Step-climbing wheelchair with lever propelled rotary legs
Step-climbing wheelchair with lever propelled rotary legs
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DOI：
10.1109/iros.2015.7354285
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发表时间：
2015-09
期刊：
影响因子：
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通讯作者：
K. Sasaki;Yosuke Eguchi;Kenji Suzuki
中科院分区：
文献类型：
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作者：
K. Sasaki;Yosuke Eguchi;Kenji Suzuki
世界上有几种爬台阶轮椅，但大多数又大又重，因为它们是动力辅助的。因此，它们需要很大的活动空间，这在现有的住宅建筑中并不总是可行的。本研究提出了一种基于杠杆推进控制的爬阶轮椅。所开发的爬台阶轮椅装置由用于移动的带脚轮的手动轮和能够爬台阶的旋转腿机构组成。轮椅还具有姿态转换的被动机构，以在平面运动和爬台阶所需的位置之间移动人的重心。提议的设计由被动部件组成，这使得轮椅紧凑轻便。在本文中，我们提出了这种爬台阶轮椅的设计和一些初步的实验来测试它的可用性。
There are a few types of step-climbing wheelchairs in the world, but most of them are large and heavy because they are power-assisted. Therefore, they require large space to maneuver, which is not always feasible with existing house architectures. This study proposes a novel step-climbing wheelchair based on lever propulsion control using human upper limbs. The developed step-climbing wheelchair device consists of manual wheels with casters for moving around and a rotary-legs mechanism that is capable of climbing steps. The wheelchair also has a passive mechanism for posture transition to shift the center of gravity of the person between the desired positions for planar locomotion and step-climbing. The proposed design consists of passive parts, and this leads the wheelchair being compact and lightweight. In this paper, we present the design of this step-climbing wheelchair and some preliminary experiments to test its usability.