A MOBILE OMNIDIRECTIONAL WHEELCHAIR: ITS IMPLEMENTATION AND EXPERIMENTAL EVALUATION
Keywords:
Mobile Robos, Omnidirectional WheelchairAbstract
In recent years, more and more convenient facilities and equipments have been developed in order to satisfy the requirements of elderly people and disabled people. Among them, wheelchair is a common one which is widely used and can provide the user with many benefits, such as maintaining mobility, continuing or broadening community and social activities, conserving strength and energy, and enhancing quality of life. The wheelchair body must be compact enough to go through narrow doorways. The wheelchair must be wide enough to prevent the patient from falling on the floor. A large footprint is therefore desirable for stability and safety, while wheelchairs must conform to dimen- sional constraints. In this paper, we present the implementation and evaluation of an omnidirectional wheelchair, which has a small size and can move easily in narrow spaces. In order to evaluate the implemented wheelchair, we carried out some experiments and discussed some implementation and application issues. The experimental results show that the implemented wheelchair in general works properly.
Downloads
References
T. Lu, K. Yuan, H. Zhu, H. Hu, “An Embedded Control System for Intelligent Wheelchair”, The
-th Annual International Conference of Engineering in Medicine and Biology Society (IEEE-
EMBS 2005), DOI: 10.1109/IEMBS.2005.1615607, pp. 5036-5039, 2005.
P. F. Diez, V. A. Mut, E. M. A. Perona, E. L. Leber, “Asynchronous BCI Control Using High-
frequency SSVEP”, Journal of NeuroEngineering and Rehabilitation, Vol 8, No. 39, 8 pages,
doi:10.1186/1743-0003-8-39, July 2011.
S. M. Grigorescu, T. Luth, C. Fragkopoulos, M. Cyriacks, A. Graser, “A BCI-controlled Robotic
Assistant for Quadriplegic People in Domestic and Professional Life”, Robotica, Cambridge Uni-
versity Press, Vol. 30, No. 3, pp. 419-431, 2012.
Y. Mori, N. Sakai, K. Katsumura, “Development of a Wheelchair with a Lifting Func-
tion”, Advances in Mechanical Engineering, Volume 2012, Article ID: 803014, 9 pages,
doi:10.1155/2012/803014, 2012.
Y. Kobayashi, Y. Kinpara, T. Shibusawa, Y. Kuno, “Robotic Wheelchair Based on Observations
of People Using Integrated Sensors”, Proc. of IEEE/RSJ International Conference on Intelligent
Robots and Systems, pp. 2013-2018, October 2009.
S. Ishida, H. Miyamoto, “Collision Detecting Device for Omni directional Electric Wheelchair”,
Robotics, Hindawi Publishing Corporation, Volume 2013, Article ID: 672826, 2013.
T. Carlson, Y. Demiris, “Robotic Wheelchair with Collaborative Control”, Proc. of IEEE Inter-
national Conference on Robotics and Automation, pp. 5582-5587, 2010.
P. Jia, H. H. Hu, T. Lu, K. Yuan, “Head Gesture Recognition for Hands-free Control of an
Intelligent Wheelchair”, Industrial Robot: An International Journal, Vol. 34, No. 1, pp.60-68, doi:
1108/01439910710718469, 2007.
K. Arai, R. Mardiyanto, “Electric Wheelchair Controlled by Eye-Only for Paralyzed User”, Journal
of Robotics and Mechatronics, Vol. 23, No. 1, pp. 66-74, 2011.
A. Escobedo, A. Spalanzani, C Laugier, “Multimodal Control of a Robotic Wheelchair: Using
Contextual Information for Usability Improvement”, Proc. of IEEE/RSJ International Conference
on Intelligent Robots and Systems (IROS-2013), doi: 10.1109/IROS.2013.6696967, pp. 4262-4267,
J. Gonzalez, A. J. Munoz, C. Galindo, J. A. Fernandez-Madrigal, J. L. Blanco, “A Description
of the SENA Robotic Wheelchair”, Proc. of IEEE Mediterranean Conference (MELECON-2006),
pp. 437-440, 2006.
H. Wang, G. G. Grindle, J. Candiotti, C. Chung, M. Shino, E. Houston, R. A. Cooper, “The
Personal Mobility and Manipulation Appliance (PerMMA): A Robotic Wheelchair with Ad-
vanced Mobility and Manipulation”, Proc. of IEEE Eng Med Biol Soc., pp. 3324-3327. doi:
1109/EMBC.2012.6346676, 2012.