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Article
Demographic change is making more and more elderly people dependent on care. As a result, there are staff shortages at nursing homes, which now require technical aid. Mobility is considered an essential component for ensuring quality of life, social contact, and a self-determined life. With the introduction of the autonomous stair-climbing wheelchair, unlimited and independent mobility is ensured for movement-limited people. Because of dynamic stabilization, the wheelchair moves on only one axis. Thereby, it has highly agile driving behavior and is compact in size. The autonomous climbing system is based on a leg mechanism that consists of two legs with lower and upper leg support. While climbing a stairway, the legs push the wheelchair on the next higher situated step. Afterwards the legs are pulled successively on to the next step as well. While climbing down, the opposite sequence of movements occurs.
Article
The design of the geometry of a walking machine depends to a considerable extent on the applications for which the machine is intended. Nevertheless, there are some very general principles and approaches which may be applied. This paper deals with the geometric design of a hexapodal walking machine which is to prossess optimum mobility on varied terrain. This problem both illustrates, and serves as a vehicle for, the development of these general principles. Since one of the most important features of legged locomotion is the gait, the fundamental gaits of a 2N-legged (N greater than equivalent to 2) walking machine on both flat and irregular terrain are introduced first. The motion of the machine is assumed to be quasi-static. The mobility of a walking machine using these gaits, mainly centered on the hexapodal case, is then discussed.
An Adjustable Height Manual Wheelchair for a Vocational Application
  • R L Kett
Kett, R. L. et al.: "An Adjustable Height Manual Wheelchair for a Vocational Application": Proceedings from RESNA 10th Ann. Conf.: San Jose, CA: 1987
Disability Consequences of Bed Rest": Handbook of Severe Disability
  • P J Corcoran
Corcoran, P. J., : "Disability Consequences of Bed Rest": Handbook of Severe Disability: U.S. Dept. of Education: 1981
the Climbing Universal Wheelchair: Tunkers Ind.: Rochester, MI 13. News Trends: Machine Design
  • Phoenix
Phoenix, the Climbing Universal Wheelchair: Tunkers Ind.: Rochester, MI 13. News Trends: Machine Design: Vol. 44, No. 12: July 27, 1972
School of Art and Design, University of Illinois at Chicago for assistance in writing this paper AUTHOR' AUTHOR' AUTHOR' AUTHOR
  • Gail Merrit
  • Research Assistant
Gail Merrit, Research Assistant, School of Art and Design, University of Illinois at Chicago for assistance in writing this paper AUTHOR' AUTHOR' AUTHOR' AUTHOR'S ADDRESS S ADDRESS S ADDRESS S ADDRESS Drew R. Browning, Assoc. Prof. Director, Design Visualization Laboratory UIC School of Art and Design m/c 036
Walking Machine Video
  • M H Raibert
Raibert, M. H.,ed.: Walking Machine Video: International Journal of Robotics Research: Vol. 3, No. 2, 1984: Special Issue on Legged Locomotion 26. Bak, D. J., ed.: "Three Legs Make Mobile Platform": Design News: Vol. 44, No. 4, Feb.15, 1988