Configuration and tip-over stability analysis for stair-climbing of a new-style wheelchair robot

Yu, Suyang; Wang, Ting; Li, Xiaofan; Yao, Chen; Wang, Zhong; Zhi, Di

doi:10.1109/icma.2010.5589079

Cited by 23 publications

(14 citation statements)

References 7 publications

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“…The wheelchair robot equipped with new-style variable-geometry-tracked mechanism is developed by Suyang et al [2]. However these systems have complex link mechanism or many wheels, which brings about increasing in size.…”

Section: Introductionmentioning

confidence: 99%

Improvement of assistive wheelchair caster unit for step climbing

Yokota

Tanimoto

Heguri

et al. 2012

2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication

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The objective of this study is to develop the mechanism which assists the wheelchair user to climb a step. The wheelchair caster unit with an assistive mechanism is developed. This unit is easily replaced with the conventional wheelchair caster. The proposed caster unit has two functions to assist the step climbing. One is the assistive plates to enlarge the caster radius imaginarily. The other is a lock-function to yaw axis caster rotation, which realize easy climbing with oblique approach. Our first prototype shows good performance for above mentioned two functions, and can assists step climbing. However, the first prototype is heavy, because of the electromagnetic tooth clutch is used for the lock-function. Therefore this paper improve the lock-function of first prototype, and report the outline of the new prototype. The new lock-function was composed by the solenoid, the rack and pinion gear. By using the solenoid, the unit realizes weight and cost saving and low power consumption, and it is more practical design than first prototype.

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Section: Introductionmentioning

confidence: 99%

Improvement of assistive wheelchair caster unit for step climbing

Yokota

Tanimoto

Heguri

et al. 2012

2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication

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“…In order to improve the common track typed wheelchair robot, a new-style wheelchair robot equipped with a variable geometry single tracked mechanism (VGSTM) is proposed [11]- [14]. This robot can actively control the robot shape and track tension to adapt for obstacles by two pairs of flippers, so it will have better ability of stair-climbing [15].…”

Section: Introductionmentioning

confidence: 99%

Original Design of a Wheelchair Robot Equipped With Variable Geometry Single Tracked Mechanisms

Yu¹,

Wang²,

Wang³

et al. 2015

International Journal of Robotics and Automation

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This paper introduces an originally designed wheelchair robot equipped a variable geometry single tracked mechanism (VGSTM).This mechanism can actively control the robot shape and track tension to adapt for obstacles by two pairs of flippers, so the obstacle clearing ability of traditional wheelchairs can be improved. With the aim of stair-climbing, an optimal solution method of driving moments is proposed to guide the robot design; a tip-over and slippage stability criterion is established to evaluate the robot performance.Finally, the prototype is built, and the stair-climbing experiment is carried out to verify the obstacle clearing ability of the robot.

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“…4 Yu et al proposed a tip over and slippage stability criterion for a variable geometry single-tracked EPW-SC based on the geometric model, the static model, and the track-stair interaction analysis, for partial tracked-based EPW-SCs. 5,79 Once tip over has occurred during the process of stair climbing, it can be very dangerous and cause personal injury to the rider. Therefore, analysis on stair-climbing stability is very important.…”

Section: Cog Adjustment and Stability Evaluationmentioning

confidence: 99%

Electric-powered wheelchair with stair-climbing ability

Tao

Liu

2017

International Journal of Advanced Robotic Systems

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As an autonomic and convenient assistance device for people with disabilities and the elderly climbing up and down stairs, electric-powered wheelchairs with stair-climbing ability have attracted great attention in the past two decades and some various electric-powered wheelchairs with stair-climbing were developed. By using the developed electric-powered wheelchairs with stair-climbing, many patients with walking difficulties are able to descend the stairs conveniently to participate in outdoor activities, which are beneficial to both their physical rehabilitation and mental health. In this article, a review of electric-powered wheelchair with stair-climbing current technology is given and its future tendency is discussed to inform electric-powered wheelchair with stair-climbing researchers in the development of more applicable and popular products. Firstly, the development history is reviewed and electric-powered wheelchairs with stair-climbing are classified based on an analysis of their stair-climbing mechanisms. The respective advantages and disadvantages of different types of electric-powered wheelchairs with stair-climbing are outlined for an overall comparison of the control method, cost of mechanical manufacture, energy consumption, and adaption to different stairs. Insights into the future direction of stability during stair-climbing are discussed as it is an important aspect common to all electric-powered wheelchairs with stairclimbing. Finally, a summary of electric-powered wheelchairs with stair-climbing discussed in this article is provided. As a special review to the electric-powered wheelchairs with stair-climbing, it can provide a comprehensive understanding of the current technology about electric-powered wheelchairs with stair-climbing and serve as a reference for the development of new electric-powered wheelchairs with stair-climbing.

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Configuration and tip-over stability analysis for stair-climbing of a new-style wheelchair robot

Cited by 23 publications

References 7 publications

Improvement of assistive wheelchair caster unit for step climbing

Improvement of assistive wheelchair caster unit for step climbing

Original Design of a Wheelchair Robot Equipped With Variable Geometry Single Tracked Mechanisms

Electric-powered wheelchair with stair-climbing ability

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