A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-DoF system expands on the conventional control methods and combines the 7-DoF robotic arm control with the 2-DoF power wheelchair control. The 3-degrees of...

This paper analyzes several properties linked to the robust control of fractional diier-ential systems with delays. The BIBO stability of both retarded and neutral fractional delay systems is characterized in terms of the location of their poles. In the particular case of retarded systems, we give some properties of the poles of the system and the singular values of its Hankel operator, as well...

BACKGROUND Many older adults rely on a manual wheelchair for mobility but typically receive little, if any, training on how to use their wheelchair effectively and independently. Standardized skill training is an effective intervention, but limited access to clinician trainers is a substantive barrier. Enhancing Participation in the Community by Improving Wheelchair Skills (EPIC Wheels) is a 1-...

The degradation of mobility is an important concern that affects the independent living ability physically Challenged people. Therefore, assistive devices require improvements to uplift standards This paper sets out a design smart wheelchair using embedded system. and development proposed can be controlled through bluetooth which enables user control with less effort. Touch commands are deploye...

This paper will present a study of the dynamics of the contact between the tire of a wheelchair and the ground. The model of the contact between road and tire has been implemented using a mathematical concept in a 2D multibody program, creating a laboratory. With this laboratory, it is possible to see the behavior of the wheelchair with different input sources. In this work the input is taken c...

Physically challenged persons find their movements very tough with the existing assistive devices (Joysticks in cases of higher disability. Though there are many methods available in recent times to enable their motility they require fine and precise control which is most of the times not possible. In recent times there have been various control systems developing specialized for people with va...

In spite of the presence of powered wheelchairs, some of the users still experience steering challenges and manoeuvring difficulties that limit their capacity of navigating effectively. For such users, steering support and assistive systems may be very necessary. To appreciate the assistance, there is need that the assistive control is adaptable to the user's steering behaviour. This paper cont...

MULTIMODAL INTERFACE FOR DISABLED PERSONS S.A. Chhabria and R.V. Dharaskar Department of Computer Science and Engineering, G.H. Raisoni College of Engineering, Nagpur. E-mail: [email protected] Assistive robots have the potential to provide disabled people with effective ways to alleviate the impact of their limitations, by compensating for their specific impairments. In particular, r...

Assistive devices can significantly improve caregivers’ ability to help disabled people with their daily activities. Existing assistive are not fully capable of safe transfer and still in early stages development. In this research, a body-transfer system is designed developed ensure that the posture body angle person sagittal plane remains unaltered while transferring from bed wheelchair vice v...

Wheelchair mounted robotic arms can help people with disabilities perform their activities of daily living (ADL). The autonomy of such a system can range from full manual control (both wheelchair and robotic arm controlled by the human) to fully autonomous (with both the wheelchair and the robotic arm under autonomous control). Many ADLs require the robot to pick up an object from a cluttered e...