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Stability analysis of electrical powered wheelchair-mounted robotic-assisted transfer device

Wang, H and Tsai, CY and Jeannis, H and Chung, CS and Kelleher, A and Grindle, GG and Cooper, RA (2014) Stability analysis of electrical powered wheelchair-mounted robotic-assisted transfer device. Journal of Rehabilitation Research and Development, 51 (5). 761 - 774. ISSN 0748-7711

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Abstract

The ability of people with disabilities to live in their homes and communities with maximal independence often hinges, at least in part, on their ability to transfer or be transferred by an assistant. Because of limited resources and the expense of personal care, robotic transfer assistance devices will likely be in great demand. An easy-to-use system for assisting with transfers, attachable to electrical powered wheelchairs (EPWs) and readily transportable, could have a significant positive effect on the quality of life of people with disabilities. We investigated the stability of our newly developed Strong Arm, which is attached and integrated with an EPW to assist with transfers. The stability of the system was analyzed and verified by experiments applying different loads and using different system configurations. The model predicted the distributions of the system’s center of mass very well compared with the experimental results. When real transfers were conducted with 50 and 75 kg loads and an 83.25 kg dummy, the current Strong Arm could transfer all weights safely without tip-over. Our modeling accurately predicts the stability of the system and is suitable for developing better control algorithms to enhance the safety of the device.


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Details

Item Type: Article
Status: Published
Creators/Authors:
CreatorsEmailPitt UsernameORCID
Wang, Hhow11@pitt.eduHOW11
Tsai, CYcht60@pitt.eduCHT60
Jeannis, H
Chung, CSJoshua.Chung.CS@pitt.eduCHC1390000-0002-9997-5558
Kelleher, Aakellehe@pitt.eduAKELLEHE
Grindle, GGggg3@pitt.eduGGG3
Cooper, RARCOOPER@pitt.eduRCOOPER
Centers: Other Centers, Institutes, Offices, or Units > Center for Assistive Technology
Date: 1 January 2014
Date Type: Publication
Journal or Publication Title: Journal of Rehabilitation Research and Development
Volume: 51
Number: 5
Page Range: 761 - 774
DOI or Unique Handle: 10.1682/jrrd.2013.11.0240
Schools and Programs: School of Health and Rehabilitation Sciences > Rehabilitation Science and Technology
Refereed: Yes
ISSN: 0748-7711
Date Deposited: 22 May 2015 21:45
Last Modified: 30 Mar 2021 13:55
URI: http://d-scholarship.pitt.edu/id/eprint/24743

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