Development of Omnidirectional Wheelchair considering Safety and Manipulability

考虑安全性和可操作性的全向轮椅的开发

• 批准号: 21560282
• 负责人: KITAGAWA Hideo
• 金额: $ 2.83万
• 依托单位: Gifu National College of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2009
• 资助国家: 日本
• 起止时间: 2009 至 2011
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-21560282/
• 关键词: 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

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.

全向轮椅在狭窄或拥挤的区域的高移动性非常有用，并且需要配备正常轮胎的全向轮椅对于差异过量，振动抑制和骑行舒适感。已经开发出使用正常轮胎的施法机制来实现全向运动，但是，仍然存在一些问题。我们开发了一个有效的系统来控制全向轮椅的施法车轮。在这款轮椅上，使用激光范围数据的半自治障碍物避免系统，以实现骑手的安全性，并考虑了服务员的操纵性和骑手的舒适性，用于全向运输轮椅的电力辅助系统。

项目成果

The development of driving system with Differential Drive Steering System for omni-directional mobile robot

• DOI: 10.1109/icma.2009.5246142
• 发表时间: 2009-09
• 期刊: 2009 International Conference on Mechatronics and Automation
• 作者: Yuki Ueno;T. Ohno;K. Terashima;H. Kitagawa

Design and Control for Collision Avoidance of Power-assisted Omni-directional Mobile Wheelchair System

助力全向移动轮椅系统防撞设计与控制

• 发表时间: 2011
• 期刊: 2011 IEEE/SICE International Symposium on System Integration (SII2011)
• 作者: Yuki Ueno;Hideo Kitagawa;Kiyoaki Kakihara;Kazuhiko Terashima
• 通讯作者: Kazuhiko Terashima

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

新型全向移动车辆差速驱动转向机构的开发

• 发表时间: 2009
• 作者: 矢澤宗厚;成田吉弘;田中信雄,多嘉良佑介,岩本宏之;上野祐樹,寺嶋一彦,三好孝典,野田善之,北川秀夫,柿原清章,舩戸一弘
• 通讯作者: 上野祐樹,寺嶋一彦,三好孝典,野田善之,北川秀夫,柿原清章,舩戸一弘

Development of Collision Avoidance Supporting System for Power Assist System in Omni-directional Mobile Robot

全向移动机器人助力系统避碰支撑系统的研制

• 发表时间: 2011
• 作者: Yuki Ueno;Kazuhiko Terashima;Hideo Ki tagawa;Kiyoaki Kakihara
• 通讯作者: Kiyoaki Kakihara

Neuro-Fuzzy Control of Power-Assist Omnidirectional Wheelchair Using Human-Friendly Touch Panel

使用人性化触摸面板对助力全向轮椅进行神经模糊控制

• 发表时间: 2009
• 期刊: Journal of Robotics and Mechatronics
• 影响因子: 1.1
• 作者: H. Kitagawa;K. Terashima;T. Miyoshi;S. Kitamura;J. Urbano
• 通讯作者: J. Urbano