Wheelchair Models With Integrated Transfer Support Mechanisms and Passive Actuation

Abstract

The concept presented in this paper describes two new approaches to integrate transfer support functions into wheelchairs. The goal is to relieve caregivers and nurses in their daily task of lifting patients from and to the wheelchair without the need of an additional external lift device, such as commonly used lifting cranes or lifting belts. The contributions of this paper are (i) the design of two different mechanical linkages, which realize two types of transfer motions, (ii) the selection of a passive actuator for weight compensation and simulation of the force induced by it (static design), as well as (iii) the experimental evaluation of the simulation using rapid prototyping functional models of the concepts. The results are two different design concepts, each of which can realize a particular, smooth transfer motion.

Mechanism design and analysis of a proposed wheelchair-exoskeleton hybrid robot for assisting human movement

“…Song et al: Mechanism design and analysis of a proposed wheelchair-exoskeleton hybrid robot and only the scissor mechanism was used to facilitate the motion of wheelchairs. Within the last twenty years, the functions of wheelchairs have been greatly expanded, from the initial single-function to multi-functions, such as lifting wheelchairs (Waldron and Haggstrom, 2004), collapsible wheelchairs (Gary, 1992), stair-climbing wheelchairs (Wu et al, 2010) based on the planetary gear train or crawler mechanisms and standing assist wheelchairs (D'Angelo et al, 2015) based on the Watt-II type six-bar mechanism. These achievements greatly improved the user mobility and motion range.…”