Design and Simulation of Removable Pavement Edge Climbing Electric Wheelchair for Elderly and Disabled Users

Phannil, Natthanon; Jettanasen, Chaiyan

doi:10.1007/s12555-021-0841-2

Cited by 2 publications

(1 citation statement)

References 28 publications

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“…However, wheelchairs have limitations in their reliability when climbing stairs, so a method of climbing up and down stairs using only mechanical mechanisms without electronic control was devised; nonetheless, there is a safety issue, and additional research to supplement this is necessary. Another study looked at designing a Removable Pavement-edge-Climbing Electric Wheelchair (RPCEW) that combined a regular electric wheelchair and a trackbased wheel [6]. Track-based wheels can be assembled or detached from wheelchairs, making them useful in various ways, minimizing conversion processes and facilitating transport, enabling them to meet the needs of the elderly and disabled, and improving their quality of life.…”

Section: Introductionmentioning

confidence: 99%

Design of Wheelchair Drive Unit Capable of Driving on Roads and Obstacles with Shape Conversion

Jeong,

Kwon,

Youm

et al. 2024

Applied Sciences

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Wheelchairs are widely used globally and are essential for providing autonomy and mobility to elderly and disabled people who have movement restrictions. Manual wheelchairs require operation through turning the wheels or pushing the wheelchair directly, thus posing mobility limitations for the user and caregiver. In contrast, electric wheelchairs, when used by the user, allow for improved flexibility by operating the wheelchair through a single control mechanism. However, the use of electric wheelchairs poses challenges in accessing areas with stairs and curbs, limiting the range of activity and thereby diminishing the quality of life for users and those reliant on electric wheelchairs. The electric wheelchair developed in this research incorporates a single motor for lightweight design. It uses a wheel travel variation actuator, eliminating the need for synchronization and allowing for low-power operation. This design reduces power loss from the caterpillar’s idling during wheel movement and includes the implementation of a pulley system. The optimal pulley belt length was calculated, and a deceleration device was installed inside the caterpillar, enabling a design that is compact, lightweight, and capable of high deceleration. On paved roads and flat terrain, the electric wheelchair is designed for high-speed travel using two pairs of front omni wheels and drive wheels. For terrains with stairs, speed bumps, unpaved roads, and unavoidable obstacles, the wheelchair is powered by caterpillars. The electric wheelchair developed through the research presented in this paper has verified the reliability of its transmission system through gear stress and deformation analysis. Additionally, an electric wheelchair based on the proposed concept was constructed to validate the drivability, safety, operability, and convenience of its driving unit. Furthermore, a user rode the constructed electric wheelchair to confirm that there were no issues with its drivability.

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Section: Introductionmentioning

confidence: 99%

Design of Wheelchair Drive Unit Capable of Driving on Roads and Obstacles with Shape Conversion

Jeong,

Kwon,

Youm

et al. 2024

Applied Sciences

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Stair-Climbing Wheeled Robot Based on Rotating Locomotion of Curved-Spoke Legs

Seo,

Kang

2024

Biomimetics

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This study proposes a new wheel-leg mechanism concept and formulations for the kinematics and dynamics of a stair-climbing robot utilizing the rotating leg locomotion of curved spokes and rolling tires. The system consists of four motor-driven tires and four curved-spoke legs. The curved-spoke leg is semicircle-like and is used to climb stairs. Once the spoke leg rolls on the surface, it lifts and pulls the mating wheel toward the surface, owing to the kinematic constraint between the spoke and the wheel. Single-wheel climbing is a necessary condition for the stair climbing of whole robots equipped with front and rear axles. This study proposes the design requirements of a spoke leg for the success of single-wheel climbing in terms of kinematic inequality equations according to the scenario of single-wheel climbing. For a design configuration that enables single-wheel climbing, the required minimum friction coefficient for the static analysis of the stair-climbing wheeled robots is demonstrated. Thereafter, the stair-climbing ability is validated through the dynamic equations that enable the frictional slip of the tires, as well as the curved-spoke legs. Lastly, the results revealed that the rotating locomotion of the well-designed curved-spoke legs effectively enables the stair climbing of the whole robot.

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Design and Simulation of Removable Pavement Edge Climbing Electric Wheelchair for Elderly and Disabled Users

Cited by 2 publications

References 28 publications

Design of Wheelchair Drive Unit Capable of Driving on Roads and Obstacles with Shape Conversion

Design of Wheelchair Drive Unit Capable of Driving on Roads and Obstacles with Shape Conversion

Stair-Climbing Wheeled Robot Based on Rotating Locomotion of Curved-Spoke Legs

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