Improving the climbing/descent performance of stair-climbing mobility systems confronting architectural barriers with geometric disturbances

Chocoteco, J.; Morales, Rafael; Feliú, V.

doi:10.1016/j.mechatronics.2015.06.001

Cited by 15 publications

(6 citation statements)

References 14 publications

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“…The polar coordinates of the pitch curve (ℎ , ) have been given in Eq. ( 13) - (15). The real profile coordinates can be obtained by correcting the pitch curve coordinates taking into account a roller radius greater than zero.…”

Section: Figure 29 -Comparison Between the Pitch Curve And The Smoothed Pitch Curvementioning

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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Section: Figure 29 -Comparison Between the Pitch Curve And The Smoothed Pitch Curvementioning

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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“…Through the four-bar linkage mechanisms' locomotion, the wheels' positions can be adjusted to maintain a suitable contact state with the steps, therefore allowing it to climb up and down stairs. Another hybrid EPW-SC designed by Morales et al in 2007 utilizes two four-bar linkages consisting of two linear actuators, a series of connecting rods, and two driving wheels to accomplish positioning and climbing on the stairs separately, 41 as shown in Figure 12.…”

Section: Hybrid Epw-scmentioning

confidence: 99%

Electric-powered wheelchair with stair-climbing ability

Tao

Liu

2017

International Journal of Advanced Robotic Systems

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As an autonomic and convenient assistance device for people with disabilities and the elderly climbing up and down stairs, electric-powered wheelchairs with stair-climbing ability have attracted great attention in the past two decades and some various electric-powered wheelchairs with stair-climbing were developed. By using the developed electric-powered wheelchairs with stair-climbing, many patients with walking difficulties are able to descend the stairs conveniently to participate in outdoor activities, which are beneficial to both their physical rehabilitation and mental health. In this article, a review of electric-powered wheelchair with stair-climbing current technology is given and its future tendency is discussed to inform electric-powered wheelchair with stair-climbing researchers in the development of more applicable and popular products. Firstly, the development history is reviewed and electric-powered wheelchairs with stair-climbing are classified based on an analysis of their stair-climbing mechanisms. The respective advantages and disadvantages of different types of electric-powered wheelchairs with stair-climbing are outlined for an overall comparison of the control method, cost of mechanical manufacture, energy consumption, and adaption to different stairs. Insights into the future direction of stability during stair-climbing are discussed as it is an important aspect common to all electric-powered wheelchairs with stairclimbing. Finally, a summary of electric-powered wheelchairs with stair-climbing discussed in this article is provided. As a special review to the electric-powered wheelchairs with stair-climbing, it can provide a comprehensive understanding of the current technology about electric-powered wheelchairs with stair-climbing and serve as a reference for the development of new electric-powered wheelchairs with stair-climbing.

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“…In [14], the wheel can be changed into leg by simply folding it and multiple wheels have been combined to act as a leg [15]. Chocoteco et al developed a stair-climbing wheel-chair platform by using a four wheels equipped on symmetric four-bar mechanism and achieve stable and comfortable stairclimbing [16] It is noted that since these existing mechanisms have focused on climbing stairs, the resulting mobile stabilities during their climbing have not been considered as an important factor. Also, the climbing speed is quite limited and the speed should be improved to widen the application area.…”

Section: Introductionmentioning

confidence: 99%

Curved-Spoke Tri-Wheel Mechanism for Fast Stair-Climbing

Kim

et al. 2019

IEEE Access

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Stairs are common obstacles in indoor environments and are difficult to overcome for robots. The speed of robot stair-climbing should be similar to that of humans for commercial products, but their speed remains limited. Additionally, the variety of dimensions of stairs is also a significant problem for robust stair-climbing by robots. In this paper, a curved spoke-based tri-wheel mechanism is proposed for fast and robust stair-climbing. The goal speed of stair-climbing is similar to the human speed for variously sized stairs. The proposed wheel system is composed of a tri-wheel mechanism with a curved spoke, wherein the dimensions of the mechanism are determined based on a kinematic analysis. Between the tri-wheels, a stopper mechanism acts to make the initial condition of the sequential stair-climbing the same as the initial starting condition. Static analysis to analyze the minimum friction coefficient is performed to verify the performance of the robot. Experiments based on the prototype are performed to verify the stair-climbing speed for variously sized stairs; the results indicate that fast and robust stair climbing performance is achieved. These findings can be used to design an indoor service robot for various applications.

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Improving the climbing/descent performance of stair-climbing mobility systems confronting architectural barriers with geometric disturbances

Cited by 15 publications

References 14 publications

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

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

Electric-powered wheelchair with stair-climbing ability

Curved-Spoke Tri-Wheel Mechanism for Fast Stair-Climbing

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