Feasibility Study of a Pair of 2-DOF Step-climbing Units for a Manual Wheelchair User

Yoshikazu Mori, Kaoru Katsumura, Katsuya Nagase

Abstract

We have developed a pair of step-climbing units that can be installed in a standard manual wheelchair. We aim to enable manual wheelchair users to establish an independent life that they can lead without assistance. This mechanism is simpler because it uses the capabilities of the wheelchair user. Each unit comprises two actuators and has two degrees of freedom: telescopic motion and rotational motion. We mainly discuss a step-climbing motion using this system. Experimental results obtained when ascending the step of 15 cm height confirm the design's effectiveness.

References

  1. Fang L, Lu T, He W, Yuan K. Dynamic and Tip-Over Stability Analysis of A Planetary Wheeled StairClimbing Wheelchair, Proc. of 2012 IEEE Int. Conf. on Mechatronics and Automation, 2012, p. 2541-2546.
  2. Independence Technology LLC, iBOT, 2015, https:// www.msu.edu/luckie/segway/iBOT/iBOT.html
  3. Lawn MJ, Ishimatsu T. Modeling of a stair-climbing wheelchair mechanism with high single step capability, IEEE Trans. on Neural systems and rehabilitation engineering, Vol. 11, No. 3, 2003, p. 323-332.
  4. Ministry of Health, Labour and Welfare, 2015, http://www.mhlw.go.jp/toukei/saikin/hw/shintai/06/ind ex.html (in Japanese).
  5. Mori Y, Nagase K, Nakada A. Auxiliary Device for a Wheelchair, Japanese Unexamined Patent Application Publication, 2011, No. 2011-41670 (in Japanese).
  6. Nabtesco Corp. J-MAX, 2015, http://www.nabtesco.com/ en/contribution/wheelchair.html (in Japanese).
  7. TopChair, TopChair-S, 2015, http://www.topchair.fr/en.
  8. Yokota S, Tanimoto H, Heguri J, Yamaguchi K, Chugo D, Hashimoto H. Improvement of Assistive Wheelchair Caster Unit for Step Climbing, The 21st IEEE International Symposium on Robot and Human Interactive Communication, 2012, p. 240-244.
Download


Paper Citation


in Harvard Style

Mori Y., Katsumura K. and Nagase K. (2015). Feasibility Study of a Pair of 2-DOF Step-climbing Units for a Manual Wheelchair User . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-123-6, pages 196-201. DOI: 10.5220/0005510401960201


in Bibtex Style

@conference{icinco15,
author={Yoshikazu Mori and Kaoru Katsumura and Katsuya Nagase},
title={Feasibility Study of a Pair of 2-DOF Step-climbing Units for a Manual Wheelchair User},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2015},
pages={196-201},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005510401960201},
isbn={978-989-758-123-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Feasibility Study of a Pair of 2-DOF Step-climbing Units for a Manual Wheelchair User
SN - 978-989-758-123-6
AU - Mori Y.
AU - Katsumura K.
AU - Nagase K.
PY - 2015
SP - 196
EP - 201
DO - 10.5220/0005510401960201