid head for assistance robots  ... 
doi:10.1007/3-540-26415-9_1 dblp:conf/clawar/Halme05 fatcat:egsro4muxve47ilmowjv6fsr3m

DSP- and FPGA-Based Stair-Climbing Robot Design

Ming-Shyan Wang, Che-Min Mi, Shih-Yu Wu, Yi-Ming Tu
2013 Mathematical Problems in Engineering  
A stair-climbing robot is equipped with a grasping arm for capturing objects to provide service for the elders.  ...  A board based on a digital signal processor (DSP) plays the role of control center to manage all actions of two brushless DC motors for locomotion, two worm gears for torque magnification, and two DC motors  ...  NSC 100-2632-E-218-001-MY3, for financial supporting.  ... 
doi:10.1155/2013/243094 fatcat:d2mlrngi6rbztpo47fy7pz4kkq

Climbing Robots [chapter]

Majid M., Mojtaba Ahmadi
2007 Bioinspiration and Robotics Walking and Climbing Robots  
Kumar offered a wheelchair with legs for people with disabilities which could climb a stair (Parris Wellman, (1995) , Venkat Krovi, (1995) ) .  ...  MSRox Control System The MSRox control system is a microcontroller based system that includes actuators, a sensor and a keypad.  ...  Bioinspiration and Robotics Walking and Climbing Robots Nature has always been a source of inspiration and ideas for the robotics community.  ... 
doi:10.5772/5515 fatcat:u3momvoaeba47ahvw5rlaem2iq

Innovative "RK Walker": Transdisciplinary Multiphasic Observational Experimental Trial

2020 Indian Journal of Public Health Research & Development  
Conclusion: This multiphasic observational experimental trial and novel concept extend the functional ability for stair climbing for patients with disability.  ...  Walker is a device used by people with locomotor disabilities, where stair climbing remains challenge.  ...  And Stair Climbing Test (SCT) was done with RK Walker. Subject had to keep one leg in non-weight bearing during TUG Test and SCT.  ... 
doi:10.37506/ijphrd.v11i9.10999 fatcat:tqzffya4yvgdddcezrdjjvbnvm

Robotic Patient Lift and Transfer [chapter]

Roger Bostelman, James Albus
2008 Service Robot Applications  
Combination lift devices and wheelchairs have become available within the past several years. They provide stair/curb climbing, lift to reach tall shelves, etc.  ...  The patient, once lifted, could walk while supported by the HLPR Chair driving at a slow walking pace towards regaining leg control and perhaps eliminating the need for a wheelchair.  ...  Furthermore, it works as a valuable resource for researchers interested in this field.  ... 
doi:10.5772/6069 fatcat:togkggu44fgbrn5cb5caygiqze

Design and Voluntary Motion Intention Estimation of a Novel Wearable Full-Body Flexible Exoskeleton Robot

Chunjie Chen, Xinyu Wu, Du-xin Liu, Wei Feng, Can Wang
2017 Mobile Information Systems  
Finally, we proposed a novel gait phase recognition method for full-body exoskeletons using only joint angular sensors, plantar pressure sensors, and inclination sensors.  ...  Firstly, we classified the three types of main motion patterns: normal walking on the ground, stair-climbing and stair-descending, and sit-to-stand movement.  ...  Stair-Climbing and Stair-Descending.  ... 
doi:10.1155/2017/8682168 fatcat:rxfkcd5u6jgblc3faheosqxlyi

Walking with WALK!

T. Fuhr, J. Quintern, R. Riener, G. Schmidt
2008 IEEE Engineering in Medicine and Biology Magazine  
control approach presented in this article can be considered a valuable contribution to the development of future neuroprosthetic systems for locomotion.  ...  The future of NP will be based on fully implanted systems.  ...  A. Grigorean, physiotherapist, Mr. M. Fiegel, neurologist, and Dr. M. Poboroniuc, and many students for their valuable advice and assistance during the experiments.  ... 
doi:10.1109/memb.2007.911408 pmid:18270049 fatcat:mtnnd7drhnh6dfk4p5tlusrhrm
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