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Design and evaluation of a seat orientation controller during uneven terrain driving.
Candiotti, Jorge; Wang, Hongwu; Chung, Cheng-Shiu; Kamaraj, Deepan C; Grindle, Garrett G; Shino, Motoki; Cooper, Rory A.
Afiliación
  • Candiotti J; Department of Rehabilitation Sciences and Technology, School of Health and Rehabilitation Sciences, University of Pittsburgh, United States.
  • Wang H; Department of Rehabilitation Sciences and Technology, School of Health and Rehabilitation Sciences, University of Pittsburgh, United States.
  • Chung CS; Department of Rehabilitation Sciences and Technology, School of Health and Rehabilitation Sciences, University of Pittsburgh, United States.
  • Kamaraj DC; Department of Rehabilitation Sciences and Technology, School of Health and Rehabilitation Sciences, University of Pittsburgh, United States.
  • Grindle GG; Department of Rehabilitation Sciences and Technology, School of Health and Rehabilitation Sciences, University of Pittsburgh, United States.
  • Shino M; Department of Mechanical Engineering, University of Tokyo, Japan.
  • Cooper RA; Department of Rehabilitation Sciences and Technology, School of Health and Rehabilitation Sciences, University of Pittsburgh, United States . Electronic address: rcooper@pitt.edu.
Med Eng Phys ; 38(3): 241-7, 2016 Mar.
Article en En | MEDLINE | ID: mdl-26774421
Electric powered wheelchairs (EPWs) are essential devices for people with disabilities as aids for mobility and quality of life improvement. However, the design of currently available common EPWs is still limited and makes it challenging for the users to drive in both indoor and outdoor environments such as uneven surfaces, steep hills, or cross slopes, making EPWs susceptible to loss of stability and at risk for falls. An alternative wheel-legged robotic wheelchair, "MEBot", was designed to improve the safety and mobility of EPW users in both indoor and outdoor environments. MEBot is able to elevate its six wheels using pneumatic actuators, as well to detect changes in the seat angle using a gyroscope and accelerometer. This capability enables MEBot to provide sensing for a dynamic self-leveling seat application that can maintain the center of mass within the boundaries of the wheelchair, thereby, improving EPW safety. To verify the effectiveness of the application, MEBot was tested on a motion platform with six degrees of freedom to simulate different slopes that could be experienced by the EPW in outdoor environments. The results demonstrate the robustness of the application to maintain the wheelchair seat in a horizontal reference against changes in the ground angle.
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Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Asunto principal: Silla de Ruedas / Fenómenos Mecánicos / Movimiento (Física) Aspecto: Patient_preference Idioma: En Revista: Med Eng Phys Asunto de la revista: BIOFISICA / ENGENHARIA BIOMEDICA Año: 2016 Tipo del documento: Article País de afiliación: Estados Unidos Pais de publicación: Reino Unido
Texto completo
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Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Asunto principal: Silla de Ruedas / Fenómenos Mecánicos / Movimiento (Física) Aspecto: Patient_preference Idioma: En Revista: Med Eng Phys Asunto de la revista: BIOFISICA / ENGENHARIA BIOMEDICA Año: 2016 Tipo del documento: Article País de afiliación: Estados Unidos Pais de publicación: Reino Unido