DocumentCode
2331333
Title
An adaptive mobility system for the disabled
Author
Wellman, P. ; Krovi, Venkat ; Kianar, V.
Author_Institution
Dept. of Mech. Eng. & Appl. Mech., Pennsylvania Univ., Philadelphia, PA, USA
fYear
1994
fDate
8-13 May 1994
Firstpage
2006
Abstract
A proof-of-concept prototype walking chair for the disabled is proposed with the objective of demonstrating the feasibility of a completely new approach to mobility. Our prototype system consists of a chair equipped with wheels and legs and is capable of walking on uneven terrain and circumventing obstacles. The important design considerations, the system design and an experimental prototype of a chair, are discussed. Redundancy in actuation enables the online optimization of tractive forces which enhances the adaptability of the system
Keywords
adaptive control; control system synthesis; handicapped aids; mobile robots; optimisation; redundancy; adaptive mobility system; handicapped aids; online optimization; redundancy; system design; tractive forces; uneven terrain; walking chair; Adaptive systems; Costs; Laboratories; Leg; Legged locomotion; Mechanical engineering; Prototypes; Stability; Vehicle safety; Wheelchairs;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location
San Diego, CA
Print_ISBN
0-8186-5330-2
Type
conf
DOI
10.1109/ROBOT.1994.351169
Filename
351169
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