Abstract
To make a rapid comfort assessment and a reasonable dynamic parameters choice of wheelchair robots, this paper proposes a dynamic comfort coefficient [Formula: see text] and analytically optimizes the cushion damping. Firstly, a traveling vibration model of the occupant-wheelchair system for wheelchair robots running on random roads was created. Secondly, the analytic formula of the occupant RMS (root mean square) acceleration was deduced. Moreover, the dynamic coefficient [Formula: see text] was proposed and its influence laws were revealed. Finally, the cushion system optimal damping ratio was calculated based on [Formula: see text]. The results show that the [Formula: see text] value is only determined by the parameters of the occupant-wheelchair system. The smaller the [Formula: see text] value is, the better the dynamic comfort is for wheelchair robots running on random roads. By minimizing [Formula: see text], the occupant-wheelchair system can achieve a statistically optimal dynamic comfort effect.
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