A compact stair-climbing wheelchair with two 3-DOF legs and a 1-DOF base

Lee Chang-Hyuk; Lee Kyung-min; Yoo Jehong; Kim In-su; Bang Young-bong

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A compact stair-climbing wheelchair with two 3-DOF legs and a 1-DOF base

机译：紧凑的爬楼梯轮椅，带有两个3自由度的腿和1自由度的底座

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摘要

Purpose - The purpose of this paper is to describe a compact wheelchair, which has two 3-degrees of freedom (DOF) legs and a 1-DOF base (the total DOF of the leg system is 7) for stair-climbing, and wheels for flat surface driving.

机译：目的-本文的目的是描述一种紧凑型轮椅，该轮椅具有两个3自由度（DOF）腿和一个1-DOF基座（用于爬楼梯）和一个1-DOF基座（腿系统的总DOF为7），并带有轮子用于平面驱动。

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来源
《Industrial Robot》 |2016年第2期|共12页
作者
Lee Chang-Hyuk; Lee Kyung-min; Yoo Jehong; Kim In-su; Bang Young-bong;
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原文格式 PDF
正文语种 eng
中图分类机器人技术;
关键词
Rehabilitation robots; Stair-climbing; Wheelchair; Leg mechanism; Stair estimation;

机译：康复机器人;爬楼梯;轮椅;腿机构;爬梯估计;

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专利

1. A compact stair-climbing wheelchair with two 3-DOF legs and a 1-DOF base [J] . Lee Chang-Hyuk, Lee Kyung-min, Yoo Jehong, Industrial Robot . 2016,第2期

机译：紧凑的爬楼梯轮椅，带有两个3自由度的腿和1自由度的底座
2. High-Order Sliding Mode-Based Synchronous Control of a Novel Stair-Climbing Wheelchair Robot [J] . JuanxiuLiu, YifeiWu, JianGuo, Journal of control science and engineering . 2015,第1期

机译：新型爬楼梯轮椅机器人基于高阶滑模的同步控制
3. High-Order Sliding Mode-Based Synchronous Control of a Novel Stair-Climbing Wheelchair Robot [J] . Juanxiu Liu, Yifei Wu, Jian Guo, Journal of control science and engineering . 2015,第期

机译：一种基于新型滑梯轮椅机器人的基于高阶滑模的同步控制
4. A Novel Approach for a Leg-based Stair-climbing Wheelchair based on Electrical Linear Actuators [C] . Emiliano Pereira, Hilario Gomez-Moreno, Cristina Alen-Cordero, International Conference on Informatics in Control, Automation and Robotics . 2019

机译：基于电线致动器的基于腿部爬滑轮的新方法
5. Conceptual design of a manual stair-climbing wheelchair. [D] . Gomez, Baltazar. 2013

机译：手动爬楼梯轮椅的概念设计。
6. Development of a Conductive Polymer Based Novel 1-DOF Tactile Sensor with Cylindrical Arch Spring Structure Using 3D Printing Technology [O] . Peshan Sampath, Eranga De Silva, Lakshitha Sameera, 2019

机译：基于3D打印技术的基于导电聚合物的新型1自由度具有圆柱拱形弹簧结构的触觉传感器的开发
7. A 3-DOF PIEZOELECTRIC MICRO VIBRATORY STAGE BASED ON BULK-PZT/SILICON CRAB-LEG SUSPENSIONS [O] . Ethem Erkan Aktakka, Rebecca L. Peterson, Khalil Najafi 2015

机译：基于BULK-pZT / sILaBON CRaB-LEG悬架的三自由度压电微振动阶段

A compact stair-climbing wheelchair with two 3-DOF legs and a 1-DOF base

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