Development of One Hand Drive Wheelchair System Design and Experiment of the active front wheel system
Development of One Hand Drive Wheelchair System Design and Experiment of the active front wheel system
复制标题
单手驱动轮椅系统研制主动前轮系统设计与实验
DOI：
10.1109/cibcb.2016.7758106
复制
发表时间：
2016
期刊：
影响因子：
--
通讯作者：
Daisuke Chugo and Hiroshi Hashimoto
中科院分区：
文献类型：
--
作者：
Daisuke Hayashi;Sho Yokota;Daisuke Chugo and Hiroshi Hashimoto
本研究旨在提出一种可让偏瘫使用者单手操控轮椅的轮椅系统。该系统由两部分组成：从单手轮圈中提取用户的控制意图和主动转向的前轮系统。特别是，本文重点对该系统的可行性进行了验证，并提出了前轮系统。为了验证这一点，进行了刚体动力学仿真。结果表明，可以通过驱动单个驱动轮和前轮转向来改变轮椅的方向。推导了前轮所需的转向力矩，并以此为基础进行了前轮系统的设计。之后，提出了原型。最后通过实验验证了系统的有效性。实验结果表明，轮椅可以通过前轮转向和单手驱动来改变方向。
The purpose of this study is to propose the wheelchair system enabling hemiplegic users to steer the wheelchair by one hand drive. This system consists of two parts: extraction of user's control intention from the single hand rim and the front wheel system with active steering. In particular, this paper focuses on the feasibility verification of this system and to propose the front wheel system. For this verification, the rigid body dynamics simulation was conducted. The result showed that the orientation of the wheelchair could be changed by driving the single driving wheel and by steering the front wheel. The required steering torque for front wheel was derived to design the front wheel system. After that, the prototype was proposed. Then the basic experiment was conducted to verify the efficiency of the system. The result of the experiment showed that the orientation of the wheelchair could be changed by steering front wheel and by one hand drive.