IEEE Transactions on Industrial Electronics · 2016 · 34 citations · 13 references
MedicineMechatronics EngineeringRehabilitation MedicineAssistive TechnologyMobility RehabilitationRoboticsAssistive Mobility DevicesAssistive Technology For MobilityMobility AidsMobility AssistanceWheelchair EngineeringWheelchair MobilityClutchesInclined PlanesManual Wheelchair MobilityManual Wheelchair PropulsionPower Wheelchair MobilityPower WheelchairsWheelchair DynamicsWheelchair Propulsion Mechanics
In this paper, a gravity compensated power-assisted wheelchair (GCPAW) is proposed, which will climb a hill, and stop, and make as a delicate movement in the middle of the hill as it can do on a flat surface. To climb the hill, the proposed GCPAW compensates for the parallel component of the force of gravity (the force that causes acceleration or deceleration) on a hill. A tilt sensor measures the angle of the inclined plane and electric clutches automatically connect and disconnect drive mechanisms with the wheels. The GCPAW also compensates for friction in the drive mechanism that would cause additional resistance. The rider propels the GCPAW in the same way that he/she would propel a manual wheelchair, but the mechanism compensates for both gravity and the friction. Additionally, overcompensation for the friction helps the rider's propulsion, so that with the same propulsion force the rider travels further than in a manual wheelchair, resulting in an easier movement for the rider.
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Ryan J. Farris, Hugo Quintero, Spencer A. Murray et al. · IEEE Transactions on Neural Systems and Rehabilitation Engineering · 2013 · 212 citations