TY - GEN
T1 - Cadence control of cycling wheelchair with Continuously Variable Transmission and servo brake
AU - Hirata, Yasuhisa
AU - Ando, Shotaro
AU - Kosuge, Kazuhiro
PY - 2016/6/8
Y1 - 2016/6/8
N2 - Cycling wheelchair was developed for the way of the lower-limb-disabled individuals moving. User can move by pedaling and easily realize free locomotion although they have handicaps. When they use the cycling wheelchair in outdoors, it is necessary to solve the problem of upward slope and downward slope. In this study, we develop a new cycling wheelchair as the system realizing enough aid without motor assist in the way of the safety. We attach CVT (Continuously Variable Transmission) and servo brake on this cycling wheelchair and propose their control methods. By controlling CVT, we can maintain the state of pedaling easily, climb up the slope easily and increase the speed. Also, we realize gravity compensation by controlling servo brake, we can pedal at down slope like a horizontal road. We performed experiment and illustrate the validity of the proposed method.
AB - Cycling wheelchair was developed for the way of the lower-limb-disabled individuals moving. User can move by pedaling and easily realize free locomotion although they have handicaps. When they use the cycling wheelchair in outdoors, it is necessary to solve the problem of upward slope and downward slope. In this study, we develop a new cycling wheelchair as the system realizing enough aid without motor assist in the way of the safety. We attach CVT (Continuously Variable Transmission) and servo brake on this cycling wheelchair and propose their control methods. By controlling CVT, we can maintain the state of pedaling easily, climb up the slope easily and increase the speed. Also, we realize gravity compensation by controlling servo brake, we can pedal at down slope like a horizontal road. We performed experiment and illustrate the validity of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=84977533204&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84977533204&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2016.7487471
DO - 10.1109/ICRA.2016.7487471
M3 - Conference contribution
AN - SCOPUS:84977533204
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3062
EP - 3068
BT - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Y2 - 16 May 2016 through 21 May 2016
ER -