2011 Fiscal Year Final Research Report
Development of Omnidirectional Wheelchair considering Safety and Manipulability
| Project/Area Number |
21560282
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Gifu National College of Technology |
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Principal Investigator |
KITAGAWA Hideo 岐阜工業高等専門学校, 電子制御工学科, 教授 (80224955)
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| Co-Investigator(Renkei-kenkyūsha) |
TERASHIMA Kazuhiko 豊橋技術科学大学, 工学部, 教授 (60159043)
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| Project Period (FY) |
2009 – 2011
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| 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 |
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| 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.
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