제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제17권7호
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  • Pages.668-673
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  • 2011
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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장애인이나 노약자를 위한 다 기능 휠췌어 로봇 설계 및 제어

Design and Control of a Wheel-Chair Robot for Handicapped or Elderly Persons

  • 김후섭 (충남대학교 메카트로닉스공학과) ;
  • 송혜수 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • 투고 : 2010.11.30
  • 심사 : 2010.12.23
  • 발행 : 2011.07.01
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초록

This paper presents design and control of a wheelchair robot for handicapped or elderly persons. Novel multi-functional design concepts are introduced. The first function is to balance the chair always parallel to the flat ground so that the driver feels comfortable when he/she drives on the slope. The second function is to help the driver to stand up by pushing the chair so that the driver can get out from the chair with ease. The third design is to make it foldable for easy carrying for automobiles. The last function is an immediate stop and start protection. Experimental studies are conducted to demonstrate the feasibility and functionality of each mechanical design.

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참고문헌

  1. H. J. Lee and S. Jung, "Guidance control of a wheeled mobile robot with human interaction based on force control," International Journal of Control, Automation, and Systems Engineering, vol. 8, no. 2, pp. 361-368, Apr. 2010. https://doi.org/10.1007/s12555-010-0222-8
  2. HAL, http://www.cyberdyne.jp/english/robotsuithal/
  3. H. J. Jeon and S. Jung, "Design and experiment of an assistive device for a knee joint of a disabled person using MR damper," Journal of Institute Control, Robotics, and Systems (in Korean), vol. 16, no. 6, pp. 579-585, June 2010. https://doi.org/10.5302/J.ICROS.2010.16.6.579
  4. H. J. Jeon and S. Jung, "Damping force control of a MR damper using modification of bouc-wen model for a walking assist device," Korean Intelligent Robot Conference, pp. 451-454, 2009.
  5. Stair climbing robot wheelchair, http://www.trendhunter.com/trends/stair-climbing-robot-wheelchair-the-ibot-mobility-system
  6. Toyota wheelchair robot, http://robot.watch.impress.co.jp
  7. MIT Robot wheel chair, http://web.mit.edu/newsoffice/2008/wheelchair-0919.html

피인용 문헌

  1. Implementation and Balancing Control of a Robotic Vehicle for Entertainment vol.20, pp.7, 2014, https://doi.org/10.5302/J.ICROS.2014.13.8012