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Authors: Emiliano Pereira ; Hilario Gómez-Moreno ; Cristina Alén-Cordero ; Pedro Gil-Jiménez and Saturnino Maldonado-Bascón

Affiliation: Department of Theory and Signal and Communications, University of Alcalá and Spain

ISBN: 978-989-758-380-3

Keyword(s): Wheelchair, Leg-wheel, Stair-climbing, Architectural Barriers, Environment Adaptation.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mechatronics Systems ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation ; Vehicle Control Applications

Abstract: The objective of this work is to develop a novel low-cost wheelchair capable to climb stairs (according to Spanish building regulation) and any obstacle similar to a step, to drive over uneven terrain such as cobblestones and adjust the height of the seat. The contribution presented in this work can be included into the leg-based stair-climbing mechanism classification. This work is a novel solution based on a previous patent, which proposed a wheelchair composed of nine linear actuators controlled by a pneumatic system. This novel approach proposes a mechanical modification in order to increase the flexibility of the mechanism, allowing the wheelchair to move up and down without changing the orientation, also guaranteeing the horizontal position of the user. In addition, the electric linear actuator presents some advantages with respect to the pneumatic system proposed in the previous design, being this wheelchair easier to be controlled. This works also presents the first prototype developed. (More)

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Paper citation in several formats:
Alén Cordero, C.; Gómez-Moreno, H.; Alén-Cordero, C.; Gil-Jiménez, P. and Maldonado-Bascón, S. (2019). A Novel Approach for a Leg-based Stair-climbing Wheelchair based on Electrical Linear Actuators.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 259-267. DOI: 10.5220/0007835202590267

@conference{icinco19,
author={Alén Cordero, C. and Hilario Gómez{-}Moreno. and Cristina Alén{-}Cordero. and Pedro Gil{-}Jiménez. and Saturnino Maldonado{-}Bascón.},
title={A Novel Approach for a Leg-based Stair-climbing Wheelchair based on Electrical Linear Actuators},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={259-267},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007835202590267},
isbn={978-989-758-380-3},
}

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A Novel Approach for a Leg-based Stair-climbing Wheelchair based on Electrical Linear Actuators
SN - 978-989-758-380-3
AU - Alén Cordero, C.
AU - Gómez-Moreno, H.
AU - Alén-Cordero, C.
AU - Gil-Jiménez, P.
AU - Maldonado-Bascón, S.
PY - 2019
SP - 259
EP - 267
DO - 10.5220/0007835202590267

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