Electric-powered wheelchair with stair-climbing ability

Tao, Weijun; Xu, Jianguo; Liu, Tao

doi:10.1177/1729881417721436

Cited by 26 publications

(10 citation statements)

References 50 publications

(74 reference statements)

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“…Concerning moving outdoors, natural postural control relying on ground tilt is planned for future research. In addition, updating the mobility unit to enable the android to traverse larger steps and stairs is also a challenge [24].…”

Section: Discussionmentioning

confidence: 99%

Development of ‘ibuki’ an electrically actuated childlike android with mobility and its potential in the future society

Nakata

Yagi

et al. 2021

Robotica

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In this paper, we present an electrically driven childlike android named ibuki equipped with a wheeled mobility unit that enables it to move in a real environment. Since the unit includes a vertical oscillation mechanism, the android can replicate the movements of the human center of mass and can express human-like upper-body movements even when moving by wheels. Moreover, providing 46 degrees of freedom enables it to perform various human-like physical expressions. The development of ibuki, as well as the implementation and testing of several functions, is described. Finally, we discuss the potential advantages and future research direction of a childlike mobile android.

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Section: Discussionmentioning

confidence: 99%

Development of ‘ibuki’ an electrically actuated childlike android with mobility and its potential in the future society

Nakata

Yagi

et al. 2021

Robotica

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“…Sci. 2021, 11, x FOR PEER REVIEW 2 of 12 among the elderly population and persons with disabilities [9]. In the case of Scewo's wheelchair, it is equipped with the iBot function, so it is expensive and very heavy at 101 kg.…”

Section: Proposed Wheelchair Conceptmentioning

confidence: 99%

“…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 that drive both a caterpillar and a wheel at the same time have already been studied a lot, such as TGR Explorer, TopChair-S and Scewo bro. However, their slightly more complicated structure and higher price partially hinder a more extensive application among the elderly population and persons with disabilities [9]. In the case of Scewo's wheelchair, it is equipped with the iBot function, so it is expensive and very heavy at 101 kg.…”

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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“…The transformation mechanism of this wheel combines two half-circles as a leg with the two degrees of freedom in case of stair-climbing and it can combine these half-circles also as a circular wheel. The well-done comparison of various stair-climbing principles including their stability analysis is carried out in Tao et al 26 Synthesis of a wheel with circular turnable segments…”

Section: Introductionmentioning

confidence: 99%

The synthesis of a segmented stair-climbing wheel

Mostýn

Krys

Kot

et al. 2018

International Journal of Advanced Robotic Systems

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The article describes the process of development of an essentially new wheel suitable both for moving on flat ground and for travelling on stairs. The stair-climbing wheel is composed of rotary circular segments arranged around a shared carrier with arms to form a complete circular profile of the wheel adapted for moving on flat ground; for travelling on stairs, individual segments are rotated by an appropriate angle to touch down tangentially on the stepping surface of the stairs. The dimensions of individual segments, the centre of rotation of individual segments and the angle of their partial turn have been chosen so that the length of the arc along which the circular segment rolls is equal to the length of the stepping surface of an average stair, and, at the same time, the circular segment touches down tangentially on the stepping surface while the wheel turns around the edge of the previous segment. Using the rotation angle of the turnable segments, the wheel can be adapted to the height of non-standard stairs. The segments can be inclined in both directions for bidirectional movement of the wheel up and down the stairs. An undercarriage equipped with these wheels can be used in the field of exploratory robots and for the transportation of persons and materials on stairs.

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Electric-powered wheelchair with stair-climbing ability

Cited by 26 publications

References 50 publications

Development of ‘ibuki’ an electrically actuated childlike android with mobility and its potential in the future society

Development of ‘ibuki’ an electrically actuated childlike android with mobility and its potential in the future society

Barrier-Free Wheelchair with a Mechanical Transmission

The synthesis of a segmented stair-climbing wheel

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