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Kinematics and Stability Analysis of a Novel Power Wheelchair When Traversing Architectural Barriers.
Top Spinal Cord Inj Rehabil. 2017 Spring; 23(2):110-119.TS

Abstract

Background:

Electric-powered wheelchairs (EPWs) are essential devices for people with disabilities for mobility and quality of life. However, the design of common EPWs makes it challenging for users to overcome architectural barriers, such as curbs and steep ramps. Current EPWs lack stability, which may lead to tipping the EPW causing injury to the user. An alternative Mobility Enhancement Robotic Wheelchair (MEBot), designed at the Human Engineering Research Laboratories (HERL), was designed to improve the mobility of, and accessibility for, EPW users in a wide variety of indoor and outdoor environments. Seat height and seat inclination can be adjusted using pneumatic actuators connected to MEBot's 6 wheels. Method: This article discusses the design and development of MEBot, including its kinematics, stability margin, and calculation of the center of mass location when performing its mobility applications of curb climbing/descending and attitude control. Motion capture cameras recorded the seat angle and joint motion of the 6 wheel arms during the curb climbing/descending process. The center of mass location was recorded over a force plate for different footprint configurations.

Results:

Results showed that the area of the footprint changed with the location of the wheels during the curb climbing/descending and attitude control applications. The location of the center of mass moved ±30 mm when the user leaned sideways, and the seat roll and pitch angle were 0° and ±4.0°, respectively, during curb climbing and descending.

Conclusion:

Despite the user movement and seat angle change, MEBot maintained its stability as the center of mass remained over the wheelchair footprint when performing its mobility applications.

Authors+Show Affiliations

Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, Pennsylvania. Department of Rehabilitation Science and Technology, University of Pittsburgh, Pittsburgh, Pennsylvania.Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, Pennsylvania. Department of Rehabilitation Science and Technology, University of Pittsburgh, Pittsburgh, Pennsylvania.Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, Pennsylvania. Department of Rehabilitation Science and Technology, University of Pittsburgh, Pittsburgh, Pennsylvania.Department of Rehabilitation Science and Technology, University of Pittsburgh, Pittsburgh, Pennsylvania.Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, Pennsylvania. Department of Rehabilitation Science and Technology, University of Pittsburgh, Pittsburgh, Pennsylvania.Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, Pennsylvania. Department of Rehabilitation Science and Technology, University of Pittsburgh, Pittsburgh, Pennsylvania.Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, Pittsburgh, Pennsylvania. Department of Rehabilitation Science and Technology, University of Pittsburgh, Pittsburgh, Pennsylvania.

Pub Type(s)

Journal Article

Language

eng

PubMed ID

29339887

Citation

Candiotti, Jorge, et al. "Kinematics and Stability Analysis of a Novel Power Wheelchair when Traversing Architectural Barriers." Topics in Spinal Cord Injury Rehabilitation, vol. 23, no. 2, 2017, pp. 110-119.
Candiotti J, Sundaram SA, Daveler B, et al. Kinematics and Stability Analysis of a Novel Power Wheelchair When Traversing Architectural Barriers. Top Spinal Cord Inj Rehabil. 2017;23(2):110-119.
Candiotti, J., Sundaram, S. A., Daveler, B., Gebrosky, B., Grindle, G., Wang, H., & Cooper, R. A. (2017). Kinematics and Stability Analysis of a Novel Power Wheelchair When Traversing Architectural Barriers. Topics in Spinal Cord Injury Rehabilitation, 23(2), 110-119. https://doi.org/10.1310/sci2302-110
Candiotti J, et al. Kinematics and Stability Analysis of a Novel Power Wheelchair when Traversing Architectural Barriers. Top Spinal Cord Inj Rehabil. 2017;23(2):110-119. PubMed PMID: 29339887.
* Article titles in AMA citation format should be in sentence-case
TY - JOUR T1 - Kinematics and Stability Analysis of a Novel Power Wheelchair When Traversing Architectural Barriers. AU - Candiotti,Jorge, AU - Sundaram,S Andrea, AU - Daveler,Brandon, AU - Gebrosky,Benjamin, AU - Grindle,Garrett, AU - Wang,Hongwu, AU - Cooper,Rory A, PY - 2018/1/18/entrez PY - 2018/1/18/pubmed PY - 2018/8/11/medline KW - assistive technology KW - center of mass KW - stability KW - wheelchair control SP - 110 EP - 119 JF - Topics in spinal cord injury rehabilitation JO - Top Spinal Cord Inj Rehabil VL - 23 IS - 2 N2 - Background: Electric-powered wheelchairs (EPWs) are essential devices for people with disabilities for mobility and quality of life. However, the design of common EPWs makes it challenging for users to overcome architectural barriers, such as curbs and steep ramps. Current EPWs lack stability, which may lead to tipping the EPW causing injury to the user. An alternative Mobility Enhancement Robotic Wheelchair (MEBot), designed at the Human Engineering Research Laboratories (HERL), was designed to improve the mobility of, and accessibility for, EPW users in a wide variety of indoor and outdoor environments. Seat height and seat inclination can be adjusted using pneumatic actuators connected to MEBot's 6 wheels. Method: This article discusses the design and development of MEBot, including its kinematics, stability margin, and calculation of the center of mass location when performing its mobility applications of curb climbing/descending and attitude control. Motion capture cameras recorded the seat angle and joint motion of the 6 wheel arms during the curb climbing/descending process. The center of mass location was recorded over a force plate for different footprint configurations. Results: Results showed that the area of the footprint changed with the location of the wheels during the curb climbing/descending and attitude control applications. The location of the center of mass moved ±30 mm when the user leaned sideways, and the seat roll and pitch angle were 0° and ±4.0°, respectively, during curb climbing and descending. Conclusion: Despite the user movement and seat angle change, MEBot maintained its stability as the center of mass remained over the wheelchair footprint when performing its mobility applications. SN - 1945-5763 UR - https://www.unboundmedicine.com/medline/citation/29339887/Kinematics_and_Stability_Analysis_of_a_Novel_Power_Wheelchair_When_Traversing_Architectural_Barriers_ L2 - https://www.ncbi.nlm.nih.gov/pmc/articles/pmid/29339887/ DB - PRIME DP - Unbound Medicine ER -