An Approach on Velocity and Stability Control of a Two-Wheeled Robotic Wheelchair

Nikpour, Mostafa; Huang, L.; Al‐Jumaily, Ahmed M.

doi:10.3390/app10186446

Cited by 3 publications

(3 citation statements)

References 29 publications

(33 reference statements)

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“…As far as the trajectory tracking is concerned, we have considered that the desired velocity may depend on the rehabilitation task or robotic assistance. This consideration differs from other works found in the literature, which consider that the desired velocity is constant [ 9 , 14 , 52 ]. The studies found in the literature have solved the trajectory tracking problem, by choosing the desired velocity equal to the derivative with respect to the time of the desired trajectory [ 53 ], which is not logical in autonomous tasks that transport a person with some degree of motor disability.…”

Section: Discussionmentioning

confidence: 78%

“…Furthermore, no works were found implementing path-following strategies for standing wheelchairs. We only found works for wheelchairs without the standing degree of freedom [ 10 , 52 ]. Lyapunov’s theory helped us to show that control errors converge to values close to zero, if velocity errors are bound, which confirms that the proposed control scheme works correctly.…”

Section: Discussionmentioning

confidence: 99%

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

Ortiz

Palacios-Navarro

Andaluz

et al. 2021

Sensors

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The implementation of control algorithms oriented to robotic assistance and rehabilitation tasks for people with motor disabilities has been of increasing interest in recent years. However, practical implementation cannot be carried out unless one has the real robotic system availability. To overcome this drawback, this article presents the development of an interactive virtual reality (VR)-based framework that allows one to simulate the execution of rehabilitation tasks and robotic assistance through a robotic standing wheelchair. The virtual environment developed considers the kinematic and dynamic model of the standing human–wheelchair system with a displaced center of mass, since it can be displaced for different reasons, e.g.,: bad posture, limb amputations, obesity, etc. The standing wheelchair autonomous control scheme has been implemented through the Full Simulation (FS) and Hardware in the Loop (HIL) techniques. Finally, the performance of the virtual control schemes has been shown by means of several experiments based on robotic assistance and rehabilitation for people with motor disabilities.

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Section: Discussionmentioning

confidence: 78%

Section: Discussionmentioning

confidence: 99%

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

Ortiz

Palacios-Navarro

Andaluz

et al. 2021

Sensors

View full text Add to dashboard Cite

show abstract

“…A disabled person moving on a manual wheelchair pushes the drive wheels with their upper limbs what results in the linear motion of the wheelchair [1,2]. When propelling a wheelchair, its user overcomes various architectural and terrain barriers [3,4].…”

Section: Introductionmentioning

confidence: 99%

Evaluation of the Biomechanical Parameters of Human-Wheelchair Systems during Ramp Climbing with the Use of a Manual Wheelchair with Anti-Rollback Devices

et al. 2020

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Purpose: The main purpose of the research conducted was the analysis of kinematic and biomechanical parameters measured during manual wheelchair ramp-climbing with the use of the anti-rollback system and the comparison of the values tested with the manual wheelchair climbing the same ramp but without any modifications. The paper presents a quantitative assessment relating to the qualitative research of the anti-rollback system performed by another research team. Method and materials: The article presents the measurement results of the wheelchair motion kinematics and the activity of four upper limb muscles for eight subjects climbing a 4.58° ramp. Each subject propelled the wheelchair both with and without the anti-rollback system. The kinematic parameters were measured by means of two incremental encoders with the resolution of 500 impulses per single revolution of the measurement wheel. Whereas, the muscle activity was measured by means of surface electromyography with the use of Noraxon Mini DTS apparatus equipped with four measurement channels. Results: The surface electromyography measurement indicated an increase in the muscle activity for all four muscles, during the use of the anti-rollback system. The increase was: 18.56% for deltoid muscle anterior, 12.37% for deltoid muscle posteriori, 13.0% for triceps brachii, and 15.44% for extensor carpi radialis longus. As far as the kinematics analysis is concerned, a decrease in the measured kinematic parameters was observed in most participants. The medium velocity of the propelling cycle decreased by 26%. The ratio of the generated power and the loss power in a single propelling cycle λ had decreased by 18%. The least decrease was recorded for the measurement of mechanical energy E and the propelling cycle duration time. For the total mechanical energy, the decrease level was 3%, and for the propelling cycle duration it was 1%. The research carried out did not demonstrate any impact of the anti-rollback system use on the push phase share in the entire propelling cycle.

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Six-Wheel Robot Design Methodology and Emergency Control to Prevent the Robot from Falling down the Stairs

Pico

Park

et al. 2022

Applied Sciences

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This paper proposes a design methodology for a six-wheeled rover that adapt to different stairs and maintain its stability based on the robot’s parameters, the kinematics constraints, the maximum height, and the minimum length of the step required to climb up and down. We also propose an emergency controller to prevent falls during the climb up or down using the contact angle measurement between wheel–ground by a laser scanner sensor on each side of the robot. Thus, the geometry terrain information and the wheel contact loss detection with the ground can be obtained. This loss of contact with the ground is a determining factor in an emergency case where the robot’s stability is at risk. Therefore, the controllers kick in to regain the wheel contact with the step, preventing the robot from falling. Simulations and experimental results when the robot climbs up and down stairs demonstrate the ability to react to possible falls.

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An Approach on Velocity and Stability Control of a Two-Wheeled Robotic Wheelchair

Cited by 3 publications

References 29 publications

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

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

Evaluation of the Biomechanical Parameters of Human-Wheelchair Systems during Ramp Climbing with the Use of a Manual Wheelchair with Anti-Rollback Devices

Six-Wheel Robot Design Methodology and Emergency Control to Prevent the Robot from Falling down the Stairs

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