single-au.php

IJAT Vol.11 No.3 pp. 472-480
doi: 10.20965/ijat.2017.p0472
(2017)

Paper:

Dynamic Simulation of an Electric Stair-Climbing Wheelchair

Giuseppe Quaglia*,†, Matteo Nisi*, Walter Franco*, and Luca Bruzzone**

*Politecnico di Torino
Corso Duca degli Abruzzi 24, 10129 Turin, Italy

Corresponding author

**University of Genoa, Via Opera Pia 15A, 16145 Genoa, Italy

Received:
September 6, 2016
Accepted:
October 17, 2016
Online released:
April 28, 2017
Published:
May 5, 2017
Keywords:
wheelchair, stair-climbing, architectural barriers, Wheelchair.q
Abstract

In this paper, a novel stair-climbing wheelchair is proposed. This new architecture represents an improvement over previous designs, in particular with regards to stability and safety during stair-climbing operations. The proposed mechanical architecture is hybrid: two locomotion units based on a “rotating leg” system are coupled with an idle track. This structure satisfies many design requirements: small dimensions, reduced weight, and a stable and regular climbing trajectory. In particular, the focus of this study is the design of an actuation system, the choice of suitable control logics, and the dynamic analysis of the proposed solution. The behavior of the wheelchair was tested through multibody simulation. The simulation results show that the proposed device can climb a staircase in a stable and safe manner. Certain smart dynamic features of the wheelchair were also proven. In particular, the efficacy of the cooperative actuation system and the effectiveness of the proposed control logic were analyzed. In conclusion, the simulation results demonstrate the appropriate operation of the proposed device, which will be used to design a working prototype of the stair-climbing wheelchair.

References
  1. [1] B. Sapey, J. Stewart, and G. Donaldson, “The social implications of increases in wheelchair use,” Lancaster University, Lancaster, UK, 2004.
  2. [2] N. Vignier, J. F. Ravaud, M. Winance, F. X. Lepoutre, and I. Ville, “Demographics of wheelchair users in France: results of national community-based handicaps-incapacites-dependance surveys,” J. of rehabilitation medicine, Vol.40, No.3, 231-239, 2008.
  3. [3] U.S Census Bureau, “Americans with Disabilities: 2010,” 2012.
  4. [4] L. Bruzzone and G. Quaglia, “Review article: locomotion systems for ground mobile robots in unstructured environments,” Mechanical Sciences, Vol.3, pp. 49-62, 2012.
  5. [5] T. He, M. Bando, M. Guarnieri, and S. Hirose, “The Development of an Autonomous Robot System for Patrolling in Multi-Floor Structured Environment,” Int. J. of Automation Technology, Vol.6, No.1, pp. 13-21, 2012.
  6. [6] J. Han, X. Li, and Q. Qin, “Design of Two-Wheeled Self-Balancing Robot Based on Sensor Fusion Algorithm,” Int. J. of Automation Technology, Vol.8, No.2, pp. 216-221, 2014.
  7. [7] S. Yu, T. Wang, Y. Wang, D. Zhi, C. Yao, X. Li, and Z. Wang, “A tip-over and slippage stability criterion for stair-climbing of a wheelchair robot with variable geometry single tracked mechanism,” Proc. of Int. Conf. on Information and Automation (ICIA), pp. 88-93, 2012.
  8. [8] R. T. Quigg, “Stair-climbing wheelchair,” U.S. Patent No.6, 857, 490, Feb. 22, 2005.
  9. [9] M. J. Lawn and T. Ishimatsu, “Modeling of a stair-climbing wheelchair mechanism with high single step capability,” Neural Systems and Rehabilitation Engineering, Vol.11, No.3, pp. 323-332, 2003.
  10. [10] R. Morales, V. Feliu, A. Gonzalez, and P. Pintado, “Coordinated motion of a new staircase climbing wheelchair with increased passenger comfort,” Proc. of Int. Conf. on Robotics and Automation (ICRA), Orlando, Florida, USA, pp. 3995-4001, 2006.
  11. [11] R. Morales, V. Feliu, and A. González, “Optimized obstacle avoidance trajectory generation for a reconfigurable staircase climbing wheelchair,” Robotics and Autonomous Systems, Vol.58, No.1, pp. 97-114, 2010.
  12. [12] J. Yuan and S. Hirose, “Zero Carrier: A Novel Eight Leg-Wheels Hybrid Stair Climbing,” J. of Robotics and Mechatronics, Vol.17, No.1, 44-51, 2005.
  13. [13] G. Quaglia, D. Maffiodo, W. Franco, S. Appendino, and R. Oderio, “The Epi. q-1 hybrid mobile robot,” The Int. J. of Robotics Research, Vol.29, No.1, pp. 81-91, 2009.
  14. [14] U. Saranli, M. Buehler, and D. E. Koditschek, “RHex: A Simple and Highly Mobile Hexapod Robot,” The Int. J. of Robotics Research, Vol.20, No.7, pp. 616-631, 2001.
  15. [15] G. Quaglia, W. Franco, and R. Oderio, “Wheelchair. q, a mechanical concept for a stair climbing wheelchair,” Proc. of Int. Conf. on Robotics and Biomimetics (ROBIO), Guilin, China, pp. 800-805, 2009.
  16. [16] G. Quaglia, W. Franco, and R. Oderio, “Wheelchair. q, a motorized wheelchair with stair climbing ability,” Mechanism and Machine Theory, Vol.46, No.11, pp. 1601-1609, 2011.
  17. [17] G. Quaglia, W. Franco, and M. Nisi, “Design of a Reconfiguration Mechanism for an electric Stair-climbing Wheelchair,” Proc. of the Int. Mechanical Engineering Congress & Exposition (IMECE), Montreal, Quebec, Canada, 2014.
  18. [18] G. Quaglia, W. Franco, and M. Nisi, “Evolution of Wheelchair. q, a Stair-climbing Wheelchair,” Proc. of the 14th World Congress in Mechanism and Machine Science, Taipei, Taiwan, 2015.
  19. [19] G. Quaglia, W. Franco, and M. Nisi, “Analysis of the Static Stability for an Electric Stair-Climbing Wheelchair,” Proc. of the Int. Conf. on Robotics in Alpe-Adria-Danube Region (RAAD), Belgrade, Serbia, 2016.
  20. [20] G. Quaglia, L. Bruzzone, R. Oderio, and R. Razzoli, “Epi.q Mobile robots family,” Proc. of the ASME 2011 Int. Mechanical Engineering Congress & Exposition, Denver, Colorado, 11-17 November 2011.
  21. [21] G. Quaglia, R. Oderio, L. Bruzzone, and R. Razzoli, “A modular approach for a family of ground mobile robots,” Int. J. of Advanced Robotic Systems, Vol.10, 2013.
  22. [22] G. Quaglia and M. Nisi, “Design and Optimization of a Self-Leveling Cam Mechanism for a Stair Climbing Wheelchair,” unpublished.
  23. [23] K. Kato, H. Seki, and M. Hikizu, “3-D Obstacle Detection Using Laser Range Finder with Polygonal Mirror for Powered Wheelchair,” Int. J. of Automation Technology, Vol.9, No.4, pp. 373-380, 2015.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, IE9,10,11, Opera.

Last updated on Nov. 10, 2017