Cooperative Strategy for a Wheelchair and a Robot to Climb and Descend a Step
Authors: Ikeda, Hidetoshi1; Katsumata, Yoshihito2; Shoji, Michihiko2; Takahashi, Takayuki3; Nakano, Eiji4
Source: Advanced Robotics, Volume 22, Numbers 13-14, 2008 , pp. 1439-1460(22)
Publisher: VSP, an imprint of Brill
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Abstract:
This paper discusses a cooperative strategy that enables a wheelchair and a wheeled robot to climb and descend a step. In this method, not only does the robot assist the wheelchair user, but also the user assists the robot to overcome the step. The research indicates the feasibility of this new cooperative strategy between a physically disabled person and a personal robot that is not designed for high-level performance. The two vehicles (the wheelchair and the wheeled robot) are connected by a simple link mechanism, the two connecting positions of which are free joints. This method is especially affected by the link positions. A numerical calculation clarifies the combinations of the two link positions to avoid a collision between each vehicle and to overcome a step at the same time. The result of the simulations indicate that it is necessary to change the link positions to climb and descend a step safely. The experimental results show that this method is effective.Keywords: STEP CLIMBING; WHEELCHAIR; ROBOT; PASSIVE LINK
Document Type: Research article
DOI: 10.1163/156855308X360523
Affiliations: 1: Toyama National College of Technology, 13 Hongouchou, Toyama-shi, Toyama 939-8630, Japan;, Email: ikedah@toyama-nct.ac.jp 2: Yokohama National University, 79-5 Tokiwadai, Hodogaya, Yokohama 240-8501, Japan 3: Fukushima University, 1 Kanayagawa, Fukushima 960-1296, Japan 4: Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan
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