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Development of Omnidirectional Wheelchair considering Safety and Manipulability

Research Project

Project/Area Number 21560282
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionGifu National College of Technology

Principal Investigator

KITAGAWA Hideo  岐阜工業高等専門学校, 電子制御工学科, 教授 (80224955)

Co-Investigator(Renkei-kenkyūsha) TERASHIMA Kazuhiko  豊橋技術科学大学, 工学部, 教授 (60159043)
Project Period (FY) 2009 – 2011
Project Status Completed (Fiscal Year 2011)
Budget Amount *help
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2011: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2010: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2009: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Keywords人間機械システム / 車椅子 / 全方向移動 / 機構 / 福祉 / ロボット / 走行安定性 / 操作性
Research Abstract

Omnidirectional wheelchair is useful with its high mobility in narrow or crowded area, and omnidirectional wheelchair equipped with normal tires is desired for difference excess, vibration suppression and ride comfort. Caster-drive mechanism using normal tire has been developed to realize an omnidirectional motion, however, there remains some problems. We developed an effective system to control the caster-drive wheels of omnidirectional wheelchair. In this wheelchair, a semi-autonomous obstacle avoidance system using laser range data for rider's safety and a power assist system for omnidirectional transport wheelchairs considering attendant's manipulability and rider's comfort have been developed.

Report

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

    (20 results)

All 2011 2010 2009

All Journal Article (15 results) (of which Peer Reviewed: 15 results) Presentation (5 results)

  • [Journal Article] Design and Control for Collision Avoidance of Power-assisted Omni-directional Mobile Wheelchair System2011

    • Author(s)
      Y. Ueno, H. Kitagawa, K. Kakihara, K. Terashima
    • Journal Title

      Proc. 2011 IEEE/SICE Int. Symp. on System Integration

      Pages: 1-1

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] Development of Collision Avoidance Supporting System for Power Assist System in Omni-directional Mobile Robot2011

    • Author(s)
      Y. Ueno, H. Kitagawa, K. Kakihara, K. Terashima
    • Journal Title

      Proc. SICE Annual Conference

      Pages: 14-1

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] Design and Control for Collision Avoidance of Power-assisted Omni-directional Mobile Wheelchair System2011

    • Author(s)
      Y.Ueno
    • Journal Title

      Proc.2011 IEEE/SICE Int.Symp.on System Integration

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Development of Collision Avoidance Supporting System for Power Assist System in Omni-directional Mobile Robot2011

    • Author(s)
      Y.Ueno
    • Journal Title

      Proc.SICE Annual Conference

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Development and experimental evaluation of a novel omni-directional wheel mechanism2010

    • Author(s)
      Y. Ueno, K. Terashima, H. Kitagawa, K. Kakihara, K. Funato
    • Journal Title

      Proc. 13th Int. Conf. on Climbing and Walking Robots and the Support Technologies for Mobile Machine

      Pages: 817-824

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] Novel Differential Drive Steering System with Energy Saving and Normal Tire Using Spur Gear for an Omni-directional Mobile Robot2010

    • Author(s)
      Y. Ueno, T. Ohno, K. Terashima, H. Kitagawa, K. Funato, K. Kakihara
    • Journal Title

      Proc. IEEE Int. Conf. on Robotics and Automation

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] Development and experimental evaluation of a novel omni-directional wheel mechanism.2010

    • Author(s)
      Y.Ueno
    • Journal Title

      Proc.13th Int.Conf. on Climbing and Walking Robots and the Support Technologies for Mobile Machine

      Pages: 817-824

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Novel Differential Drive Steering System with Energy Saving and Normal Tire Using Spur Gear for an Omni-directional Mobile Robot.2010

    • Author(s)
      Y.Ueno
    • Journal Title

      Proc.IEEE Int.Conf.on Robotics and Automation

      Pages: 2-3

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] The Development of Driving System with Differential Drive Steering System for Omni-directional Mobile Robot2009

    • Author(s)
      Y. Ueno, T. Ohno, K. Terashima, H. Kitagawa
    • Journal Title

      Proc. IEEE Int. Conf. on Mechatronics and Automation

      Pages: 1089-1094

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] Differential-Drive Steering System using Planetary Gearing for Omnidirectional Mobile Robot2009

    • Author(s)
      H. Kitagawa, T. Ohno, Y. Ueno, K. Terashima
    • Journal Title

      Proc. 6th Int. Conf. on Informatics in Control, Automation and Robotics

      Pages: 138-138

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] Neuro-Fuzzy Control of Power-Assist Omnidirectional Wheelchair Using Human-Friendly Touch Panel2009

    • Author(s)
      K. Terashima, H. Kitagawa, T. Miyoshi, S. Kitamura, J. Urbano
    • Journal Title

      Journal of Robotics and Mechatronics

      Volume: Vol.21, No.3 Pages: 427-434

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] 全方向移動ロボットのための差動駆動操舵機構の開発2009

    • Author(s)
      北川秀夫,大野貴,三好孝典,寺嶋一彦
    • Journal Title

      日本ロボット学会誌

      Volume: Vol.27, No.3 Pages: 343-349

    • NAID

      10024789985

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] 全方向移動ロボットのための差動駆動操舵機構の開発2009

    • Author(s)
      北川秀夫
    • Journal Title

      日本ロボット学会誌 27巻

      Pages: 343-349

    • NAID

      10024789985

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Neuro-Fuzzy Control of Power-Assist Omnidirectional Wheelchair Using Human-Friendly Touch Panel.2009

    • Author(s)
      Kazuhiko Terashima
    • Journal Title

      Journal of Robotics and Mechatronics Vol.21

      Pages: 427-434

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Differential-Drive Steering System using Planetary Gearing for Omnidirectional Mobile Robot.2009

    • Author(s)
      Hideo Kitagawa
    • Journal Title

      Proc.6th Int.Conf.on Informatics in Control, Automation and Robotics

      Pages: 138-138

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Presentation] 障害物衝突回避を考慮した全方向移動車椅子のためのパワーアシストシステムの構築2011

    • Author(s)
      上野祐樹, 他
    • Organizer
      第29回日本ロボット学会学術講演会
    • Place of Presentation
      芝浦工業大学
    • Year and Date
      2011-09-07
    • Related Report
      2011 Final Research Report
  • [Presentation] 障害物衝突回避を考慮した全方向移動車椅子のためのパワーアシストシステムの構築2011

    • Author(s)
      上野祐樹
    • Organizer
      日本ロボット学会
    • Place of Presentation
      芝浦工業大学(東京都)
    • Year and Date
      2011-09-07
    • Related Report
      2011 Annual Research Report
  • [Presentation] 全方向パワーアシストベッドの開発2011

    • Author(s)
      上野祐樹
    • Organizer
      日本機械学会東海支部第60期総会・講演会
    • Place of Presentation
      豊橋技術科学大学
    • Year and Date
      2011-03-14
    • Related Report
      2010 Annual Research Report
  • [Presentation] 全方向移動ビークルのための平歯車を用いた新型差動駆動操舵機構の開発2009

    • Author(s)
      上野祐樹, 他
    • Organizer
      SICE SI2009
    • Place of Presentation
      芝浦工業大学
    • Year and Date
      2009-12-24
    • Related Report
      2011 Final Research Report
  • [Presentation] 全方向移動ビークルのための平歯車を用いた新型差動駆動操舵機構の開発2009

    • Author(s)
      上野祐樹
    • Organizer
      計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      芝浦工業大学(東京都)
    • Year and Date
      2009-12-24
    • Related Report
      2009 Annual Research Report

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

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