Gyrolift, a new way of verticalisation on mobile personal transporter

摘要

This paper describes a developed verticalisation function integrated into a mobile transportation platform. The system is known as Gyrolift, a type of mobility-aided wheelchair based on a two-wheel auto-balanced personal transporter (PT). The system is equipped with a robotic module designed for helping users reach a standing position from a seated one. It also allows them to safely keep the standing posture to interact with the environment and have access to objects at a high level. The main contribution of this work resides in the design of verticalisation solution that ensures both the trajectory adapted to the user while respecting the constraint of the mobile platform. This solution is designed to not only keep the user in a standing posture but also to prevent instability of the PT. In order to justificate its feasibility, the proposed device as human-aid was evaluated in a series of simulations. Experimental tests were also conducted.