Stable Step Climbing and Descending for Tandem Wheelchairs Connected by a Passive Link
This paper describes a new cooperative strategy for two wheelchairs system to climb up or descend down a step which is a typical obstacle in the daily active of wheelchair users. These two wheelchair robots are connected with a simple linkage mechanism between the rear of one wheelchair and the front of another. Even without using a method by which a robot lifts up and supports its weight using any special actuator, each wheelchair can overcome the step stably and relatively easily because wheelchairs moment of rotation during climbing the step is controlled by the force passed through by the link from its partner wheel chair. In the design, the assistant effect is especially in.uenced by the height of the two robots link positions. So in the paper, we provide detailed discussion on changing the two-link positions during the different stages of the step climbing and descending. Numerical calculation and experiment results are shown for illustrating the validity of the proposed strategy.
Hidetoshi Ikeda ZhiDong Wang Takayuki Takahashi Eiji Nakano
Dept. of Mechanical Engineering, Toyama National College of Technology, Japan Dept. of Advanced Robotics, Chiba Institute of Technology, Japan Dept. of Human Support System, Fukushima University, Japan
国际会议
北京
英文
1370-1375
2007-05-23（万方平台首次上网日期，不代表论文的发表时间）