Title :
Development of stair locomotive wheelchair with adjustable wheelbase
Author :
Yamamoto, Tsuyoshi ; Takemori, Fumiaki ; Itakura, Ryuta
Author_Institution :
Grad. Sch. of Eng., Tottori Univ., Tottori, Japan
Abstract :
This paper describes stair locomotive wheelchair with adjustable wheelbase. Recently, development of stair locomotive wheelchair has been carried out due to the increase in wheelchair users. However, their wheelchair is limited to climb only same size of stairs. This is because the wheelbase can not be changed, is inferred. Thus, we propose stair locomotive wheelchair with adjustable wheelbase. In particular, motion strategy when travelling stairs and relation between wheelbase and stairs size, is discussed. In Addition, measurement method by using Laser Range Finder in order to measure unknown stairs height and depth is proposed. After the fluctuation of wheelbase is estimated by simulation, the availability is confirmed by experiments of stairs locomotion.
Keywords :
electric locomotives; handicapped aids; laser ranging; motion control; wheels; adjustable wheelbase; laser range finder; motion control strategy; stair locomotive wheelchair development; stair size; stair travelling; unknown stair depth measurement; unknown stair height measurement; wheelbase fluctuation estimation; Fluctuations; Image edge detection; Measurement uncertainty; Rails; Standards; Wheelchairs; Wheels;
Conference_Titel :
SICE Annual Conference (SICE), 2012 Proceedings of
Conference_Location :
Akita
Print_ISBN :
978-1-4673-2259-1