Kinematics and Stability Analysis of a Novel Power Wheelchair When Traversing Architectural Barriers

Top Spinal Cord Inj Rehabil, 2017 · DOI: 10.1310/sci2302-110 · Published: April 1, 2017

Simple Explanation

Electric powered wheelchairs are essential for people with disabilities; however, current designs struggle with architectural barriers. The Mobility Enhancement Robotic Wheelchair (MEBot) was designed to improve mobility and accessibility for EPW users. MEBot uses pneumatic actuators to adjust seat height and inclination, enhancing indoor/outdoor capabilities. This article describes the kinematics, stability analysis, and location of the center of mass during curb climbing/descending and attitude control. Results showed that MEBot maintained stability as the center of mass remained over the wheelchair footprint during mobility applications, despite user movement and seat angle change.

Study Duration

Not specified

Participants

One researcher weighing 81.6 kg

Evidence Level

Not specified

Key Findings

1
The area of the footprint changed with the location of the wheels during curb climbing/descending and attitude control applications.
2
The location of the center of mass moved ±30 mm when the user leaned sideways, while seat roll and pitch angles were 0° and ±4.0°, respectively, during curb climbing and descending.
3
MEBot maintained stability as the center of mass remained over the wheelchair footprint when performing mobility applications.

Research Summary

The mobility applications of MEBot 2.0 – curb climbing/descending and attitude control – were introduced and evaluated through a stability analysis. The results showed that the position of the center of mass remained within the footprint of the wheelchair on slopes of different angles and while climbing and descending a curb. The study demonstrated the capabilities and stability of MEBot when climbing over ADA-compliant steps in comparison to commercial EPWs.

Practical Implications

Improved Wheelchair Design

MEBot's design addresses limitations in current EPWs, providing better maneuverability and stability in various terrains.

Enhanced User Safety

The attitude control application and curb climbing/descending features enhance user safety by maintaining stability and preventing tips and falls.

Automation Potential

The location of the center of mass equation can be used for further development of automation and safety failure analysis of mobility applications.

Study Limitations

1
The completion time of the curb climbing/descending process was not the objective of the study.
2
The stability test was limited to leaning sideways.
3
Further work will include an optimization of the kinematics and attitude control algorithm.

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