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Modeling and Design of a Stair Climbing Wheelchair with Pose Estimation and Adjustment

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Abstract

Urban locomotion is a challenge for individuals with lower limb impairment or any other conditions that inhibit ambulation. While wheelchairs are the absolute choice, they do not address the entire problem of accessibility in urban locomotion despite the use of actuators. One of the viable prospects has been demonstrated by Stair Climbing Wheelchairs (SCW), which rely on different modes of mechanism to traverse the staircase. Since staircases are the most common and one of the challenging elements of the urban setting, these wheelchairs are supposed to sufficiently address the problems of the terrain. However, several technical and psychological shortcomings hinder a wider practical use. This paper discusses semi-autonomous tracked SCW and introduces a novel kinematic mechanism design that facilitates successful switching of the mode of locomotion and autonomous pose adjustment with the changing terrain. To execute the intended task of pose estimation/adjustment and variable locomotion, an algorithm that combines multiple sensor data with the kinematic model has been developed. The developed prototype was tested in a loaded condition in staircases of different gradients. The experimental results suggest that the system addresses a plethora of issues mentioned in the literature, considering the factors of accessibility and safety. Also, this paper has highlighted the requirement of vibration suppression for user comfort, promoting technological acceptance and adaptation.

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Data Availability

Data sharing is not applicable to this article as the entire dataset generated during the study has been graphically illustrated in Figs. 12 to 15.

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Acknowledgements

The authors would like to thank the members of Center for Biomedical and Robotics Technology (BART LAB), Mahidol University for their valuable support to the research. The authors specially acknowledge the contribution of Mr. Amorchai Khawkhom, whose efforts have helped materialize this project.

Funding

This research is supported by the National Research Council of Thailand (Funding No.: NRCT-MHESRI 34/2562) under the title “Intelligent Robotic Wheelchair for Elderly and Disable Persons to Use in Daily Life and Stair Climbing Project”.

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Authors and Affiliations

  1. Center for Biomedical and Robotics Technology (BART LAB), Faculty of Engineering, Mahidol University, Salaya, Phutthamonthon, 73170, Nakorn Pathom, Thailand

    Bibhu Sharma, Branesh M. Pillai, Korn Borvorntanajanya & Jackrit Suthakorn

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  1. Bibhu Sharma
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  2. Branesh M. Pillai
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  3. Korn Borvorntanajanya
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  4. Jackrit Suthakorn
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Contributions

JS conceptualized the project along with the design. BS worked on the mechanical design, development, manufacturing and assembly. BMP developed the dynamic model and control system. KB worked towards the software development and performance of the robotic system. Manuscript was prepared by BS, reviewed and corrected by BMP and supervised by JS.

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Correspondence to Jackrit Suthakorn.

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Sharma, B., Pillai, B.M., Borvorntanajanya, K. et al. Modeling and Design of a Stair Climbing Wheelchair with Pose Estimation and Adjustment. J Intell Robot Syst 106, 66 (2022). https://doi.org/10.1007/s10846-022-01765-3

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