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Design and evaluation of a seat orientation controller during uneven terrain driving.
Med Eng Phys. 2016 Mar; 38(3):241-7.ME

Abstract

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.

Authors+Show Affiliations

Department of Rehabilitation Sciences and Technology, School of Health and Rehabilitation Sciences, University of Pittsburgh, United States.Department of Rehabilitation Sciences and Technology, School of Health and Rehabilitation Sciences, University of Pittsburgh, United States.Department of Rehabilitation Sciences and Technology, School of Health and Rehabilitation Sciences, University of Pittsburgh, United States.Department of Rehabilitation Sciences and Technology, School of Health and Rehabilitation Sciences, University of Pittsburgh, United States.Department of Rehabilitation Sciences and Technology, School of Health and Rehabilitation Sciences, University of Pittsburgh, United States.Department of Mechanical Engineering, University of Tokyo, Japan.Department of Rehabilitation Sciences and Technology, School of Health and Rehabilitation Sciences, University of Pittsburgh, United States . Electronic address: rcooper@pitt.edu.

Pub Type(s)

Journal Article
Research Support, U.S. Gov't, Non-P.H.S.

Language

eng

PubMed ID

26774421

Citation

Candiotti, Jorge, et al. "Design and Evaluation of a Seat Orientation Controller During Uneven Terrain Driving." Medical Engineering & Physics, vol. 38, no. 3, 2016, pp. 241-7.
Candiotti J, Wang H, Chung CS, et al. Design and evaluation of a seat orientation controller during uneven terrain driving. Med Eng Phys. 2016;38(3):241-7.
Candiotti, J., Wang, H., Chung, C. S., Kamaraj, D. C., Grindle, G. G., Shino, M., & Cooper, R. A. (2016). Design and evaluation of a seat orientation controller during uneven terrain driving. Medical Engineering & Physics, 38(3), 241-7. https://doi.org/10.1016/j.medengphy.2015.12.007
Candiotti J, et al. Design and Evaluation of a Seat Orientation Controller During Uneven Terrain Driving. Med Eng Phys. 2016;38(3):241-7. PubMed PMID: 26774421.
* Article titles in AMA citation format should be in sentence-case
TY - JOUR T1 - Design and evaluation of a seat orientation controller during uneven terrain driving. AU - Candiotti,Jorge, AU - Wang,Hongwu, AU - Chung,Cheng-Shiu, AU - Kamaraj,Deepan C, AU - Grindle,Garrett G, AU - Shino,Motoki, AU - Cooper,Rory A, Y1 - 2016/01/13/ PY - 2015/05/13/received PY - 2015/12/08/revised PY - 2015/12/19/accepted PY - 2016/1/18/entrez PY - 2016/1/18/pubmed PY - 2016/12/15/medline KW - Assistive technology KW - Posture KW - Wheelchair control KW - Wheeled-legged robots SP - 241 EP - 7 JF - Medical engineering & physics JO - Med Eng Phys VL - 38 IS - 3 N2 - 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. SN - 1873-4030 UR - https://www.unboundmedicine.com/medline/citation/26774421/Design_and_evaluation_of_a_seat_orientation_controller_during_uneven_terrain_driving_ L2 - https://linkinghub.elsevier.com/retrieve/pii/S1350-4533(15)00286-6 DB - PRIME DP - Unbound Medicine ER -