Title :
An adaptive mobility system for the disabled
Author :
Wellman, P. ; Krovi, Venkat ; Kianar, V.
Author_Institution :
Dept. of Mech. Eng. & Appl. Mech., Pennsylvania Univ., Philadelphia, PA, USA
Abstract :
A proof-of-concept prototype walking chair for the disabled is proposed with the objective of demonstrating the feasibility of a completely new approach to mobility. Our prototype system consists of a chair equipped with wheels and legs and is capable of walking on uneven terrain and circumventing obstacles. The important design considerations, the system design and an experimental prototype of a chair, are discussed. Redundancy in actuation enables the online optimization of tractive forces which enhances the adaptability of the system
Keywords :
adaptive control; control system synthesis; handicapped aids; mobile robots; optimisation; redundancy; adaptive mobility system; handicapped aids; online optimization; redundancy; system design; tractive forces; uneven terrain; walking chair; Adaptive systems; Costs; Laboratories; Leg; Legged locomotion; Mechanical engineering; Prototypes; Stability; Vehicle safety; Wheelchairs;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351169
