2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR) 2013
DOI: 10.1109/icorr.2013.6650438
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A five-wheel wheelchair with an active-caster drive system

Abstract: A novel wheelchair system with an active-caster drive mechanism is presented in this paper. A manual (hand propelled) wheelchair with an external single-wheel drive system forms a five-wheel configuration. The active-caster mechanism is applied to a drive system to motorize a manual wheelchair. Two electric motors which drive a wheel axis and a steering axis of a drive wheel independently are equipped on the active-caster. A coordinated control of the two motors enables the velocity vector on the steering shaf… Show more

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Cited by 9 publications
(10 citation statements)
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“…This mechanism is realized by a linear actuator, attached between the active-caster and the wheelchair, which can vary the height of the drive wheel to change the number of points of contact with the ground. When all five wheels are in contact with the ground, the wheelchair can perform a pivot turn motion around the center of the large wheels (Figure 4(a)) [7]. Figure 4(a) shows that the large wheels contact on the ground and are rotated since the markers of the large wheels move gradually.…”
Section: B Functions Of the Five-wheeled Wheelchairmentioning
confidence: 99%
See 2 more Smart Citations
“…This mechanism is realized by a linear actuator, attached between the active-caster and the wheelchair, which can vary the height of the drive wheel to change the number of points of contact with the ground. When all five wheels are in contact with the ground, the wheelchair can perform a pivot turn motion around the center of the large wheels (Figure 4(a)) [7]. Figure 4(a) shows that the large wheels contact on the ground and are rotated since the markers of the large wheels move gradually.…”
Section: B Functions Of the Five-wheeled Wheelchairmentioning
confidence: 99%
“…Figure 4(a) shows that the large wheels contact on the ground and are rotated since the markers of the large wheels move gradually. On the other hand, when the large wheels are hovered above the ground and the steering shafts of the front casters are fixed, the wheelchair can perform the same motion around the center of the front casters, avoiding the nonholonomic constraint of the large wheels (Figure 4(b)) [7]. Figure 4(b) shows that the large wheels float from the ground since the markers of the large wheels don't move.…”
Section: B Functions Of the Five-wheeled Wheelchairmentioning
confidence: 99%
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“…He considered a linear actuator to adjust the caster to enable safe turning. [11] A wheelchair puller was attached to the front of a manual wheelchair to enable it to be operated like a motorcycle. However, it is necessary to add fixtures and attachments to the frames of a manual wheelchair.…”
Section: Introductionmentioning
confidence: 99%
“…From basic control of cursors being displayed on a computer screen [52]- [54] to robotic arms [55], prosthesis [56] and even wheelchairs [57], [58]. Depending on the application of the BCI, different neural-recording techniques can be used.…”
Section: Bcis In Rehabilitationmentioning
confidence: 99%