Design and fabrication of a statically stable stair‐climbing robotic wheelchair

Chen, Chun Ta; Pham, Hoang Vuong

doi:10.1108/01439910910994632

Cited by 16 publications

(11 citation statements)

References 16 publications

(15 reference statements)

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“…The foot contact area is much wider than those of general biped leg mechanisms (Kajita et al, 2003;Chestnutt et al, 2005), and the two foot bars touch the two different adjacent steps simultaneously so that the projection of CoM always exists within the foot contact area by an ample margin. This feature ensures that the wheelchair is statically stable, even during an emergency stop (Chen and Pham, 2009). Figure 6(a) shows that the left leg supports the wheelchair and the right leg moves toward the next step while the projection of CoM is within the left foot contact area.…”

Section: Basic Motions To Climb/descend Stairsmentioning

confidence: 99%

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

Lee

Yoo

et al. 2016

Industrial Robot: An International Journal

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Purpose – The purpose of this paper is to describe a compact wheelchair, which has two 3-degrees of freedom (DOF) legs and a 1-DOF base (the total DOF of the leg system is 7) for stair-climbing, and wheels for flat surface driving. Design/methodology/approach – The proposed wheelchair climbs stairs using the two 3-DOF legs with boomerang-shaped feet. The leg mechanisms are folded into the compact wheelchair body when the wheelchair moves over flat surfaces. The authors also propose a simple estimation method of stair shape using laser distance sensors, and a dual motor driving system to increase joint power. Findings – The proposed wheelchair can climb arbitrary height and width stairs by itself, even when they are slightly curved. During climbing, the trajectory of the seat position is linear to guarantee the comfort of rider, and the wheelchair always keeps a stable condition to ensure the stability in an emergency stop. Originality/value – The wheelchair mechanism with foldable legs and driving wheels enables smooth stair climbing, efficient flat surface driving and additional useful motions such as standing and tilting.

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Section: Basic Motions To Climb/descend Stairsmentioning

confidence: 99%

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

Lee

Yoo

et al. 2016

Industrial Robot: An International Journal

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“…The high control requirements necessary to maintain the dynamic stability and safety issues are the main drawbacks of this kind of solution. In [20] and [21] a two-wheels cluster solution is presented. In these cases, the static stability is guaranteed by the introduction of additional articulated mechanisms.…”

Section: Introductionmentioning

confidence: 99%

Design of a self-leveling cam mechanism for a stair climbing wheelchair

Quaglia

Nisi

2017

Mechanism and Machine Theory

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This paper presents a new version of Wheelchair.q, a wheelchair with stair climbing ability. The wheelchair is able to climb single obstacles or staircases thanks to a hybrid wheel-leg locomotion unit with a triple-wheels cluster architecture. The new concept presented in this work represents an improvement respect to previous versions. Through a different arrangement of functional elements, the wheelchair performances in terms of stability and regularity during movement on stair have been increased. In particular, attention has been paid to ensure a regular and comfortable motion for the user during stair climbing operation. For this reason, a cam mechanism has been introduced and designed with the aim to compensate the oscillation generated on the wheelchair frame by the locomotion unit rotation. A design methodology for the cam profile is presented. Moreover, a parametric analysis on the cam profile and on the mechanism dimensions has been conducted with the aim to find a cam profile with suitable dimensions and performances in terms of pressure angle and radius of curvature.

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“…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%

Enhancing the Trajectory Generation of a Stair-Climbing Mobility System

Chocoteco

Morales

Feliu-Batlle

2017

Sensors

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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.

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Design and fabrication of a statically stable stair‐climbing robotic wheelchair

Cited by 16 publications

References 16 publications

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

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

Design of a self-leveling cam mechanism for a stair climbing wheelchair

Enhancing the Trajectory Generation of a Stair-Climbing Mobility System

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