Design and Control of a Wheel-Chair Robot for Handicapped or Elderly Persons

摘要

This paper presents design and control of a wheelchair robot for handicapped or elderly persons. Novel multi-functional design concepts are introduced. The first function is to balance the chair always parallel to the flat ground so that the driver feels comfortable when he/she drives on the slope. The second function is to help the driver to stand up by pushing the chair so that the driver can get out from the chair with ease. The third design is to make it foldable for easy carrying for automobiles. The last function is an immediate stop and start protection. Experimental studies are conducted to demonstrate the feasibility and functionality of each mechanical design.