Dynamic Stability Control of Inverted-Pendulum-Type Robotic Wheelchair for Going Up and Down Stairs

Onozuka, Yuya; Tomokuni, Nobuyasu; Murata, Genki; Shino, Motoki

doi:10.1109/iros45743.2020.9341242

Cited by 5 publications

(11 citation statements)

References 12 publications

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“…iBOT 4000 [35,36] Commercial solution, automatic stair-climbing system, self-balancing software control, good driving range Wheelchair.q [37,38]. Adapted with permission from ref.…”

Section: Name Solution Featuresmentioning

confidence: 99%

Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles

Pappalettera,

Bottiglione,

Mantriota

et al. 2023

Robotics

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Stair climbing is one of the most challenging tasks for vehicles, especially when transporting people and heavy loads. Although many solutions have been proposed and demonstrated in practice, it is necessary to further improve their climbing ability and safety. This paper presents a systematic review of the scientific and engineering stair climbing literature, providing brief descriptions of the mechanism and method of operation and highlighting the advantages and disadvantages of different types of climbing platform. To quantitatively evaluate the system performance, various metrics are presented that consider allowable payload, maximum climbing speed, maximum crossable slope, transport ability and their combinations. Using these metrics, it is possible to compare vehicles with different locomotion modes and properties, allowing researchers and practitioners to gain in-depth knowledge of stair-climbing vehicles and choose the best category for transporting people and heavy loads up a flight of stairs.

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“…iBOT 4000 [35,36] Commercial solution, automatic stair-climbing system, self-balancing software control, good driving range Wheelchair.q [37,38]. Adapted with permission from ref.…”

Section: Name Solution Featuresmentioning

confidence: 99%

Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles

Pappalettera,

Bottiglione,

Mantriota

et al. 2023

Robotics

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“…Inequality (2,6,7,9) are shown graphically in Figure 5. The optimized values are in the shaded area in Figure 5.…”

Section: Gear Specificationmentioning

confidence: 99%

“…Wheelchairs are widely used around the world to provide mobility to the elderly and disabled [1]. However, the difficulty to access areas with curbs and stairs using a standard electric-powered wheelchair limits the scope of activities, thereby declining the quality of life of those who depend on electric-powered wheelchairs [2]. Although slopes and elevators are being introduced to promote barrier-free locomotion, it is difficult to implement them in all public facilities.…”

Section: Introductionmentioning

confidence: 99%

“…However, each type of method has its respective drawbacks. In case of the iBot, owing to the statically unstable two-point grounding of the stairs, the user must hold the railing to maintain balance while climbing the stairs without the assistance of a caregiver [2,8]. The caterpillar is stable while climbing stairs; however, it is unsuitable for driving on level ground.…”

Section: Introductionmentioning

confidence: 99%

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Barrier-Free Wheelchair with a Mechanical Transmission

et al. 2021

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Wheelchairs are an important means of transportation for the elderly and disabled. However, the movement of wheelchairs on long curbs and stairs is restricted. In this study, a wheelchair for climbing stairs was developed based on a mechanical transmission system that rotates the entire driving part through a link structure and an actuator to change the speed. The first mode drives the caterpillar, and the second mode drives the wheels. When driving on flat ground, it uses landing gears and wheels, and when climbing stairs, it uses the caterpillar; accordingly, a stable driving is possible. The stability of the transmission is confirmed through stress analysis. The method used in our study makes it is possible to manufacture lightweight wheelchairs because a single motor drives both the wheel and caterpillar through the transmission system.

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“…Electric wheelchairs, however, allow the user to operate the wheelchair through a single control mechanism, improving flexibility [2]. However, using a motorized wheelchair reduces the user's quality of life and their dependents by making it difficult to access areas with stairs and curbs and limiting the range of motion [3]. Ramps and elevators are being installed in facilities to improve mobility; however, some users find it difficult to go up and down stairs using an electric wheelchair, especially in buildings without elevators.…”

Section: Introductionmentioning

confidence: 99%

Design of Wheelchair Drive Unit Capable of Driving on Roads and Obstacles with Shape Conversion

Jeong,

Kwon,

Youm

et al. 2024

Applied Sciences

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Wheelchairs are widely used globally and are essential for providing autonomy and mobility to elderly and disabled people who have movement restrictions. Manual wheelchairs require operation through turning the wheels or pushing the wheelchair directly, thus posing mobility limitations for the user and caregiver. In contrast, electric wheelchairs, when used by the user, allow for improved flexibility by operating the wheelchair through a single control mechanism. However, the use of electric wheelchairs poses challenges in accessing areas with stairs and curbs, limiting the range of activity and thereby diminishing the quality of life for users and those reliant on electric wheelchairs. The electric wheelchair developed in this research incorporates a single motor for lightweight design. It uses a wheel travel variation actuator, eliminating the need for synchronization and allowing for low-power operation. This design reduces power loss from the caterpillar’s idling during wheel movement and includes the implementation of a pulley system. The optimal pulley belt length was calculated, and a deceleration device was installed inside the caterpillar, enabling a design that is compact, lightweight, and capable of high deceleration. On paved roads and flat terrain, the electric wheelchair is designed for high-speed travel using two pairs of front omni wheels and drive wheels. For terrains with stairs, speed bumps, unpaved roads, and unavoidable obstacles, the wheelchair is powered by caterpillars. The electric wheelchair developed through the research presented in this paper has verified the reliability of its transmission system through gear stress and deformation analysis. Additionally, an electric wheelchair based on the proposed concept was constructed to validate the drivability, safety, operability, and convenience of its driving unit. Furthermore, a user rode the constructed electric wheelchair to confirm that there were no issues with its drivability.

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Dynamic Stability Control of Inverted-Pendulum-Type Robotic Wheelchair for Going Up and Down Stairs

Cited by 5 publications

References 12 publications

Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles

Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles

Barrier-Free Wheelchair with a Mechanical Transmission

Design of Wheelchair Drive Unit Capable of Driving on Roads and Obstacles with Shape Conversion

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