Holonomic omnidirectional vehicle with new omni-wheel mechanism

Damoto, R.; Cheng, Weiming; Hirose, Shigeo

doi:10.1109/robot.2001.932644

Cited by 24 publications

(13 citation statements)

References 3 publications

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“…Such wheelchairs are capable of reducing the cognitive load of the user because maneuvering can be done by a small number of the operator's commands. Many omni-directional wheelchair constructions are based on synchronously driven wheels [36], [37], free rollers ("The Vuton1") [38], "The Vuton II" with Omni-Disc mechanism [39], balls [34], or Mechanum (Ilon) wheels [30]- [33].…”

Section: ) Electromechanical Devices For Movement Assistancementioning

confidence: 99%

The smart house for older persons and persons with physical disabilities: structure, technology arrangements, and perspectives

Stefanov

Bien

Bang

2004

IEEE Trans. Neural Syst. Rehabil. Eng.

304

119

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Abstract-Smart houses are considered a good alternative for the independent life of older persons and persons with disabilities. Numerous intelligent devices, embedded into the home environment, can provide the resident with both movement assistance and 24-h health monitoring. Modern home-installed systems tend to be not only physically versatile in functionality but also emotionally human-friendly, i.e., they may be able to perform their functions without disturbing the user and without causing him/her any pain, inconvenience, or movement restriction, instead possibly providing him/her with comfort and pleasure. Through an extensive survey, this paper analyzes the building blocks of smart houses, with particular attention paid to the health monitoring subsystem as an important component, by addressing the basic requirements of various sensors implemented from both research and clinical perspectives. The paper will then discuss some important issues of the future development of an intelligent residential space with a human-friendly health monitoring functional system. Index Terms-Health monitoring, intelligent house, smart house, wearable sensor.

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Section: ) Electromechanical Devices For Movement Assistancementioning

confidence: 99%

The smart house for older persons and persons with physical disabilities: structure, technology arrangements, and perspectives

Stefanov

Bien

Bang

2004

IEEE Trans. Neural Syst. Rehabil. Eng.

304

119

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“…A variety of different mechanisms such as powered castors [168,169], orthogonal wheels [170], crawler tracks [171], omnidirectional wheels [172], and spherical wheels [173] were investigated when GaitEnable's mobile base was designed. Drive systems with powered castors have a higher load capacity, simpler wheel designs, a better tolerance for ground surface irregularities, and a smoother ride [168,169].…”

Section: Gaitenablementioning

confidence: 99%

Design, Control, and Implementation of a Robotic Gait Rehabilitation System for Overground Gait Training

Morbi¹

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Robotic devices for gait rehabilitation have the potential to improve patient and caregiver safety, reduce therapy costs, and allow a larger number of patients to get access to physical therapy. Additionally, data collected from the robot's sensors may be used to assess impairment severity and track patient progress. However these devices also suffer from many drawbacks such as high cost, complexity, limited training capabilities, and constrained joint motions and postural responses. With these limitations in mind, this thesis introduces GaitEnable, a simply designed robotic gait trainer that combines an intelligent reactive controller, an actuated omnidirectional mobile base and a passive body weight support system. In addition to describing the device and its control system, this thesis also presents results from a series of validation experiments performed to characterize the performance of the device. The results demonstrate that GaitEnable's control system ensures stable humanrobot interactions, and that GaitEnable can assist and perturb a user's gait in a systematic manner. The experiments also confirm that GaitEnable's actuated omni-directional mobile allows users to walk more naturally as it reduces the motion constraints that the device imposes.In addition to describing the GaitEnable system, this thesis also focuses on the more general problem of interaction stability in coupled human-robot systems. Two novel trajectory manipulations for ensuring stable, oscillation-free interactions in admittance-controlled haptic devices are proposed. A Lyapunov stability analysis is used to show that the proposed manipulations are stable in the sense of uniform ultimate boundedness. Also, an extensive set of experiments confirm that the impedance manipulations allow the display of large apparent inertia reductions, ensure stable interactions, and are robust to actuator I would like to thank my supervisor Dr. Mojtaba Ahmadi for his mentorship, guidance, and friendship over the many years I spent at Carleton. Whenever I was stuck, I always knew that I could knock on his door and immediately be invited in. More than that, I will be forever grateful to him for affording me the freedom to pursue what I was most passionate about. Opportunities like that are rare, and I'm thankful that he had enough faith in me to let me explore without boundaries.I also want to thank the staff in the MAE office and at the machine shop for their assistance with the multitude of requests I inevitably came to them with over the years.Finally, I also want to thank the numerous lab mates who I've had the pleasure of spending time with, and being friends with over the last five years. It was a long road to get here, and your suggestions, help and company made it possible. v

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“…This becomes more important in light of current developments in robotics technology. For example, some inventors claim that their robot is holonomic [12], [13], although an in-depth analysis shows that, in fact, it is nonholonomic.…”

Section: Fundamentals Of Nonholonomic Mechanical Systemsmentioning

confidence: 99%

“…Vuton [13], [21] consists of a platform equipped with s(s 2 3) wheel-units such as crawlers [21] or "OmniDiscs" [13]. Vuton II, shown in Fig.…”

Section: A 1 Geometric Constraintsmentioning

confidence: 99%

The development of quasiholonomic wheeled robots

Salerno

Ostrovskaya

Ángeles

Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)

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Abstrucr-We report here the holonomy analysis of three wheeled mobile robots. Two of these, Vuton II and Nomad, have full mobility and are claimed by their inventors to he holonomic We show that, in fact, they are nonholonomic. Nevertheless, conditions are given under which these robots can be designed for quasiholonomy, a concept introduced elsewhere and recalled here. The third robot, Quasimom, has a mobility of two and is unconditionally quasiholonomic. It is shown that if the wheel mechanism of a robot with full mobility is designed in such a way that the platform is much heavier than the wheel mechanism, then the underlying mathematical models are free of the nonholonomy term.

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Holonomic omnidirectional vehicle with new omni-wheel mechanism

Cited by 24 publications

References 3 publications

The smart house for older persons and persons with physical disabilities: structure, technology arrangements, and perspectives

The smart house for older persons and persons with physical disabilities: structure, technology arrangements, and perspectives

Design, Control, and Implementation of a Robotic Gait Rehabilitation System for Overground Gait Training

The development of quasiholonomic wheeled robots

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