A Wheelchair with connected crawler

• 영문명: A Wheelchair with connected crawler
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Sho Yokota Pierre Blazevic Hisato Kobayashi
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Assistive Robotics and Mechatronics Vol.7 No.2, 58~64쪽, 전체 7쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2006.06.01

영문 초록

  This paper proposes a mechanism for mobile chair system that has 3 flat stages with crawlers. The wheelchair uses connected motor-driven crawlers instead of conventional wheels. The main features of the system are as follows: 1) the wheelchair can pass over fairly wide gaps, i.e., gaps lying between platform and trains at railway stations, 2) the size can be redueced by folding the stages, 3) the wheelchair can pass over obstacles, it can climb up and down stairs if the stairs are not so steep. This paper explains the structure of the proposed wheelchair system, its control architecture and strategies to pass over gaps and obstacles.

목차

Abstract
1. INTRODUCTION
2. MECHANICAL STRUCTURE
3. CONTROL STRUCTURE
4. STRATEGY OF OPERATIONS
5. PROTOTYPE
6. BASIC EXPERIMENTS
7. CONCLUSION
REFERENCES

키워드

Wheelchair Connected crawler Rough terrain Stair climbing