3D Virtual Path Planning for People with Amyotrophic Lateral Sclerosis Through Standing Wheelchair

Three-Dimensional Unified Motion Control of a Robotic Standing Wheelchair for Rehabilitation Purposes

“…Traditionally, the motion control design of a mobile robot with differential drive has considered, as a point of interest, the center of the virtual axis (located between the fixed wheels of the robot) [ 34 ]. In this work, we consider a point of interest displaced from the center of the virtual axis of the fixed wheels, so that the dynamic compensation of the robotic system delivers a real behavior, i.e., the standing wheelchair robot corrects errors generated by different external factors, such as the user’s change in posture or the friction of the different surfaces, among others [ 17 , 21 ]. Figure 1 illustrates the point of interest displaced a distance “a” from the standing wheelchair robot.…”

“…Nowadays, the most common robotic mechanisms for assistance and/or rehabilitation are autonomous and semi-autonomous wheelchairs or intelligent walkers [ 19 , 20 , 21 ]. According to the two-wheeled chair literature, the scientific community is working on four main aspects: (a) Construction .…”

“…The independence of the robotic system is obtained through the automatic generation of tracking control, which allows following the desired trajectory of the wheelchair. The motion control of the robotic system may have three types of problems: ( i) point stabilization control : stabilizes the wheelchair with standing considering one target point [ 17 ]; ( ii) trajectory tracking control : whose purpose is to allow the standing wheelchair to follow a parameterized reference in time [ 33 ]; and ( iii) path-following control: allows the robotic system to converge with desired trajectory [ 21 ].…”

Virtual Reality-Based Framework to Simulate Control Algorithms for Robotic Assistance and Rehabilitation Tasks through a Standing Wheelchair

“…In order to design and implement control algorithms, the physical robotic system is required in order to experimentally evaluate the developed control proposals. To overcome this drawback, different simulation software oriented to robotic systems have been commercially developed [ 46 , 47 ]. However, when considering robotic systems for the rehabilitation area, there is no commercial software or free software that allows one to simulate the behavior of robotic systems oriented to the execution of assistance or rehabilitation tasks.…”