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Stability Analysis of a Robotic Transfer Device for Powered Wheelchairs

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tad-deleon
5 diapositives · 173 Views · Nov 13, 2014

This study investigates the stability of a newly developed robotic-assisted transfer device, Strong Arm, that attaches to powered wheelchairs. The device aims to enhance independence and quality of life for individuals with disabilities by facilitating safe transfers. Through rigorous experiments, the stability of the Strong Arm system was analyzed under various loads and configurations. Results demonstrated that the device could safely transfer loads of 50 kg, 75 kg, and an 83.25 kg dummy without tipping over, confirming the accuracy of our stability model and aiding in the development of improved safety algorithms.

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Stability Analysis of a Robotic Transfer Device for Powered Wheelchairs
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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.