A two-wheeled robotic wheelchair with a slidable seat for elderly and people with lower limb disabilities
This paper introduces a new development of a two-wheeled robotic wheelchair (TWW), designed to address the challenges of personal mobility for the elderly and individuals with lower limb disabilities. By incorporating a sliding seat mechanism and motorized support legs, the TWW enhances stability, c...
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| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2025-05-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298806251339684 |
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| Summary: | This paper introduces a new development of a two-wheeled robotic wheelchair (TWW), designed to address the challenges of personal mobility for the elderly and individuals with lower limb disabilities. By incorporating a sliding seat mechanism and motorized support legs, the TWW enhances stability, comfort, and accessibility in narrow or uneven environments. Notably, the TWW has a minimum turning radius of 0.372[m], enhancing convenience in confined spaces. A dynamic inversion-based motion planner is developed to provide smooth and stable driving experiences by accurately converting user inputs into optimal trajectories. Furthermore, the system prioritizes safety through real-time fault detection, ensuring reliability in various scenarios. Experimental results validate the system’s enhanced posture stability and safety, highlighting its potential for a wide variety of applications in daily mobility and rehabilitation support. |
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| ISSN: | 1729-8814 |