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Stability analysis of electrical powered wheelchair-mounted robotic-assisted transfer device

Stability analysis of electrical powered wheelchair-mounted robotic-assisted transfer device. Hongwu Wang, PhD; Chung-Ying Tsai, MS; Hervens Jeannis, MS; Cheng-Shiu Chung, MS; Annmarie Kelleher, MS; Garrett G. Grindle, MS; Rory A. Cooper, PhD. Aim

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Stability analysis of electrical powered wheelchair-mounted robotic-assisted transfer device

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  1. Stability analysis of electrical powered wheelchair-mounted robotic-assisted transfer device Hongwu Wang, PhD; Chung-Ying Tsai, MS; Hervens Jeannis, MS; Cheng-Shiu Chung, MS; Annmarie Kelleher, MS; Garrett G. Grindle, MS; Rory A. Cooper, PhD

  2. Aim • Investigate stability of newly developed Strong Arm. • Attaches and integrates with electrical powered wheelchair to assist with transfers. • Relevance • An easy-to-use robotic system that assists with transfers could significantly increase quality of life and independence for people with disabilities.

  3. Method • Analyzed and verified stability of Strong Arm system through experiments: • Applying different loads. • Using different system configurations.

  4. Results • Model predicted system’s center of mass distributions very well compared with experimental results. • When real transfers were conducted with 50 and 75 kg loads and an 83.25 kg dummy, current Strong Arm could transfer all weights safely without tip-over.

  5. Conclusion • Our modeling: • Accurately predicted system stability. • Is suitable for developing better control algorithms to enhance device safety.

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