Hostname: page-component-7b7567c8c-kwt9d Total loading time: 0 Render date: 2026-11-15T08:25:13.778Z Has data issue: false hasContentIssue false
  • English
  • Français

Dynamic control of a reconfigurable stair-climbing mobility system

Published online by Cambridge University Press:  24 May 2012

R. Morales,
J. Somolinos and
J. Cerrada
R. Morales
Affiliation:
Department of Electrical, Electronics and Automation Engineering, University of Castilla-La Mancha, Albacete 02071, Spain
J. Somolinos*
Affiliation:
Department of Oceanic Systems, Universidad Politécnica de Madrid, Madrid 28040, Spain
J. Cerrada
Affiliation:
Department of Computer Systems and Software Engineering, Universidad Nacional de Educación a Distancia (UNED), Madrid 28040, Spain
*
*Corresponding author. E-mail: joseandres.somolinos@upm.es
Rights & Permissions [Opens in a new window]

Summary

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the 'Save PDF' action button.

Electric-powered wheelchairs improve the mobility of people with physical disabilities, but the problem to deal with certain architectural barriers has not been resolved satisfactorily. In order to solve this problem, a stair-climbing mobility system (SCMS) was developed. This paper presents a practical dynamic control system that allows the SCMS to exhibit a successful climbing process when faced with typical architectural barriers such as curbs, ramps, or staircases. The implemented control system depicts high simplicity, computational efficiency, and the possibility of an easy implementation in a microprocessor-/microcontroller-based system. Finally, experiments are included to support theoretical results.

Keywords

Electric-powered wheelchairsStair-climbing devicesDynamic modelingDynamic controlMechatronics

Information

Type
Articles
Information
Robotica , Volume 31 , Issue 2 , March 2013, pp. 295 - 310
Copyright
Copyright © Cambridge University Press 2012

References

1.Wilson, A. B. Jr., Wheelchairs: A Prescription Guide, 2nd ed. (Demos, New York, NY, 1992).Google Scholar
2.Cooper, R. A., Wheelchairs Selection and Configuration (Demos Medical, New York, 1998).Google Scholar
3.Ding, D., Cooper, R. A., Terashima, S., Yang, Y. S. and Cooper, R., “A Study on the Balance Function of the iBOT Transporter,” Proceedings of the RESNA 2004 Annual Conference, Orlando, FL, USA (2004).Google Scholar
4.Rados, C., “FDA works to reduce preventable medical device injuries,” FDA Consum. 37 (4), 29–33 (2003).Google ScholarPubMed
5.Sunwa Co. Ltd., Sunwa Stair-Ship TRE-52 (Sendagaya, Shiuya-ku, Tokyo, Japan). available at: http://www.sunwa-jp.co.jp (2012).Google Scholar
6.Lawn, M. J. and Ishimatzu, T., “Modelling a stair-climbing wheelchair mechanism with high single-step capability,” IEEE Trans. Neural Syst. Rehabil. Res. 11 (3), 323–332 (2003).CrossRefGoogle ScholarPubMed
7.Hirose, S., “A study of design and control of a quadruped walking vehicle,” Int. J. Robot. Res. 3 (2), 113–133 (1984).CrossRefGoogle Scholar
8.Hirose, S. and Takeuchi, H., “Study on roller-walk (basic characteristics and its control),” In: Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, MN, USA (Apr. 1996) pp. 3265–3270.CrossRefGoogle Scholar
9.Wellman, P. and Krovi, V., “Design of a wheelchair with legs for people with motor disabilities,” IEEE Trans. Rehabil. Eng. 3 (4), 343–353 (1995).CrossRefGoogle Scholar
10.Pavec, D., Aubin, C. E., Aissaoui, R., Parent, F. and Dansereau, J., “Kinematic modeling for the assesment of wheelchair user's stability,” IEEE Trans. Neural Syst. Rehabil. Eng. 9 (4), 362–368 (2001).CrossRefGoogle Scholar
11.Yoder, J. D., Baumgartner, E. T. and Skaar, S. B., “Initial results in the development of a guidance system for a powered wheelchair,” IEEE Trans. Rehabil. Eng. 4 (3), 143–151 (1996).CrossRefGoogle ScholarPubMed
12.Ding, D., Cooper, R. A., Guo, S. and Corfman, T. A., “Analysis of driving backward in an electric-powered wheelchair,” IEEE Trans. Control Syst. Technol. 12 (6), 934–943 (2004).CrossRefGoogle Scholar
13.Takahashi, Y., Ogawa, S. and Machida, S., “Mechanical design and control system of robotic wheelchair with inverse pendulum control,” Trans. Inst. Meas. Control 24 (5), 355–368 (2002).CrossRefGoogle Scholar
14.González, A., Morales, R., Feliu, V. and Pintado, P., “Improving the mechanical design of new staircase climbing wheelchair,” Ind. Robot Int. J. 34 (2), 110–115 (2007).CrossRefGoogle Scholar
15.Morales, R., Feliu, V., González, A. and Pintado, P., “Kinematic model of a new staircase climbing wheelchair and its experimental validation,” Int. J. Robot. Res. 25 (9), 825–841 (2006).CrossRefGoogle Scholar
16.Feliu, V., Somolinos, J. A. and Garcia, A., “Inverse dynamics-based control system for a three degree-of-freedom flexible arm,” IEEE Trans. Robot. Autom. 19 (6), 1007–1014 (2003).CrossRefGoogle Scholar
17.Somolinos, J. A., Feliu, V. and Garcia, A., “Stability Analysis of a New Control Scheme for a Three-Degree-of-Freedom Flexible Robot,” In: Proceedings of the IEEE-CSS 39th International Conference on Decision and Control, Sydney, Australia (Dec. 2000) pp. 4030–4035.Google Scholar
18.Morales, R., González, A., Feliu, V. and Pintado, P., “Environment adaptation of a new staircase climbing wheelchair,” Auton. Robots 23, 275–292 (2007).CrossRefGoogle Scholar
19.Morales, R., Somolinos, J. A. and Cerrada, J. A., “Dynamic model of a stair-climbing mobility system and its experimental validation,” Multibody Syst. Dyn. (2012) doi: 10.1007/s11044-012-9310-2.CrossRefGoogle Scholar
20.Arkin, R., “Motor schema-based mobile robot navigation,” Int. J. Robot. Res. 8, 92–112 (1989).CrossRefGoogle Scholar
21.Sciavicco, L. and Siciliano, B., Modelling and Control of Robot Manipulators, 2nd ed. (Springer, Berlin, Germany, 2000).CrossRefGoogle Scholar
22.Craig, J. J., Introduction to Robotics – Mechanics and Control, 3rd ed. (Addison-Wesley Longman, Indianapolis, IN, 2008).Google Scholar
23.Morales, R., Feliu, V., González, A. and Pintado, P., “Coordinated Motion of a New Staircase Climbing Wheelchair With Increased Passenger Comfort,” In: Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Orlando, FL, USA (2006) pp. 3395–4001.Google Scholar
24.Morales, R., Feliu, V. and González, A., “Optimized obstacle avoidance trajectory generation for a reconfigurable staircase-climbing wheelchair,” Robot. Auton. Syst. 58, 97–114 (2010).CrossRefGoogle Scholar
25.Pintado, P., “Un Curso de Automoción,” (Sección de Publicaciones Área de Ingeniería Mecánica, Universidad de Castilla-La Mancha, Spain, 1994).Google Scholar