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Development of Electric Omni Directional Wheel Chair using Ball Wheel Drive Mechanism

Research Project

Project/Area Number 21560265
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionKyushu Institute of Technology

Principal Investigator

MIYAMOTO Hiroyuki  九州工業大学, 大学院・生命体工学研究科, 准教授 (20336100)

Project Period (FY) 2009 – 2011
Project Status Completed (Fiscal Year 2011)
Budget Amount *help
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2011: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2010: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
Fiscal Year 2009: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Keywords前方向移動 / 車椅子 / 球駆動 / 知能機械 / 知能ロボティクス / 全方向移動 / 電動車椅子 / 自律移動台車 / 搬送台車
Research Abstract

We developed a electric omni-directional wheelchair by using the ball wheel drive. Two prototype wheelchairs were used for experiments in Kitakyushu Science and Research Park. We confirmed performance of our machine, such as stability and overcoming step of the elevator, traveling slope, in the stone pavement. These results were submitted papers and conference presentations. In addition, we demonstrated our machine in exhibition(e. g. Innovation Japan). Some movies were introduced to the public with youtube and our website

Report

(4 results)
  • 2011 Annual Research Report   Final Research Report ( PDF )
  • 2010 Annual Research Report
  • 2009 Annual Research Report
  • Research Products

    (21 results)

All 2012 2011 2010 2008 Other

All Journal Article (3 results) (of which Peer Reviewed: 3 results) Presentation (9 results) Remarks (7 results) Patent(Industrial Property Rights) (2 results)

  • [Journal Article] 全方向移動機構のための全方向衝突検知装置2012

    • Author(s)
      石田秀一、戸部田雅一、宮本弘之
    • Journal Title

      第17回ロボティクスシンポジア予稿

      Pages: 618-624

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 球体駆動式全方向移動機構の開発

    • Author(s)
      石田秀一、宮本弘之
    • Journal Title

      機械学会論文誌

      Volume: (印刷中)

    • NAID

      130002051475

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] 球駆動式全方向移動機構の開発

    • Author(s)
      石田秀一、宮本弘之
    • Journal Title

      機械学会論文誌

      Volume: (印刷中)

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Presentation] 全方向移動機構のための全方向衝突検知装置2012

    • Author(s)
      石田秀一、戸部田雅一、宮本弘之
    • Organizer
      第17回ロボティクスシンポジア、予稿集
    • Related Report
      2011 Final Research Report
  • [Presentation] 電動車いす操作における直感的なインターフェースの開発2011

    • Author(s)
      蓑毛博一、宮本弘之
    • Organizer
      電子情報通信学会技術研究報告
    • Related Report
      2011 Final Research Report
  • [Presentation] ホロノミックな全方向電動車いすにおける衝突状態からの復帰操作支援2011

    • Author(s)
      戸部田雅一、石田秀一、宮本弘之
    • Organizer
      電子情報通信学会技術研究報告
    • Related Report
      2011 Final Research Report
  • [Presentation] 球体駆動式全方向移動機構を用いた歩行介助ツールの開発2011

    • Author(s)
      石田秀一、宮本弘之
    • Organizer
      電子情報通信学会技術研究報告
    • Related Report
      2011 Final Research Report
  • [Presentation] 電動車いす操作における直感的なインターフェースの開発2011

    • Author(s)
      蓑毛博一、宮本弘之
    • Organizer
      電子情報通信学会技術報告
    • Place of Presentation
      九州大学(福岡県)
    • Related Report
      2011 Annual Research Report
  • [Presentation] ホロノミックな全方向電動車いすにおける衝突状態からの復帰操作支援2011

    • Author(s)
      戸部田雅一、石田秀一、宮本弘之
    • Organizer
      電子情報通信学会技術報告
    • Place of Presentation
      九州大学(福岡県)
    • Related Report
      2011 Annual Research Report
  • [Presentation] 球体駆動式全方向移動機構を用いた歩行介助ツールの開発2011

    • Author(s)
      石田秀一、宮本弘之
    • Organizer
      電子情報通信学会技術報告
    • Place of Presentation
      九州大学(福岡県)
    • Related Report
      2011 Annual Research Report
  • [Presentation] Ball Wheel Drive Mechanism for Holonomic Omnidirectional Vehicle2010

    • Author(s)
      Shuichi Ishida, Hiroyuki Miyamoto
    • Organizer
      ISORA2010 & World Automation Congress(WAC) 2010 Kobe, Japan
    • Place of Presentation
      Kobe, Japan(#615 in CD-ROM, Sep.2010)
    • Year and Date
      2010-09-22
    • Related Report
      2010 Annual Research Report
  • [Presentation] Ball Wheel Drive Mechanism for Holonomic Omni directional Vehicle2010

    • Author(s)
      Shuichi Ishida, Hiroyuki Miyamoto
    • Organizer
      ISORA201 & World Automation Congress(WAC) 2010
    • Place of Presentation
      Kobe, Japan
    • Related Report
      2011 Final Research Report
  • [Remarks]

    • URL

      http://www.youtube.com/user/BallWheel

    • Related Report
      2011 Final Research Report
  • [Remarks]

    • URL

      http://www.brain.kyutech.ac.jp/~miyamo/

    • Related Report
      2011 Final Research Report
  • [Remarks]

    • URL

      http://www.kyutech.ac.jp/professors/wakamatsu/w2/w2-3/entry-754.html

    • Related Report
      2011 Final Research Report
  • [Remarks]

    • URL

      http://www.youtube.com/user/ballwheel

    • Related Report
      2011 Annual Research Report
  • [Remarks]

    • URL

      http://www.youtube.com/user/ballwheel

    • Related Report
      2010 Annual Research Report
  • [Remarks]

    • URL

      http://www.brain.kyutech.ac.jp/~miyamo/research.htm

    • Related Report
      2009 Annual Research Report
  • [Remarks]

    • URL

      http://www.youtube.com/watch?v=MkaZsbd7rvc

    • Related Report
      2009 Annual Research Report
  • [Patent(Industrial Property Rights)] 自立式の歩行支援装置2010

    • Inventor(s)
      宮本弘之、森政男
    • Industrial Property Rights Holder
      九州工業大学
    • Industrial Property Number
      2010-105428
    • Filing Date
      2010-04-30
    • Related Report
      2010 Annual Research Report
  • [Patent(Industrial Property Rights)] 球体駆動式全方向移動装置2008

    • Inventor(s)
      石田秀一、宮本弘之
    • Industrial Property Rights Holder
      九州工業大学
    • Patent Publication Number
      2010-030360
    • Filing Date
      2008-10-16
    • Related Report
      2011 Final Research Report

URL: 

Published: 2009-04-01   Modified: 2016-04-21  

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