Open AccessDOI
Evolution of Wheelchair.q, a Stair-climbing Wheelchair
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TLDR
The main component of the wheelchair structure is a three-wheel locomotion unit that allows obstacle climbing thanks to an epicycloidal transmission and an idle track that behaves like a second foothold giving static stability during stair-climbing.Abstract:
This paper presents a solution for a stair-climbing wheelchair that can climb single steps or entire staircases. This device was designed in order to ensure greater autonomy for people with reduced mobility . The main component of the wheelchair structure is a three-wheel locomotion unit that allows obstacle climbing thanks to an epicycloidal transmission. The other characteristic element is an idle track that behaves like a second foothold giving static stability during stair-climbing. Another important feature concerned with this design is a reconfiguration mechanism that makes the wheelchair suitable both for stair-climbing and for moving on flat ground. This feature allows performances and overall dimensions comparable to traditional electric wheelchairs. The choice and design of the mechanisms for the reconfiguration phase are the main topics discussed in this article and represent the principal innovations of this wheelchair compared to earlier versions.read more
Citations
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Journal ArticleDOI
Design of a self-leveling cam mechanism for a stair climbing wheelchair
Giuseppe Quaglia,Matteo Nisi +1 more
TL;DR: In this paper, the authors presented a new version of Wheelchair.q, a wheelchair with stair climbing ability using a hybrid wheel-leg locomotion unit with a triple-wheels cluster architecture.
Journal ArticleDOI
Tracked Locomotion Systems for Ground Mobile Robots: A Review
TL;DR: In this article , the authors discuss the state-of-the-art of locomotion systems for ground mobile robots comprising tracks and propose three possible parallel taxonomies, based on body architecture, track profile, and track type, to help designers select the most suitable architecture on the basis of the operative necessities.
Journal ArticleDOI
Dynamic Simulation of an Electric Stair-Climbing Wheelchair
TL;DR: The simulation results show that the proposed device can climb a staircase in a stable and safe manner and the efficacy of the cooperative actuation system and the effectiveness of the proposed control logic were analyzed.
Journal ArticleDOI
Proof-of-concept of a stair-climbing add-on device for wheelchairs
TL;DR: The novel design provides a solution manually operable by an assistant, which is cost-effective and independent of wheelchair type to improve accessibility in low-resource settings.
Book ChapterDOI
Analysis of the Static Stability for an Electric Stair-Climbing Wheelchair
TL;DR: Considering the goal of maximizing the comfort for the user, the oscillation introduced on the wheelchair seat by the locomotion system has been studied and solutions able to reduce them are proposed.
References
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Journal ArticleDOI
Modeling of a stair-climbing wheelchair mechanism with high single-step capability
Murray Lawn,T. Ishimatsu +1 more
TL;DR: Primary considerations were inherent stability, provision of a mechanism that is physically no larger than a standard powered wheelchair, aesthetics, and being based on readily available low-cost components.
Journal ArticleDOI
Wheelchair.q, a motorized wheelchair with stair climbing ability
TL;DR: In this article, a wheelchair with a four-bar linkage mechanism that connects frame and seat to prevent the wheelchair from overturning and to guarantee a comfortable posture to the passenger during different operations is presented.
Proceedings ArticleDOI
Research on leg-wheel hybrid stair-climbing robot, Zero Carrier
Jianjun Yuan,Shigeo Hirose +1 more
TL;DR: A novel leg-wheel hybrid stair-climbing vehicle, "Zero Carrier", which consists of eight unified prismatic-joint legs, four of which attached active wheels and other four attached passive casters, which can be designed lightweight, compact, powerful, together with its significant stability on stair climbing motion.
Proceedings ArticleDOI
A novel stair-climbing wheelchair with transformable wheeled four-bar linkages
TL;DR: A prototype of a novel wheelchair having a stair-climbing function resulting from transformable wheeled four-bar linkages is proposed, and the basic performance of the proposed mechanism has been confirmed through experimental results.
Proceedings ArticleDOI
Wheelchair.q, a mechanical concept for a stair climbing wheelchair
TL;DR: Wheelchair.q, a concept for a stair climbing wheelchair able to move in structured and unstructured environment, to climb over obstacles and to go up and down stairs, is presented.
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