Authors:
Yoshikazu Mori
1
;
Kaoru Katsumura
2
and
Katsuya Nagase
3
Affiliations:
1
Ibaraki University, Japan
;
2
Tamron Co. and Ltd., Japan
;
3
Takahata Precision Co. and Ltd., Japan
Keyword(s):
Wheelchair, Step-climbing, Assist Unit, Person with Lower Limb Disability, Rehabilitation, Mechatronics.
Related
Ontology
Subjects/Areas/Topics:
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mechatronics Systems
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
We have developed a pair of step-climbing units that can be installed in a standard manual wheelchair. We aim to enable manual wheelchair users to establish an independent life that they can lead without assistance. This mechanism is simpler because it uses the capabilities of the wheelchair user. Each unit comprises two actuators and has two degrees of freedom: telescopic motion and rotational motion. We mainly discuss a step-climbing motion using this system. Experimental results obtained when ascending the step of 15 cm height confirm the design's effectiveness.