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Motion Control of Cycling Wheelchair With Continuously Variable Transmission and Clutch

机译:无级变速离合器自行车轮椅的运动控制。

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摘要

The cycling wheelchair, which is pedaled like a bicycle, is an effective device for improving its user's activities of daily living. It is commercially available in Japan, and is currently being used by hospitals and rehabilitation facilities. However, many patients, particularly those with lower-limb disabilities, would like to use it both indoors and outdoors. Indoor use requires relatively slow forward and backward movement combined with a small turning radius, all of which increase maneuverability in confined spaces. In contrast, outdoor use requires the cycling wheelchair to move faster with bicycle-like mobility and a freewheel mechanism for comfortable driving, although the latter precludes pedaling backward. In addition, the user would like to ascend slopes easily and descend them safely. Hence, the cycling wheelchair requires a transmission system that can change the gear ratio based on the environment, and an automatic braking system. In this letter, we discuss in more detail the assistive functions required of the cycling wheelchair, and we realize them by developing a new cycling wheelchair with a continuously variable transmission and clutch. In addition, we conduct experiments to illustrate the validity of the proposed cycling wheelchair and its control method.
机译:像自行车一样踩着脚踏的自行车轮椅是一种改善其使用者日常生活活动的有效装置。它可在日本商购,目前正由医院和康复机构使用。但是,许多患者,尤其是下肢残疾患者,都希望在室内和室外使用它。在室内使用需要相对较慢的前进和后退运动以及较小的转弯半径,所有这些都增加了在狭窄空间中的机动性。相比之下,户外使用要求骑自行车的轮椅以自行车般的移动性更快地移动,并且为了保持舒适的驾驶需要自由轮机构,尽管后者不能向后踩踏板。另外,使用者想容易地上升并安全地下降斜坡。因此,自行车轮椅需要能够根据环境改变传动比的传动系统和自动制动系统。在这封信中,我们将更详细地讨论自行车轮椅所需的辅助功能,并且我们将通过开发一种具有无级变速器和离合器的新型自行车轮椅来实现这些功能。另外,我们进行实验以说明所提出的自行车轮椅及其控制方法的有效性。

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