Step moving for an electric wheelchair using a robot programmable over the intranet

This paper describes the cooperative step climbing tactics using an electric wheelchair and a partner robot with dual manipulators. When the wheelchair is moving over a step, the two vehicles are linked together and the tilt of the wheelchair is controlled appropriately by using the difference in speeds between the two vehicles. During this process, some of the manipulator joints are controlled passively. The upper-arm link is pressed against the front of the robot body to control the amount of passive rotation about the shoulder joint, and thus support the motion of the wheelchair. Similarly, when the robot climbs a step, the upper-arm link is pressed against the rear of the wheelchair. Teleoperation of the robot through an intranet was investigated. The electric wheelchair and the robot were successfully maneuvered up a step.