Open Access   Article Go Back

Improved of Stair Climbing Wheelchair for Differently Abled People

Arun Jose1 , Leneesh N Gopal2 , Jishnu M3 , Harikrishnan A R4

Section:Research Paper, Product Type: Journal Paper
Volume-4 , Issue-10 , Page no. 172-179, Oct-2016

Online published on Oct 28, 2016

Copyright © Arun Jose, Leneesh N Gopal, Jishnu M, Harikrishnan A R . This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

View this paper at   Google Scholar | DPI Digital Library

XML View
PDF Download

How to Cite this Paper

  • IEEE Citation
  • MLA Citation
  • APA Citation
  • BibTex Citation
  • RIS Citation

IEEE Style Citation: Arun Jose, Leneesh N Gopal, Jishnu M, Harikrishnan A R, “Improved of Stair Climbing Wheelchair for Differently Abled People,” International Journal of Computer Sciences and Engineering, Vol.4, Issue.10, pp.172-179, 2016.

MLA Style Citation: Arun Jose, Leneesh N Gopal, Jishnu M, Harikrishnan A R "Improved of Stair Climbing Wheelchair for Differently Abled People." International Journal of Computer Sciences and Engineering 4.10 (2016): 172-179.

APA Style Citation: Arun Jose, Leneesh N Gopal, Jishnu M, Harikrishnan A R, (2016). Improved of Stair Climbing Wheelchair for Differently Abled People. International Journal of Computer Sciences and Engineering, 4(10), 172-179.

BibTex Style Citation:
@article{Jose_2016,
author = {Arun Jose, Leneesh N Gopal, Jishnu M, Harikrishnan A R},
title = {Improved of Stair Climbing Wheelchair for Differently Abled People},
journal = {International Journal of Computer Sciences and Engineering},
issue_date = {10 2016},
volume = {4},
Issue = {10},
month = {10},
year = {2016},
issn = {2347-2693},
pages = {172-179},
url = {https://www.ijcseonline.org/full_paper_view.php?paper_id=5483},
publisher = {IJCSE, Indore, INDIA},
}

RIS Style Citation:
TY - JOUR
UR - https://www.ijcseonline.org/full_paper_view.php?paper_id=5483
TI - Improved of Stair Climbing Wheelchair for Differently Abled People
T2 - International Journal of Computer Sciences and Engineering
AU - Arun Jose, Leneesh N Gopal, Jishnu M, Harikrishnan A R
PY - 2016
DA - 2016/10/28
PB - IJCSE, Indore, INDIA
SP - 172-179
IS - 10
VL - 4
SN - 2347-2693
ER -

VIEWS PDF XML
1129 1147 downloads 1094 downloads
  
  
           

Abstract

This paper presents a new version of Wheelchair’s, a wheelchair with stair climbing ability. The wheelchair is able to climb single obstacles or staircases thanks to a hybrid wheel- leg locomotion unit with a triple-wheels cluster architecture. The new concept presented in this work represents an improvement respect to previous versions. Through a different arrangement of functional elements, the wheelchair performances in terms of stability and regularity during movement on stair have been increased. In particular, attention has been paid to ensure a regular and comfortable motion for the user during stair climbing operation. For this reason, a cam mechanism has been introduced and designed with the aim to compensate the oscillation generated on the wheelchair frame by the locomotion unit rotation. A design methodology for the cam pro?le is presented. Moreover, a para- metric analysis on the cam pro?le and on the mechanism dimensions has been conducted with the aim to ?nd a cam pro?le with suitable dimensions and performances in terms of pressure angle and radius of curvature.

Key-Words / Index Term

Stair-climbing wheelchair, Triple-wheels, Cam mechanism, Mechanism design, Architectural barriers

References

[1] Papworth Trust, Disability in the United Kingdom 2014: Facts and Figures, 2014.
[2] U.S Census Bureau, Americans with Disabilities: 2005, 2008.
[3] Disability Statistics Center Institute for Health and Aging, Mobility Device Use in the United States, University of California, 2000.
[4] L. Bruzzone, G. Quaglia, Review article: locomotion systems for ground mobile robots in unstructured environments, Mech. Sci. 3 (2012) 49–62.
[5] Y. Sugahara, et al., Walking up and down stairs carrying a human by a biped locomotor with parallel mechanism, in: Proceeding of International Conference on Intelligent Robots and Systems (IROS), Edmonton, Alberta, Canada, 2005, pp. 1489–1494.
[6] S. Yu, T. Wang, et al., A tip-over and slippage stability criterion for stair-climbing of a wheelchair robot with variable geometry single tracked mecha- nism, in: Proceeding of International Conference on Information and Automation (ICIA), Shenyang, China, 2012, pp. 88–93.
[7] S. Yu, T. Wang, et al., Con?guration and tip-over stability analysis for stair-climbing of a new-style wheelchair robot, in: Proceeding of International Conference on Mechatronics and Automation (ICMA), Xi’an, China, 2010, pp. 1387–1392.
[8] H. Wang, W. Zhang, et al., Research on a kind of leg-wheel stair-climbing wheelchair, in: Proceeding of International Conference on Mechatronics and Automation (ICMA), 2014, pp. 2101–2105.
[9] Y. Bang, C. Lee, et al., Two-legged stair-climbing wheelchair and its stair dimension measurement using distance sensors, in: Proceeding of Interna- tional Conference on Control, Automation and Systems (ICCAS), Gyeonggi -do, Korea, 2011, pp. 1788–1791.
[10] J. Yuan, S. Hirose, Research on leg-wheel hybrid stair-climbing robot, Zero Carrier, in: Proceeding of International Conference on Robotics and Biomimetics (ROBIO), Shenyang, China, 2004, pp. 654–659.
[11] M.J. Lawn, T. Ishimatsu, Modeling of a stair-climbing wheelchair mechanism with high single-step capability, Neural Syst. Rehab. Eng. 11 (3) (2003) 323–332.
[12] J. Liu, Y. Wu, et al., High-order sliding mode-based synchronous control of a novel stair-climbing wheelchair robot, J. Control Sci. Eng. (2015).
[13] A. Gonzalez, R. Morales, et al., Improving the mechanical design of new staircase wheelchair, Ind. Robot 34 (2) (2007) 110–115.
[14] A. Gonzalez, E. Ottaviano, M. Ceccarelli, On the kinematic functionality of a four-bar based mechanism for guiding wheels in climbing steps and obstacles, Mech. Mach. Theory 44 (8) (2009) 1507–1523.
[15] J. Chocoteco, R. Morales, V. Feliu, Improving the climbing/descent performance of stair-climbing mobility systems confronting architectural barriers with geometric disturbances, Mechatronics 30 (2015) 11–26.
[16] R. Morales, V. Feliu, et al., Coordinated motion of a new staircase climbing wheelchair with increased passenger comfort, in: Proceeding of Interna- tional Conference on Robotics and Automation (ICRA), Orlando, Florida, USA, 2006, pp. 3995–4001.
[17] R. Morales, V. Feliu, A. González, Optimized obstacle avoidance trajectory generation for a recon?gurable staircase climbing wheelchair, Rob. Autom. Syst. 58 (1) (2010) 97–114.
[18] S. Motoki, N. Tomokuni, et al., Wheeled inverted pendulum type robotic wheelchair with integrated control of seat slider and rotary link between wheels for climbing stairs, in: Workshop on Advanced Robotics and its Social Impacts (ARSO), Evanston, Illinois, USA, 2014, pp. 121–126.
[19] N.M.A. Ghani, A.N.K. Nasir, M.O. Tokhi, Optimization of fuzzy logic scaling parameters with spiral dynamic algorithm in controlling a stair climbing wheelchair: ascending task, in: Proceeding of International Conference on Methods and Models in Automation and Robotics (MMAR), Mie?dzyzdroje, Poland, 2014, pp. 776–781.
[20] C. Chen, H. Pham, Design and fabrication of a statically stable stair-climbing robotic wheelchair, Ind. Robot 36 (6) (2009) 562–569.
[21] Y. Sugahara, N. Yonezawa, K. Kosuge, A novel stair-climbing wheelchair with transformable wheeled four-bar linkages, in: Proceeding of International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, 2010, pp. 3333–3339.
[22] Kenneth Ray Cox, “Battery Powered Stair-Climbing Wheelchair”, U.S. Patent No. 6484829, Nov. 26, 2002.
[23] G. Quaglia, et al., The Epi. q-1 hybrid mobile robot”, Int. J. Rob. Res. 29 (1) (2009) 81–91.
[24] G. Quaglia, L. Bruzzone, et al., A modular approach for a family of ground mobile robots, Int. J. Adv. Rob. Syst. 10 (2013).
[25] G. Quaglia, M. Nisi, Design and construction of a new version of the Epi.q UGV for monitoring and surveillance tasks, Proceeding of the International Mechanical Engineering Congress & Exposition (IMECE), 2015. Houston, Texas.
[26] G. Quaglia, W. Franco, R. Oderio, Wheelchair. q, a motorized wheelchair with stair climbing ability, Mech. Mach. Theory 46 (11) (2011) 1601–1609.
[27] G. Quaglia, W. Franco, R. Oderio, Wheelchair.q, a mechanical concept for a stair climbing wheelchair, in: Proceeding of International Conference on Robotics and Biomimetics (ROBIO), Guilin, China, 2009, pp. 800–805.
[28] G. Quaglia, W. Franco, M. Nisi, Design of a recon?guration mechanism for an electric stair-climbing wheelchair, Proceeding of the International Me- chanical Engineering Congress & Exposition (IMECE), 2014. Montreal, Quebec, Canada.
[29] G. Quaglia, W. Franco, M. Nisi, Evolution of wheelchair.q, a stair-climbing wheelchair, Proceeding of the 14th World Congress in Mechanism and Machine Science, 2015. Taipei, Taiwan.
[30] R.L. Norton, Design of Machinery: An Introduction to the Synthesis and Analysis of Mechanisms and Machines, McGraw-Hill Professional, 2004.
[31] P.L. Magnani, G. Ruggieri, Meccanismi per macchine automatiche, Utet, 1986.