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Seat Adjustment Design of an Intelligent Robotic Wheelchair Based on the Stewart Platform : Progettazione dei un sistema di aggiustamento della seduta per una sedia robotica intelligente basata sulla piattaforma di Stewart, in: International Journal of Advanced Robotic Systems |
Open document
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General information |
| Author |
Hsu, Po Er; Hsu, Yeh Liang; Lu, Jun Ming; Chang, Cheng-Hao |
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InTech Open Access Publisher, 2013
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| Abstract |
A wheelchair user makes direct contact with the
wheelchair seat, which serves as the interface between the
user and the wheelchair, for much of any given day. Seat
adjustment design is of crucial importance in providing
proper seating posture and comfort. This paper presents a
multiple‐DOF (degrees of freedom) seat adjustment
mechanism, which is intended to increase the
independence of the wheelchair user while maintaining a
concise structure, light weight, and intuitive control
interface. This four‐axis Stewart platform is capable of
heaving, pitching, and swaying to provide seat elevation,
tilt‐in‐space, and sideways movement functions. The
geometry and types of joints of this mechanism are
carefully arranged so that only one actuator needs to be
controlled, enabling the wheelchair user to adjust the seat
by simply pressing a button. The seat is also equipped with
soft pressure‐sensing pads to provide pressure
management by adjusting the seat mechanism once
continuous and concentrated pressure is detected. Finally,
by comparing with the manual wheelchair, the proposed
mechanism demonstrated the easier and more convenient
operation with less effort for transfer assistance. |
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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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