AbstractThe development of a walking chair is very important to a person with disability. This paper studies some fundamental issues of a practical walking chair, which are performance requirements, gaits and body geometry. According to the needs of a disabled person, the performance requirements of a walking chair are specified. The number of legs and leg mechanism are determined according to previous design experience. The three basic gaits for a quadruped to negotiate both structured and unstructured terrain, namely straight-line gaits, turning gaits and stair-climbing gaits, are then studied. Based on the results of gait study, the geometry of the walking chair is designed. Two geometric models are proposed and their performance is evaluated.
Gaits and geometry of a walking chair for the disabled
Journal of Terramechanics ; 26 , 3-4 ; 211-233
1989-01-01
23 pages
Article (Journal)
Electronic Resource
English
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