due to their advantages, omni-directional mobile robots have found many applications especially in robotic soccer competitions. however, omni directional navigation system, omni-vision system and kicking mechanism in such mobile robots have not ever been combined. this situation brings the idea of a robot with no head direction into existence, a comprehensive omni directional mobile robot. such...

The purpose of this study was to develop a compendium of wheelchair-related physical activities. To accomplish this, we conducted a systematic review of the published energy costs of activities performed by individuals who use wheelchairs. A total of 266 studies were identified by a literature search using relevant keywords. Inclusion criteria were studies utilizing individuals who routinely us...

This paper proposes a solution to the cross-a-door problem in unknown environments for a robotic wheelchair commanded through a Human-Machine Interface (HMI). The problem is solved by a dynamic path planning algorithm implementation based on successive frontier points determination. An adaptive trajectory tracking control based on the dynamic model of the robotic wheelchair is implemented on th...

This paper presents the architecture and implementation of a tele-presence wheelchair system based on tele-presence robot, intelligent wheelchair, and touch screen technologies. The tele-presence wheelchair system consists of a commercial electric wheelchair, an add-on tele-presence interaction module, and a touchable live video image based user interface (called TIUI). The tele-presence intera...

We developed a wheelchair robot to support the movement of elderly people and specifically implemented two functions to enhance their intention to use it: speaking behavior to convey place/location related information and speed adjustment based on individual preferences. Our study examines how the evaluations of our wheelchair robot differ when compared with human caregivers and a conventional ...

The objective of this study was to compare the rolling resistance of four common manual wheelchair tires (two pneumatic and two airless solid) and the solid tires used on a commercially available force- and moment-sensing wheel. Coast-down tests were performed with a wheelchair positioned on a two-drum dynamometer. Within each of three load conditions, tire type had a significant effect on roll...

Ms. Rholing, a 45-year old mother of 2 with primary progressive multiple sclerosis, presented to the wheelchair clinic at Southern New England Rehabilitation Center for evaluation of her mobility status. Two years ago, with a prescription from her well-intentioned doctor, this unfortunate woman obtained a simple power chair that no longer meets her needs. Like 177,000 other Rhode Islanders, Ms....

This article proposes a simple and convenient method for assessing the subject-specific rolling resistance acting on a manual wheelchair, which could be used during the provision of clinical service. This method, based on a simple mathematical equation, is sensitive to both the total mass and its fore-aft distribution, which changes with the subject, wheelchair properties, and adjustments. The ...

This paper presents a systems model for racing wheelchair propulsion. Recently, an interest has developed in computer and mathematical models of racing wheelchair propulsion with the goal of improving performance and efficiency. The model in this paper is first presented in block diagram form and later described in greater detail. Equations are presented that describe the motion of a racing whe...

This task has relied upon a combination of computer simulation and experimental testing. Computer crash simulation models were developed and validated for use in the study of factors influencing injury risk of wheelchair occupants in a crash. A wheelchair transportation-specific Injury Risk Assessment method was developed and used in the comparison of injury risk associated with various wheelch...