{"title":"一种驱动手动轮椅的主动脚轮驱动系统","authors":"Yu Munakata, Aki Tanaka, M. Wada","doi":"10.1109/ICMA.2013.6618078","DOIUrl":null,"url":null,"abstract":"An external motorize system with an active-caster is presented in this paper. The external motorize system is for driving a manual (hand propelled) wheelchair by electric power by mounting the external device with electric motors, a set of batteries, a joystick and motor controllers on a manual wheelchair. In spite of a single drive wheel, 2DOF of the wheelchair with an active-caster drive system can be controlled independently without any constraint, such as the orientation of the drive wheel which is well known as a non-holonomic constraint. A kinematic model of the wheelchair and that with an active-caster drive system are analyzed and a control method for propelling the wheelchair by using a 2DOF joystick is derived. Based on the kinematic model, a prototype mechanism of the active-caster is designed and mounted on a manual wheelchair to realize the motorized manual wheelchair. In the experiments, the independent 2DOF motion can be achieved by the control of the active-caster in which the wheelchair shows successful translation and rotation motions which includes flip motion of the active-caster mechanism.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"423 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"7","resultStr":"{\"title\":\"An active-caster drive system for motorizing a manual wheelchair\",\"authors\":\"Yu Munakata, Aki Tanaka, M. Wada\",\"doi\":\"10.1109/ICMA.2013.6618078\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"An external motorize system with an active-caster is presented in this paper. The external motorize system is for driving a manual (hand propelled) wheelchair by electric power by mounting the external device with electric motors, a set of batteries, a joystick and motor controllers on a manual wheelchair. In spite of a single drive wheel, 2DOF of the wheelchair with an active-caster drive system can be controlled independently without any constraint, such as the orientation of the drive wheel which is well known as a non-holonomic constraint. A kinematic model of the wheelchair and that with an active-caster drive system are analyzed and a control method for propelling the wheelchair by using a 2DOF joystick is derived. Based on the kinematic model, a prototype mechanism of the active-caster is designed and mounted on a manual wheelchair to realize the motorized manual wheelchair. In the experiments, the independent 2DOF motion can be achieved by the control of the active-caster in which the wheelchair shows successful translation and rotation motions which includes flip motion of the active-caster mechanism.\",\"PeriodicalId\":335884,\"journal\":{\"name\":\"2013 IEEE International Conference on Mechatronics and Automation\",\"volume\":\"423 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-10-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"7\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 IEEE International Conference on Mechatronics and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICMA.2013.6618078\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 IEEE International Conference on Mechatronics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICMA.2013.6618078","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
An active-caster drive system for motorizing a manual wheelchair
An external motorize system with an active-caster is presented in this paper. The external motorize system is for driving a manual (hand propelled) wheelchair by electric power by mounting the external device with electric motors, a set of batteries, a joystick and motor controllers on a manual wheelchair. In spite of a single drive wheel, 2DOF of the wheelchair with an active-caster drive system can be controlled independently without any constraint, such as the orientation of the drive wheel which is well known as a non-holonomic constraint. A kinematic model of the wheelchair and that with an active-caster drive system are analyzed and a control method for propelling the wheelchair by using a 2DOF joystick is derived. Based on the kinematic model, a prototype mechanism of the active-caster is designed and mounted on a manual wheelchair to realize the motorized manual wheelchair. In the experiments, the independent 2DOF motion can be achieved by the control of the active-caster in which the wheelchair shows successful translation and rotation motions which includes flip motion of the active-caster mechanism.