半自动化爬楼梯康复机器人的设计、分析与原型制作

S. Jha, Himanshu Chaudhary, Swapnil Satardey, Piyush Kumar, Ankush Roy, Aditya Deshmukh, Gopabandhu Hota, Dishank Bansal, Saurabh Mirani
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引用次数: 1

摘要

本文介绍了一种独特的大型搬运残疾人上下楼梯机器人SKALA的机械设计、系统概述、集成和控制技术。由于普通轮椅无法完成这样的操作,因此该系统具有一些智能功能,可以作为非传统轮椅使用。我们描述了独特的机械设计和与之相关的设计选择。我们展示了嵌入式控制体系结构,允许几种不同的远程操作模式,所有这些都已详细描述。我们进一步研究与系统自主操作相关的体系结构。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Design, Analysis & Prototyping of a Semi-Automated Staircase-Climbing Rehabilitation Robot
In this paper, we describe the mechanical design, system overview, integration and control techniques associated with SKALA, a unique large-sized robot for carrying a person with physical disabilities, up and down staircases. As a regular wheelchair is unable to perform such a maneuver, the system functions as a non-conventional wheelchair with several intelligent features. We describe the unique mechanical design and the design choices associated with it. We showcase the embedded control architecture that allows for several different modes of teleoperation, all of which have been described in detail. We further investigate the architecture associated with the autonomous operation of the system.
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