Wheelchair Model Research Articles

Development and validation of a set of wheelchair finite element models in frontal, side, and rear impact conditions

Objective The objective of this study was to develop and validate finite element (FE) models of commercial manual and power wheelchairs, as well as related test fixtures and tiedown hardware, to provide tools for designing integrated wheelchair seating stations for automated and other vehicles. Methods The manual wheelchair model is based on a Ki Mobility Catalyst 5, and the power wheelchair is based on a Quantum Rehab Q6 Edge 2.0 with Synergy Seating. A 3D Sense scanner was used to capture wheelchair geometry. Wheelchairs were disassembled into components to collect masses and additional dimensions. These geometric data were used to construct computer-aided design (CAD) models of each product. Additional fixture models were generated from available drawings for the surrogate wheelchair base (SWCB), surrogate wheelchair 4-point strap tiedowns, traditional docking hardware, and hardware meeting Universal Docking Interface Geometry (UDIG). Models were constructed in LS-DYNA. For each wheelchair, between 1 and 3 dynamic sled tests in front, lateral, and rear directions were conducted for a total of 13 tests with varying wheelchair securement methods to obtain validation data. Frontal and rear impact tests used a Hybrid III midsized male, whereas the side impact tests used the ES-2re. Validation sled pulses were nominally 20 g–48 km/h for frontal tests, 10 g–22 km/h for lateral tests, and 14 g–30 km/h for rear impact tests. CORrelation and Analysis (CORA) scores were calculated for head and chest resultant accelerations. Results Validation results include comparison of component masses, overall wheelchair and anthropomorphic test device (ATD) kinematics, ATD head and chest signals, and calculation of CORA scores for head and chest resultant accelerations. For the 2 wheelchairs and SWCB, total model mass was within 1% to 4% of physical mass. Across the 13 test conditions, head acceleration CORA scores ranged from 0.71 to 0.92 in 8 conditions and from 0.52 to 0.67 in 5 conditions. For chest acceleration, CORA scores ranged from 0.73 to 0.96 in 8 conditions and from 0.51 to 0.67 in 5 conditions. In addition, residual deformation was similar between test and model in conditions where it occurred. Conclusions These publicly available tools will allow vehicle safety engineers to design equitable occupant protection systems for occupants who travel while seated in their wheelchairs. They will also be the baseline for ongoing research to develop parametric wheelchair models for additional occupant sizes.

Evaluation of Conventional and Smart Wheelchair Technologies in the Kingdom of Saudi Arabia

A significant number of people depend on the help of others to facilitate their mobility in wheelchairs. Physical disabilities hinder the mobility of persons with disabilities, making them unable to move around using conventional (manually operated) wheelchairs. Furthermore, people lack the ability to regain an upright posture if the chair falls. This study aims to evaluate conventional and smart wheelchair technologies in the Kingdom of Saudi Arabia. This study was conducted through a quantitative and cross-sectional research methodology to evaluate the effectiveness of wheelchair technologies in the Kingdom of Saudi Arabia. This is done by collecting data from wheelchair users, experts, and specialists in this field, such as medical engineers and others familiar with wheelchairs. The evaluation included the opinions of users and experts on the use of traditional and smart chairs in terms of the technologies used, ease of use, advantages, disadvantages, etc. More than 590 users and experts from all regions of the Kingdom participated in the study, and their answers were characterized by objectivity and realism. About 39% of participants indicated that smart wheelchairs are very effective, and 37.6% confirmed that these chairs can be used on many surfaces, while 23.4% expressed their appreciation that smart wheelchairs are useful for various purposes and terrains. On the other hand, the results showed that smart wheelchairs had high purchase and maintenance costs of 37.4%. This was followed by concerns about more maintenance requirements (23.5%), the need for constant charging (20.4%), and the need for users to be aware of energy use (18.7%). The results show some advantages of using traditional wheelchairs, such as low maintenance, lightweight, and often affordability. This type of chair faces many difficulties, such as crossing slopes and long distances, requiring some strength for use, and users needing assistance to move around. The study revealed significant progress in wheelchair technology, especially in smartphones and navigation. Evaluating existing wheelchair technology in Saudi Arabia has shown significant advances, especially in urban areas and healthcare institutions. Motorized electric wheelchairs are becoming increasingly popular due to their ability to enhance users’ mobility. However, the availability of high-end wheelchair models and their accompanying accessories remains limited.

Design and Development of a Wheelchair Prototype

The rate of people with disabilities in Vietnam is about 7% out of a total of 98 million. Wheelchairs are popular assistive devices for disabled people and are often found in many places around the world, including Vietnam. This study proposes a novel design of a prototype electric wheelchair to support people with disabilities in Vietnam. The electric wheelchair model was successfully simulated and manufactured, fully meeting the proposed technical requirements. The proposed model works well and is suitable for the shape and physical strength of Vietnamese people.

Design and experimental validation of a new wheelchair seat stabilization system

Purpose Seat tilting wheelchair features can increase the comfort and safety of the user. Although many power wheelchairs have tilting mechanisms, they are often designed with a specific wheelchair model in mind. In this study, a design process for seat tilting mechanisms that can be applied to most rear-wheel drive wheelchair models is developed. Methodology Equations were developed to describe the geometrical and load constraints that were used to size the electric actuator that powers the system and define its position. Finally, the equations were used to create the seat tilting mechanism of a prototype wheelchair, which was then tested. Results The equations yielded coherent results which showed that advantageous actuator positions from a load minimization perspective usually require dimensions that cannot be found in commercial actuators. Also, there are positions in which the load increases exponentially, which should be avoided. The tests showed that the system was able to function properly on the prototype wheelchair and that the actuator position affected the time taken for the actuator to execute different parts of the tilting movement. Conclusions The design process presented here was successful and modelled by general equations that can be applied to most front-wheel drive wheelchairs. It presents a low-cost option for the design of seat tilting systems, which can increase their accessibility.

Eye-Gaze Controlled Wheelchair Based on Deep Learning.

In this paper, we design a technologically intelligent wheelchair with eye-movement control for patients with ALS in a natural environment. The system consists of an electric wheelchair, a vision system, a two-dimensional robotic arm, and a main control system. The smart wheelchair obtains the eye image of the controller through a monocular camera and uses deep learning and an attention mechanism to calculate the eye-movement direction. In addition, starting from the relationship between the trajectory of the joystick and the wheelchair speed, we establish a motion acceleration model of the smart wheelchair, which reduces the sudden acceleration of the smart wheelchair during rapid motion and improves the smoothness of the motion of the smart wheelchair. The lightweight eye-movement recognition model is transplanted into an embedded AI controller. The test results show that the accuracy of eye-movement direction recognition is 98.49%, the wheelchair movement speed is up to 1 m/s, and the movement trajectory is smooth, without sudden changes.

Shared Driving Assistance Design Considering Human Error Protection for Intelligent Electric Wheelchairs

To effectively provide the handicapped with mobility aids, studies on the shared autonomy of robotic systems have been widely cultivated. This study proposes an adaptive shared control strategy to realize reliable and safe driving assistance on an intelligent electric wheelchair with protection against human errors. The theoretical framework of the system is analyzed by the linearized reference wheelchair model and stable characteristics of obstacle avoidance behavior can be subsequently derived according to the Lyapunov analysis and Liénard-Chipart criterion. Based on the convex analysis, the relationships between human input and robot control are investigated to determine shared control weights. As such, safety and reliability can be guaranteed. To verify the performances of the proposed approach, human errors including skill-based errors, decision errors, and violations are considered in the experiments. The experimental results based on a comprehensive study show that the proposed method is capable of enhancing driving safety and reducing operation burden in terms of the designed criteria with fluency, smoothness, and time efficiency while protecting the user from human manual errors.

Computational Seated Pedestrian Impact Design of Experiments with Ultralight Wheelchair.

Pedestrians who use wheelchairs (seated pedestrians) report higher mortality rates than standing pedestrians in vehicle-to-pedestrian collisions but the cause of this mortality is poorly understood. This study investigated the cause of seated pedestrian serious injuries (AIS 3+) and the effect of various pre-collision variables using finite element (FE) simulations. An ultralight manual wheelchair model was developed and tested to meet ISO standards. The GHBMC 50th percentile male simplified occupant model and EuroNCAP family car (FCR) and sports utility vehicle (SUV) were used to simulate vehicle collisions. A full factorial design of experiments (n = 54) was run to explore the effect of pedestrian position relative to the vehicle bumper, pedestrian arm posture, and pedestrian orientation angle relative to the vehicle. The largest average injury risks were at the head (FCR: 0.48 SUV: 0.79) and brain (FCR: 0.42 SUV: 0.50). The abdomen (FCR: 0.20 SUV: 0.21), neck (FCR: 0.08 SUV: 0.14), and pelvis (FCR: 0.02 SUV: 0.02) reported smaller risks. 50/54 impacts reported no thorax injury risk, but 3 SUV impacts reported risks ≥ 0.99. Arm (gait) posture and pedestrian orientation angle had larger effects on most injury risks. The most dangerous arm posture examined was when the hand was off the wheelchair handrail after wheel propulsion and the two more dangerous orientations were when the pedestrian faced 90° and 110° away from the vehicle. Pedestrian position relative to the vehicle bumper played little role in injury outcomes. The findings of this study may inform future seated pedestrian safety testing procedures to narrow down the most concerning impact scenarios and design impact tests around them.

Smart Wheelchair with Advanced Assistance and Governing System for Disabled

This smart wheelchair model can be used by quadriplegic people to move comfortably. Sufferers with paraplegic or leg impairment face issue in achieving locations. A few people try and use a walker in many instances, the patient may also loose balance and fall and injure themselves. To avoid this state of affairs, our model can be used. This version is powered through a raspberry pi; it is geared up with LCD and RF module and atmega controller, Servo motor, a DC motor and a wheelchair. The user just need to touch the displayed options for movement. The transmitter and receiver circuit communicate using RF communication. This version additionally has an emergency characteristic; the person ought to press the alert button in case of emergency. The patient can then circulate the usage of button instructions. The patient can use the forward and backward buttons to move forward or backward, and can press the stop button to stop at a certain point and to make the chair stand, the patient needs to click on stand up button. so that the person sitting on the wheelchair can stand allowing to pick any items without any help.

Effect of Manual Wheelchair Type on Mobility Performance, Cardiorespiratory Responses, and Perceived Exertion.

This study is aimed at comparing the design and configuration of the most commonly used manual wheelchair models through cardiorespiratory responses, perceived exertion, and mobility performance using two different manual wheelchairs, during mobility tasks. A within-group 2 × 3 × 2 controlled experiment was designed with three independent and four dependent variables. The independent variables included wheelchairs, with the levels active wheelchair with a rigid frame and passive wheelchair with foldable frame; conditions with the levels straight line, slalom, and agility; and speed with levels comfortable and fast. Dependent variables included oxygen uptake (VO2), distance travelled, speed, and perceived exertion. Results show that the active wheelchair yielded more beneficial characteristics although only the effect of wheelchair type on VO2 efficiency (oxygen uptake per meter travelled) was statistically significant with a large effect size (F(1, 14) = 118.298, p < 0.001, η2 = 0.541). The better VO2 efficiency was achieved with the active wheelchair under all tested conditions. The effect of wheelchair type on Borg scores was also statistically significant, although with a small effect size (F(1, 14) = 10.340, p = 0.006, η2 = 0.119); thus, active wheelchair use had lower Borg scores under all trials and was considered less exhausting than the passive wheelchair. In summary, use of the active wheelchair resulted in the users expending less energy per meter travelled and at the same time experiencing less fatigue. This may benefit overall wheelchair mobility and possibly reduce health complications.

Investigation of traffic accidents involving seated pedestrians using a finite element simulation-based approach

Pedestrians who use wheelchairs (seated pedestrians) report 36% - 75% higher mortality rates than standing pedestrians in car-to-pedestrian collisions but the cause of this mortality is unknown. This is the first study to investigate the cause of seated pedestrian mortality in vehicle impacts using finite element simulations. In this study a manual wheelchair model was developed using geometry taken from publicly available CAD data, and was tested to meet ISO standards. The GHBMC 50th percentile male simplified occupant model was used as the seated pedestrian and the EuroNCAP family car and sports utility vehicle models were used as the impacting vehicles. The seated pedestrian was impacted by the two vehicles at three different locations on the vehicle and at 30 and 40 km/h. In 75% of the impacts the pedestrian was ejected from the wheelchair. In the rest of the impacts, the pedestrian and wheelchair were pinned to the vehicle and the pedestrian was not ejected. The underlying causes of seated pedestrian mortality in these impacts were head and brain injury. Life-threatening head injury risks (0.0% - 100%) were caused by the ground-pedestrian contact, and life-threatening brain injury risks (0.0 - 97.9%) were caused by the initial vehicle-wheelchair contact and ground-pedestrian contact. Thoracic and abdominal compression reported no risks of life-threatening injuries, but may do so in faster impacts or with different wheelchair designs. Protective equipment such as the wheelchair seatbelt or personal airbag may be useful in reducing injury risks but future research is required to investigate their efficacy.

Innovative Folding Bed Cum Chair Based on IoT-Cloud Technology

Aim: The method of utilization of IoT and other evolving techniques in medical equipment design field is discussed in the present paper. A remotely managed interface equipped in a wheelchair cum bed is embedded for elderly or physically challenged people. With the help of a camera embedded in the proposed solution, a real-time remote monitoring of the patient is achieved using an android application on the concerned person. For achieving the above mentioned purpose, the use of linear actuators has been done. This paper further aims to explore the hidden potentials of the merger of all these fields to benefit the end users. Objectives: Remote monitoring of health of the patient through a cloud-based android application. Automatic adjustment of the wheelchair into bed and vice-versa. Automatic stool passing chamber facility is available under the proposed model. Injuries during transportation of the patient from one chair to another (or chair to bed) have been limited in our designed model. Methods: The basic mechanism of proposed wheelchair has been designed using the computer-aided design software. The basic methodology adopted for development of prototype &amp; subsequent “user review analysis” is displayed. The CAD Model of the wheelchair cum stretcher was designed using the “Solid works solid modelling techniques”. The basic structure has been designed with several modifications when compared to the conventional wheelchair design. The computer made design was then utilized for final fabrication of the prototype. The prototype was tested for endurance, load bearing capacity and customer comfort during various phases of development. The feedbacks of several subjects were recorded for future utilization in improved design &amp; fabrication. Results: The proposed model is of utmost importance as the number of critical patients like accident cases, critical pre and post-surgery cases is increasing day by day. Sometimes these patients need intime medication during transition in ambulance while they are picked up from houses and referred to nearby big hospitals. During transition or in hospital, critical patients can be handled efficiently by a specialist doctor through his/her smart phone applications. It also optimizes the services of specialist doctors as we can find the shortage of specialists in Indian hospitals. In a nutshell, this WheelChair system can be moved anywhere due to its portability. Following are the most highlighted features: 1. Authorized relatives and Doctors can see and interact with the patient remotely at any time on his/her smart phone. 2. Authorized relatives and Doctors can see the Vital Sign of patient like BP, ECG, and Pulse etc. at any time through Smart Phone. 3. Doctor can instruct the caretaker to release the emergency drugs through Infusion Pump. 4. Doctor can plan the exceptions, drug infusion, alarm, etc. 5. System is portable and can easily be shifted to ambulance. All transmissions are wireless, so there is no hassle of wires and connectivity. Conclusion: The presented work is limited to the design and fabrication of a new model of wheelchair, which works as a stretcher and has locomotive capabilities. The key feature of the design is its versatility and adaptability to various working conditions. The feedback obtained from various subjects during the testing of wheelchair shows their confidence and a fair degree of comfort which they felt while using the wheelchair. The easy and user-friendly use of the android application helps to monitor the health of the patient. The smartphone camera helped to achieve this data. The analysis of the data can be done in the cloud-based station. The linear actuator has proved to be the low cost and highly reliable equipment to propel the wheelchair.

Multi-Objective Optimisation of the Electric Wheelchair Ride Comfort and Road Holding Based on Jourdain’s Principle Model and Genetic Algorithm

Abstract The paper addresses the multi-body modelling of an electric wheelchair using Jourdain’s principle. First, a description of the adopted approach was presented. Next, the mathematical equations were developed to obtain the dynamic behaviour of the concerned system. The numerical computation was performed with MATLAB (matrix laboratory: a high performance language of technical computing) and validated by MBD (Multi-Body Dynamics) for Ansys, a professional multi-body dynamics simulation software powered by RecurDyn. Afterwards, the model was treated as an objective function included in genetic algorithm. The goal was to improve the ride quality and the road holding as well as the suspension workspace. The multi-objective optimisation aimed to reduce the Root-Mean-Square (RMS) of the seat’s vertical acceleration, the wheels load and the workspace modulus by varying the bodies’ masses, the spring-damper coefficients and the characteristics of the tires. Acceptable solutions were captured on the Pareto fronts, in contrast to the relatively considerable processing time involved in the use of a random road profile generated by the power spectral density (PSD). During the process, the compatibility and the efficiency of Jourdain’s equations were inspected.

電動車いすの理論に基づくSIMULINK モデル

Considering an aging society, it is necessary to make the electric wheelchair safer and easy to drive. The one of the important technologies to realize it is the tracking control. The tracking performance is affected by the environmental circumstances and the wheelchair dimensions alike. Therefore, the theoretical SIMULINK Model of wheelchair is developed, which makes it possible to develop efficiently the tracking control considering the effect of the wheelchair dimensions. And through the simulation using this SIMULINK Model, it is clarified that the gravity center of the chair must be considered to develop the algorithm.

Optimal selection of an electric power wheelchair using an integrated COPRAS and EDAS approach based on Entropy weighting technique

The decision to purchase the best available electric power wheelchair (EPWC) for a person with a disability in a low-resource context is very stressful, whether it is based on financial circumstances or the availability of medical solutions. The study's objective is to assess the EPWC options available on the market, focused on a set of conflicting criteria. In this research, three multi-criteria decision-making (MCDM) approaches are used to make decisions. ENTROPY method for weightage calculation of various parameters, COPRAS and EDAS methods for evaluating and ranking alternatives are applied. Both COPRAS and EDAS are applied separately for ranking of selected wheelchair models, and to check the robustness of the applied method, sensitivity analysis on cost criterion is carried out. The result shows that for both methods, EPWC-1 is the top priority model to buy, whereas EPWC-7 is the worst model for COPRAS, and EPWC-10 is the worst model for EDAS among the ten alternatives.

A Review- Brain Controlled Wheelchair using EEG headset

Abstract: In this review paper, a brain controlled wheelchair models has been discussed which tends to reduce the complexity of movement for paralyzed people who are not capable of using various wheelchairs operating on technologies like joystick, finger movement or gesture controlled due to disability of moving body parts. The entire model is centrally based on Brain-computer Interface (BCI) combined with Raspberry Pi 3 and EEG sensor headset capture signals based on Neurosky mindwave technology which are further processed using MATLAB. Despite of the physical disabilities, this model will help quadriplegic patients to assist on their own and feel independent. Keywords: EEG, BCI, Matlab, Raspberry Pi, Neurosignal, NeuroSkyTechnology

Development of a New Negative Obstacle Sensor for Augmented Electric Wheelchair.

Due to pathologies or age-related problems, in some disabled people, motor impairment is associated with cognitive and/or visual impairments. This combination of limitations unfortunately leads to an inability to move around independently. Indeed, their situation does not allow them to use a conventional electric wheelchair, for safety reasons, and for the moment there is no other technological solution providing safe movement capacity. This lack of access to an autonomous travel solution has the consequence of weakening the intellectual, personal, social, cultural and moral development, as well as the life expectancy, of the people concerned. In this context, our team is working on the development of an optoelectronic system that secures the displacement of electric wheelchairs. This is a large project that requires the development of several functionalities such as: the anti-collision of the wheelchair with its environment, the prevention of falls from the wheelchair on uneven levels, and the adaptation of the system mechanically and electronically to the majority of commercially available electric wheelchair models, among others. In this article, we introduce our solution for detecting dangerous height differences, also called “negative obstacles”, through the creation of a dedicated sensor. This sensor works by optical triangulation and can embed several laser beams in order to extend its detection zone. It has the particularity of being robust in direct sunlight and rain and has a sufficiently high measurement rate to be suitable for the displacement of electric wheelchairs. We develop an adapted algorithm, and point out compromises, in particular between the orientation of the laser beams and the maximal speed of the wheelchair.

Community-based wheelchair caster failures call for improvements in quality and increased frequency of preventative maintenance

Study designSecondary data analysis of wheelchair failures and service repair logs from a network of wheelchair suppliers.ObjectiveTo determine the frequency of wheelchair caster failures and service repairs across wheelchair manufacturers and models and investigate the relationships between them.SettingWheelchair caster failures and service repairs occurred in the community.MethodsReported caster failure types were classified based on the risk they pose for user injuries and wheelchair damage. Caster failures experienced by users of tilt-in-space and ultralightweight manual wheelchair models and Group 2, 3 and 4 power wheelchair models between January 2017 and October 2019 were analyzed using Chi-Square tests for independence. Correlational analysis of failures and service repairs was performed.ResultsA total of 6470 failures and 151 service repairs reported across four manufacturers and five models were analyzed. Failure types were significantly associated with manufacturers and models, respectively. Users of tilt-in-space wheelchairs, who require greater seating support, experienced twice the proportion of high-risk caster failures than the ultralightweight manual wheelchair users. Similarly, Group 3 and 4 power wheelchair users, who have complex rehabilitation needs, experienced 15-36% more high-risk failures than Group 2 users. Service repairs negatively correlated with high-risk manual wheelchair caster failures.ConclusionsWheelchair users who have greater seating and complex rehabilitation needs are at a higher risk for sustaining injuries and secondary health complications due to frequent caster failures. The study findings call for significant reforms in product quality and preventative maintenance practices that can reduce wheelchair failures and user consequences.

A Novel IOT Based Smart Wheelchair Design for Cerebral Palsy Patients

Several patients face Cerebral Palsy. Such debilitating diseases impede motor control and make it difficult for them to operate traditional electric wheelchairs. Existing models of smart wheelchairs accommodate these issues to a certain extent but fail to deliver a solution for patients to use the wheelchairs completely autonomously. This paper proposes a novel model for a cost-effective smart wheelchair that takes simple gestures as input for movement, along with several quality-of-life and assistive modules such as vitals monitoring and voice memo support for patients suffering from memory loss, along with obstacle detection to ensure complete safety of the patient regardless of the terrain. The paper discusses the various modules present in the wheelchair, elaborates upon the algorithm used for input detection and calculation, and finally, the implementation of each module. Lastly, the paper enlists comparisons between existing smart wheelchair models and the proposed model and lists out its strengths, weaknesses and states its findings from the proposed system's results.

The «Museum and Inclusive Fashion»Project. A Design for All Experience at the Balearic School of Art and Design.

International regulations about Accessibility and Design for All are clear. They provide two guidelines to ensure equality, autonomy, and non-discrimination, such as Reasonable Accommodation and Universal Design (or Design for All). Reasonable Accommodation leads to Adapted Fashion, which adjusts clothing to the body (average clothes for the average consumer). Universal Design leads to Inclusive Fashion, which creates clothes for everybody even if you have a body issue. Design for All (or Universal Design) implies projecting from the beginning to the end of the design process based on inclusion. In this context, the Museum-Foundation Juan March in Palma was the starting point to conceive, develop and communicate a collaborative and transdisciplinary design project; it was designed under the principle of Universal Design. This transdisciplinary co-design project took place during the first semester of the 2019-2020 academic year with a third-year BA in Fashion Design students. They designed an inclusive ready-to-wear fashion micro-collection, which focused on sensitizing BA in Fashion Design students, promoting a change of attitude, and fostering a better understanding of the challenges clothing design process. Students were invited to complete two online questionnaires to collect data on the project. The first survey was used to assess alumni's perception of acquisition, development, and/or consolidation of key competences in participating students and control groups. The second survey was used to assess alumni's activity on the project among participating students. This project was aimed at sensitizing BA in Fashion Design students, promoting a change of attitude, and a better understanding of the challenges clothing design process. After visiting the museum, getting inspired by their artists and their works of art, creating a mood board, and drawing the first sketches, two groups were created to develop an inclusive, ready-to-wear fashion micro-collection. Each collection focused on a different users' profile: one group worked with a model with achondroplasia (woman), and the other group worked with two wheelchair models (man, woman). Despite the mixed results, the main objectives of the project were reached. As members of a school community, students must learn about other realities that differ from their everyday environment. As members of a school of design, students must be aware of an important prospective market niche and expand their fields of action that must include Design for All. In any case, human diversity is the key concept to approach user-centred design in the twenty-first century. The «Museum and Inclusive Fashion»project was part of an ongoing academic research project funded by the Balearic Government (2017-2020). This article reflects the views only of the authors, and the Balearic Government cannot be held responsible for any use which may be made of the information contained therein.

Simulation analysis on motion stability of smart wheelchair

Electric wheelchairs sometimes are used in complex terrain, such as slopes, stairs, ravines, etc. If there is no rapid and accurate judgment and decision-making for the current situation, the wheelchair may lose control and become unstable, which may will lead to serious consequences. The intelligent electric wheelchair studied in this paper can conduct stability analysis when moving on different terrains based on its own motion state. This paper uses ADAMS simulation software to build a wheelchair model according to the size of an existing wheelchair. The stability pyramid technique used in this paper has a good judgment on the tip-over stability of the object. This paper also has a more comprehensive judgment for slippage instability. In the simulation and experiment, the slippage and tip-over instability are verified. Theoretical analysis and actual simulation demonstrated that the developed smart wheelchair has high reliability for stability analysis in different environments.