Combining mobility with assistance for the interaction with the environment is not a common issue in designing and developing a robotized wheelchair. This work describes a robotic hybrid platform that combines mobility with assistance to the user for actuation in its environment. It is conceived for wheelchair users having limited upper limbs actuation. This hybrid platform, a chair-exoskeleton architecture, faces the challenge of providing the required degrees of freedom to achieve an acceptable performance without having a significant implication in weight, size and cost, which increase would limit its real applicability and affordability. Therefore, its design looks for a solution that combines chair performances by providing mobility, posture and manipulation accessibility, with those of an exoskeleton which allow users with some remaining arms mobility to reach and manipulate objects either on the floor, at seating level, or at high level shelters. This paper describes the preliminary design of the wheelchair and the simulation of its operativity to deal with the required user interaction with the environment and points out the need of an intuitive and adapted interface for its control.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A Preliminary Approach to a Wheelchair with Embedded Exoskeleton Capabilities


    Weitere Titelangaben:

    Lect. Notes in Networks, Syst.


    Beteiligte:
    Tardioli, Danilo (Herausgeber:in) / Matellán, Vicente (Herausgeber:in) / Heredia, Guillermo (Herausgeber:in) / Silva, Manuel F. (Herausgeber:in) / Marques, Lino (Herausgeber:in) / Casals, Alícia (Autor:in) / Aranda, Joan (Autor:in) / Frigola, Manel (Autor:in) / Minguella, Joaquim (Autor:in) / Muñoz-Morgado, Luis Miguel (Autor:in)

    Kongress:

    Iberian Robotics conference ; 2022 ; Zaragoza, Spain November 23, 2022 - November 25, 2022



    Erscheinungsdatum :

    2022-11-19


    Format / Umfang :

    12 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    PD Based Fuzzy Sliding Mode Control of A Wheelchair Exoskeleton Robot.

    Teng, Long / Gull, Muhammad Ahsan / Bai, Shaoping | BASE | 2020

    Freier Zugriff

    Companion Following Robotic Wheelchair with Bus Boarding Capabilities

    Mamun, Shamim Al / Ali, Sarwar / Fukuda, Hisato et al. | IEEE | 2018


    VEHICLE WITH EXOSKELETON

    CLARKE ALAN PAUL / CAI XIAOPING / MORAVY LARS et al. | Europäisches Patentamt | 2024

    Freier Zugriff


    Test capabilities for embedded systems

    Emerald Group Publishing | 2004