A compact stair-climbing wheelchair with two 3-DOF legs and a 1-DOF base

Lee, Chang-Hyuk; Lee, Kyung-min; Yoo, Je Hong; Kim, Insu; Bang, Young-bong

doi:10.1108/ir-05-2015-0085

Cited by 15 publications

(4 citation statements)

References 19 publications

(19 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Folding mechanism is the key to realizing the safe and smooth switching between wheelchair and stretcher. Analyzing the movement characteristic of the wheelchair-stretcher assistive robot and researching the references [23][24][25][26][27], the corresponding mechanism is proposed, as shown in Figure 7. There is one rack, five motion components and seven revolute joints in the mechanism.…”

Section: Kinematics Analysis and Parameters Optimization Of The Foldimentioning

confidence: 99%

Analysis, Design, and Experimental Research of a Novel Wheelchair-Stretcher Assistive Robot

et al. 2019

View full text Add to dashboard Cite

Featured Application: This novel robot could be applied in hospital, family and nursing home to help the elderly complete the basic daily activities and move patient autonomously.Abstract: Life care for disabled or semi-disabled elderly has become an increasingly common problem in society. In this paper, a novel wheelchair-stretcher assistive robot, which can meet the physiological needs of patients, is investigated and designed. The following tasks are conducted: (1) the mecanum wheel is adopted as the executive device of the walking mechanism, and its kinematics is analyzed in detail.(2) A five-link mechanism with single degree of freedom is proposed to realize the folding motion of the robot. Through the minimum conclusive area method, the optimal sizes of the armrests link and the side link are 507.9, and 332.5 mm, respectively. Based on the force analysis of the linkage mechanism, six torsion springs and RV (rotate vector) reduction motor are used as the driving device, which reduces the driving torque of the motor. (3) Based on the STM32 (STMicroelectronics 32-bits Microcontroller) chip, and combined with the theoretical analysis, the mechanical structure and the control system of the whole prototype are designed, and the feasibility of each module is verified by experimental research. The results confirm that the proposed robot has good performance, and that the control algorithm for the walking mechanism and the lifting mechanism are suitable.

show abstract

Section: Kinematics Analysis and Parameters Optimization Of The Foldimentioning

confidence: 99%

Analysis, Design, and Experimental Research of a Novel Wheelchair-Stretcher Assistive Robot

et al. 2019

View full text Add to dashboard Cite

show abstract

“…The electric wheelchair closely resembles a manual wheelchair in its design but it has powered wheels and can be controlled using buttons or a joystick to facilitate maneuvering. Another compact wheelchair has two 3-DOF legs and a 1 DOF base for stair-climbing, and wheels for flat surface driving (Lee et al , 2016). This system has leg mechanisms which can be folded into a compact wheelchair body when the wheelchair moves over flat surfaces.…”

Section: Introductionmentioning

confidence: 99%

Design and control of a novel all-terrains wearable vehicle

Sayed

Fanni

Raessa

et al. 2019

View full text Add to dashboard Cite

Purpose This paper aims to design and control of a novel compact transportation system called the “wearable vehicle”. The wearable vehicle allows for traversing all types of terrains while transporting one's luggage in a comfortable and efficient manner. Design/methodology/approach The proposed design consists of a lower limb exoskeleton carrying two motorized wheels and two free wheels installed alongside its feet. This paper presents a detailed description of the system with its preliminary design and finite element analysis. Moreover, the system has been optimally designed to decrease wearable vehicle’s total weight, consequently leading to a reduction in motor size. Finally, two controllers have been designed to achieve stable operation of the wearable vehicle while walking. A PD controller with gravity compensation has been designed to ensure that the wearable vehicle tracks human motion, while a PID controller has been designed to ensure that the zero moment point is close to the center of the system’s support polygon. Findings Experimental tests were carried out to check the wearable vehicle concept. The obtained results prove the feasibility of the proposed wearable vehicle from the design, dynamics and control viewpoints. Practical implications This proposed wearable vehicle’s purpose is for traveling faster with less effort than normal walking. When a human comes across a flat open ground, the wearable vehicle can be used as a vehicle. However, when a human enters crowded traffic, an unstructured area or other obstacles like stairs, the vehicle can be switched into walking mode. Originality/value The wearable vehicle has seven DOFs exoskeletons, two motorized wheels, two free wheels and a foldable seat. It is used as a vehicle via its motorized and free wheels to travel fast with minimal effort. In addition, the human can switch easily into walking mode, if there is unstructured terrain to be traversed. Furthermore, an illustration of system's mechanisms and main feature parameters are presented to become acquainted with the ultimate benefits of the new system.

show abstract

“…In this respect, SCMSs whose locomotion systems combine more than one mechanism of a different nature have a greater ability to surpass stairs than other models. These SCMSs, which are known as hybrid SCMSs, generally combine wheeled and legged systems (see, for example, [ 1 , 2 , 3 , 4 , 5 ]), wheel clusters attached to powered linkages (see, for example, [ 6 , 7 , 8 ]) and wheeled and tracked systems (see, for example, [ 9 , 10 , 11 , 12 ]). However, despite the fact that hybrid SCMSs are the most suitable systems with which to surpass stairs, they still have problems as regards guaranteeing the user a high factor of safety and comfort, signifying that most are not completely autonomous and external assistance is therefore required (see recent reviews by [ 13 , 14 ]).…”

Section: Introductionmentioning

confidence: 99%

“…Something similar occurs with current SCMSs, which do not adequately meet the need for comfort, mainly during the stair-climbing task. Relatively few research efforts have, therefore, been focused on the discomfort associated with SCMSs, although three recent examples of this include [ 5 , 33 , 34 ].…”

Section: Introductionmentioning

confidence: 99%

Enhancing the Trajectory Generation of a Stair-Climbing Mobility System

Chocoteco

Morales

Feliu-Batlle

2017

Sensors

View full text Add to dashboard Cite

Recent advances in mobile robotic technologies have enabled significant progress to be made in the development of Stair-Climbing Mobility Systems (SCMSs) for people with mobility impairments and limitations. These devices are mainly characterized by their ability to negotiate those architectural barriers associated with climbing stairs (curbs, ramps, etc.). The development of advanced trajectory generators with which to surpass such architectural barriers is one of the most important aspects of SCMSs that has not yet been appropriately exploited. These advanced trajectory generators have a considerable influence on the time invested in the stair climbing process and on passenger comfort and, consequently, provide people with physical disabilities with greater independence and a higher quality of life. In this paper, we propose a new nonlinear trajectory generator for an SCMS. This generator balances the stair-climbing time and the user’s comfort and includes the most important constraints inherent to the system behavior: the geometry of the architectural barrier, the reconfigurable nature of the SCMS (discontinuous states), SCMS state-transition diagrams, comfort restrictions and physical limitations as regards the actuators, speed and acceleration. The SCMS was tested on a real two-step staircase using different time-comfort combinations and different climbing strategies to verify the effectiveness and the robustness of the proposed approach.

show abstract

A compact stair-climbing wheelchair with two 3-DOF legs and a 1-DOF base

Cited by 15 publications

References 19 publications

Analysis, Design, and Experimental Research of a Novel Wheelchair-Stretcher Assistive Robot

Analysis, Design, and Experimental Research of a Novel Wheelchair-Stretcher Assistive Robot

Design and control of a novel all-terrains wearable vehicle

Enhancing the Trajectory Generation of a Stair-Climbing Mobility System

Contact Info

Product

Resources

About