### Citations

52 |
Developing intelligent wheelchairs for the handicapped
- Gomi, Griffith
- 1998
(Show Context)
Citation Context ...those who cannotscontrol joystick because of limited control of upper extremities or some othersdisabilities, wheelchairs controlled by voice commands [11] or roboticswheelchairs equipped with sonars =-=[12]-=-, ultrasonic sensors [13] are also available.s1.3. The Objective of the ThesissMobility is one of the key factors that contribute to quality of life. The degree ofsmobility is directly related to one’... |

22 |
Control Sensors and Actuators,
- Silva
- 1989
(Show Context)
Citation Context ...e motor.sLoad Torque,sTL Load shaftsMagneticstorque, Tm ArmaturesFigure 2.11. Mechanical Portion of the MotorsIf the stator is made of a permanent magnet, then one can take the field currentsconstant =-=[17]-=-. Thus, the magnetic torque of the motor can be expressed asstmm KiT =s(2.234)sThere exist two motors, which supply torques to the left and right rear wheelssseparately in the wheelchair system. These... |

4 | Racing wheelchair roll stability while turning: A simple modeel
- Cooper, MacLeish
- 1992
(Show Context)
Citation Context ...wheelchairsturns the lower the wheelchair speed is.sStatic and dynamic stability analyses for racing wheelchairs, and the simple casesof roll stability while turning are investigated in another study =-=[5]-=-. The degree ofsroll stability is highly related with the area of the footprint which is the areasconstructed by connecting the adjacent contact points of the wheels with lines.sFor a wheelchair to be... |

3 |
A Low-Cost, Portable System for the Assessment of the Postural Response of Wheelchair Users to Pertubrations
- Kamper, Adams, et al.
- 1999
(Show Context)
Citation Context ... back to an upright position. As a research in this topic, a systemscapable of examining postural stability of the users to perturbations within aslaboratory environment is developed in another study =-=[6]-=-. The system provides asmeans of highly reproducible perturbations to a subject seated in a wheelchair.sDesign of the device is guided by the desire to produce dynamic disturbancesssimilar to what mig... |

3 |
Calculus with Analytic Geometry, Fifth Edition
- Ellis, Gulick
- 1994
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Citation Context ... ai rsSy st emso nsasC ha ng in gsS lo pesR oa ds46 The road functions used in the simulation are approximations of real roads. For assmooth downhill and uphill slope, the hyperbolic tangent function =-=[15]-=- issmodified as follows.sh 1e 1ehz b)a(x b)a(x +⎟⎟⎠ ⎞ ⎜⎜⎝ ⎛ + −= −− −−s(2.231)sh 1e 1ehz b)a(x b)a(x +⎟⎟⎠ ⎞ ⎜⎜⎝ ⎛ + −= − −s(2.232)sEquations 2.231 and 2.232 represent a smooth downhill slope and uphil... |

2 |
Dynamic modeling of a wheelchair on a slope
- Shung, Stout, et al.
- 1983
(Show Context)
Citation Context ...esigning the system itself in terms of mechanical design,smathematical modeling, and controller design.sThe analysis of wheelchair motion on a sloping surface is performed insUniversity of California =-=[1]-=-. In this study of Shung, a mathematical model of theswheelchair system driven on a double-sided sloping surface is obtained usingsNewton’s 2nd Law. The wheelchair has two rear wheels driven independe... |

2 |
Feedback Control and Simulation of a Wheelchair
- Shung, Stout, et al.
- 1983
(Show Context)
Citation Context ...s. Since theswheelchair has only one plane of symmetry, off-diagonal inertia terms aresimportant for tipping stability analysis.sA wheelchair velocity feedback controller is presented in another work =-=[2]-=-. Suchsa controller is designed to reduce the control demands on a wheelchair driver insoutdoor driving and in low speed maneuvering. A dynamic model of theswheelchair obtained in [1] is used in the c... |

2 |
Powered Wheelchair Control Based on the Dynamical Criteria of Stability”, Mecathronics 12
- Boiadzjiev, Stefanov
- 2002
(Show Context)
Citation Context ...ve uphill slopes; side slopes,sdouble-sided slopes or changing slopes are also considered in the thesis.sAnother study concerns powered wheelchair control based on the dynamicalscriteria of stability =-=[4]-=-. The stability of powered four-wheeled wheelchairs withstwo driving wheels and two small sized front wheels is analyzed in this work Thesproposed controller includes a special module that analyses us... |

1 |
Turning Characteristics and Stability of Manual Wheelchairs on a Slope
- Ohnabe, Mizuguchi
- 2001
(Show Context)
Citation Context ... is obtained; and then stabilitysconditions of the system for a violent fall, and direction hold stability of theswheelchair on a downhill slope are analyzed in the work of H. Ohnabe and F.sMizuguchi =-=[3]-=-. Mathematical expressions are obtained for the stability of theswheelchair on a downhill slope and the stability against falling over due to thescentrifugal force at the turn. Furthermore, the direct... |

1 |
2: Determination of Dynamic Stability of Electric Wheelchairs
- Part
(Show Context)
Citation Context ...d road conditions.s8 Other methods like speed reduction via joystick module for a safe steering, and asshape filter are also used for the purpose of stability augmentation.sThe dynamic stability test =-=[8]-=- is performed for the wheelchairs such that theswheelchair is accelerated and braked going up and down on a tilted surface. As asresult of this study, the stability limit is defined by the tilt angle ... |

1 |
1: Determination of Static Stability
- Part
(Show Context)
Citation Context ...nd down on a tilted surface. As asresult of this study, the stability limit is defined by the tilt angle at which theswheels are observed to lose contact with the ground.sIn the static stability test =-=[9]-=-, a wheelchair including a test dummy as the patientsis placed upon a tiltable platform. Then, the wheelchair is gently tilted in severalsdifferent directions and the stability limit is recorded for e... |

1 |
Panos Trahanias and Dimitris Tsakiris, “Semi-Autonomous Navigation of a Robotic Wheelchair
- Argyros, Georgiadis
(Show Context)
Citation Context ...uding a test dummy as the patientsis placed upon a tiltable platform. Then, the wheelchair is gently tilted in severalsdifferent directions and the stability limit is recorded for each.sA recent work =-=[10]-=- considers the development of a wheelchair for people withsspecial needs, which is capable of navigating semi-autonomously within itssworkspace. This system is expected to prove useful to people with ... |

1 |
Voice Activated Wheelchair Controller
- Rockland, Reisman
- 1998
(Show Context)
Citation Context ...efficient type of command generator. However for those who cannotscontrol joystick because of limited control of upper extremities or some othersdisabilities, wheelchairs controlled by voice commands =-=[11]-=- or roboticswheelchairs equipped with sonars [12], ultrasonic sensors [13] are also available.s1.3. The Objective of the ThesissMobility is one of the key factors that contribute to quality of life. T... |

1 |
Navigational Assistance for Disabled Wheelchair Users
- Goodwin, Sanders, et al.
- 1997
(Show Context)
Citation Context ...joystick because of limited control of upper extremities or some othersdisabilities, wheelchairs controlled by voice commands [11] or roboticswheelchairs equipped with sonars [12], ultrasonic sensors =-=[13]-=- are also available.s1.3. The Objective of the ThesissMobility is one of the key factors that contribute to quality of life. The degree ofsmobility is directly related to one’s level of independence. ... |

1 | access date - eduergoeducatesafetymodulesctdanthropometry |

1 | APPENDIX A CALCULATION OF CENTER OF MASS FOR THE WHEELCHAIRHUMAN SYSTEM The geometries of components of human body are simplified such that human head is a sphere, trunk is a rectangular prism, arms and limbs of the human body are modeled as cylinders. Th - Dynamics”, Sons - 1993 |