An autonomous stair-climbing wheelchair

被引:18
|
作者
Hinderer, Michael [1 ,2 ]
Friedrich, Petra [1 ]
Wolf, Bernhard [2 ]
机构
[1] Univ Appl Sci Kempten, Bahnhofstr 61, D-87435 Kempten, Germany
[2] Tech Univ Munich, Heinz Nixdorf Chair Med Elekt, Theresienstr 90, D-80333 Munich, Germany
关键词
Stair-climbing; Wheelchair; Autonomous climbing; One-axis; Inverse pendulum;
D O I
10.1016/j.robot.2017.04.015
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Demographic change is making more and more elderly people dependent on care. As a result, there are staff shortages at nursing homes, which now require technical aid. Mobility is considered an essential component for ensuring quality of life, social contact, and a self determined life. With the introduction of the autonomous stair-climbing wheelchair, unlimited and independent mobility is ensured for movement-limited people. Because of dynamic stabilization, the wheelchair moves on only one axis. Thereby, it has highly agile driving behavior and is compact in size. The autonomous climbing system is based on a leg mechanism that consists of two legs with lower and upper leg support. While climbing a stairway, the legs push the wheelchair on the next higher situated step. Afterwards the legs are pulled successively on to the next step as well. While climbing down, the opposite sequence of movements occurs. (C) 2017 Elsevier B.V. All rights reserved.
引用
收藏
页码:219 / 225
页数:7
相关论文
共 50 条
  • [31] Modeling of a stair-climbing wheelchair mechanism with high single-step capability
    Lawn, MJ
    Ishimatsu, T
    [J]. IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, 2003, 11 (03) : 323 - 332
  • [32] Dynamic modeling and control for WT wheelchair robot during the stair-climbing process
    Wang, Jian
    Wang, Ting
    Yao, Chen
    Li, Xiaofan
    Wu, Chengdong
    [J]. Jixie Gongcheng Xuebao/Journal of Mechanical Engineering, 2014, 50 (13): : 22 - 34
  • [33] The Research of Tension Optimal Estimation and Stair-Climbing Ability of Transformation Wheelchair Robot
    Teng Yun
    Wang Ting
    Yao Chen
    Li Xiaofan
    [J]. PROCEEDINGS OF THE 29TH CHINESE CONTROL CONFERENCE, 2010, : 3716 - 3721
  • [34] Data-Driven Modeling of a Track-based Stair-Climbing Wheelchair
    Choudhary, Yogita
    Malhotra, Nidhi
    Sahoo, Pratyush Kumar
    Kamal, Shyam
    [J]. 2021 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2021, : 1000 - 1005
  • [35] A Novel Stair-Climbing Wheelchair with Transformable Wheeled Four-Bar Linkages
    Sugahara, Yusuke
    Yonezawa, Naoaki
    Kosuge, Kazuhiro
    [J]. IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2010, : 3333 - 3339
  • [36] STAIR-CLIMBING FOR CARDIOVASCULAR RECONDITIONING
    CORCORAN, PJ
    TEMPLER, JA
    [J]. ARCHIVES OF PHYSICAL MEDICINE AND REHABILITATION, 1975, 56 (12): : 533 - 533
  • [37] Two-Legged Stair-Climbing Wheelchair and Its Stair Dimension Measurement Using Distance Sensors
    Bang, Young-bong
    Lee, Chang-hyuk
    Yoo, Je-hong
    Lee, Kyung-min
    Kim, In-su
    [J]. 2011 11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS), 2011, : 1788 - 1791
  • [38] Design of Stair-Climbing Electric Wheelchair With Tri-Spoke Wheel and Supporting Leg
    Cho, Youngsu
    Kim, Kwang Joon
    Park, Jongwoo
    Seo, Hyunuk
    Jung, Hyunmok
    Kim, Byungin
    Park, Dong-Il
    Ahn, Jeongdo
    Park, Chanhun
    [J]. IEEE ACCESS, 2024, 12 : 31853 - 31861
  • [39] The synthesis of a segmented stair-climbing wheel
    Mostyn, Vladimir
    Krys, Vaclav
    Kot, Tomas
    Bobovsky, Zdenko
    Novak, Petr
    [J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2018, 15 (01):
  • [40] Stair-climbing test: beyond the height
    Rodriguez, Maria
    [J]. THORAX, 2020, 75 (09) : 716 - 716