Motion Control of Cycling Wheelchair With Continuously Variable Transmission and Clutch
Motion Control of Cycling Wheelchair With Continuously Variable Transmission and Clutch
复制标题
无级变速器和离合器的自行车轮椅运动控制
DOI：
10.1109/lra.2017.2735489
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发表时间：
2018
影响因子：
5.2
通讯作者：
Yuto Tanaka
中科院分区：
文献类型：
--
作者：
Yasuhisa Hirata;Yuto Tanaka
自行车轮椅是一种像自行车一样踩踏的轮椅，是提高使用者日常生活能力的有效装置。它在日本可以商业使用，目前正被医院和康复机构使用。然而，许多患者，特别是那些肢体残疾的患者，喜欢在室内和室外使用它。室内使用需要相对较慢的向前和向后移动，加上较小的转弯半径，所有这些都增加了有限空间的机动性。相比之下，户外使用要求骑自行车的轮椅移动更快，具有自行车般的机动性和自由轮机构，以实现舒适的驾驶，尽管后者阻止了向后踩踏板。此外，用户希望轻松地爬坡并安全地下坡。因此，自行车轮椅需要一个可以根据环境改变传动比的传动系统，以及一个自动制动系统。在这封信中，我们更详细地讨论了自行车轮椅所需的辅助功能，并通过开发一种新型的无级变速器和离合器的自行车轮椅来实现这些功能。此外，我们还进行了实验，以验证所提出的自行车轮椅及其控制方法的有效性。
The cycling wheelchair, which is pedaled like a bicycle, is an effective device for improving its user's activities of daily living. It is commercially available in Japan, and is currently being used by hospitals and rehabilitation facilities. However, many patients, particularly those with lower-limb disabilities, would like to use it both indoors and outdoors. Indoor use requires relatively slow forward and backward movement combined with a small turning radius, all of which increase maneuverability in confined spaces. In contrast, outdoor use requires the cycling wheelchair to move faster with bicycle-like mobility and a freewheel mechanism for comfortable driving, although the latter precludes pedaling backward. In addition, the user would like to ascend slopes easily and descend them safely. Hence, the cycling wheelchair requires a transmission system that can change the gear ratio based on the environment, and an automatic braking system. In this letter, we discuss in more detail the assistive functions required of the cycling wheelchair, and we realize them by developing a new cycling wheelchair with a continuously variable transmission and clutch. In addition, we conduct experiments to illustrate the validity of the proposed cycling wheelchair and its control method.