Improvement of assistive wheelchair caster unit for step climbing

Yokota, Sho; Tanimoto, Hirotoshi; Heguri, Junki; Yamaguchi, Kyohei; Chugo, Daisuke; Hashimoto, Hiroshi

doi:10.1109/roman.2012.6343760

Cited by 10 publications

(5 citation statements)

References 4 publications

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“…Thus, the 2nd prototype improved this problem. 6 In the 2nd prototype, a solenoid, rack and pinion gear comprised the lock function. Therefore, it could reduce its weight and the battery voltage and capacity.…”

Section: Introductionmentioning

confidence: 99%

Assistive wheelchair caster unit – improvement of step detection method –

Yokota¹,

Matsumoto²,

Chugo³

et al. 2018

Robotics Transforming the Future

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The purpose of this research is to develop the assistive caster unit of manual wheelchair for step climbing. This unit is easily replaced with the conventional caster, only a spanner is needed. In addition this caster is simple mechanism, and the power source is only a 006P battery, there is no microcontroller. For realizing this simplicity, The proposed caster unit has two functions to assist the step climbing. One is the assistive plates to enlarge the caster radius imaginarily in the confined front area of the wheelchair, and to enable to climb a higher step. The other is the lock function to fix the caster's swiveling, which realize easy climbing with oblique approach. The lock-function is activated by the detection of the step, and mechanically fixes the caster's swiveling. We have developed some prototypes of this caster unit, so far. However, the problem is still remained in the step detection method being the trigger of activation of the lock function. Therefore, this paper proposes the improved activation method by detecting the step at an instant of touching it.

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Section: Introductionmentioning

confidence: 99%

Assistive wheelchair caster unit – improvement of step detection method –

Yokota¹,

Matsumoto²,

Chugo³

et al. 2018

Robotics Transforming the Future

View full text Add to dashboard Cite

show abstract

“…The prototype wheelchair climbed a 50-mm step with an oblique approach. 7 Most wheelchair users, however, are able to lift the front casters stably. Moreover, they are able to maintain the balance of their position through training at a rehabilitation center.…”

Section: Introductionmentioning

confidence: 99%

A pair of step-climbing units for a manual wheelchair user: Passing over several steps using a pair of portable slopes

Mori

Katsumura

Nagase³

2017

Advances in Mechanical Engineering

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We have developed a pair of step-climbing units that can be installed on a standard manual wheelchair. Many wheelchair users hope to lead an independent life without assistance. The target users of these units are those who can independently lift the front casters of their wheelchairs. The units are installed on the back frames of a wheelchair. Each unit comprises two actuators and has 2 degrees of freedom: telescopic motion and rotational motion. They are lightweight and do not prevent the wheelchair from being folded. Therefore, it is still relatively easy to load a wheelchair fixed with these units into a car. In our earlier project, these units addressed the problem of climbing a single step. In this article, we primarily discuss a strategy that enables wheelchair users to climb stairs comprising multiple steps. We additionally use a pair of portable slopes to achieve this task. Results of experiments where users traveled on a pair of slopes that covered a height of 30 cm over two steps confirm the effectiveness of the design.

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“…During the actual use of power-assist carts, preventing conveyed objects from tumbling when crossing a step is one of the most common and important obstacles. This study focuses on the influences of the disturbance forces to the carts when crossing steps (Ioi, et al, 2013, Tashiro and Murakami, 2007, Yokota, et al, 2012. The effectiveness of the FSDAOC-based method for such a disturbance has not been addressed yet.…”

Section: Introductionmentioning

confidence: 99%