Open document
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General information |
| Author |
Hsu, Po Er; Hsu, Yeh Liang; Chang, Kai Wei; Geiser, Claudius |
| Published |
InTech Open Access Publisher, 2012
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| Abstract |
This paper presents the development of the
“intelligent Robotic Wheelchair” (iRW), emphasizing its
mobility assistance design. The vehicle uses four
Mecanum wheels to facilitate movement in all directions,
including sideways, and zero radius of rotation. The iRW
requires much less space than ordinary electric
wheelchairs in turning and sideways manoeuvres. Based
on this moving vehicle, mobility assistance functions are
designed for three different operators: the wheelchair
user, caregivers, and the iRW itself in autonomous
behaviours. Five operation modes, all mutually exclusive,
are developed: obstacle avoidance, joystick mode,
handlebar mode, teleoperation, and indoor navigation.
Man‐machine collaborative control is reflected in the
assignment of priorities to the three operators. The
functional test performed in this research compared the
operational efficiency of the five operation modes. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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