Gait algorithm of personal mobility vehicle for negotiating obstacles.
Purpose: Personal mobility vehicles (PMVs) are under active development. Most PMVs are wheel-driven, a mode of transport notable for its efficiency. However, wheeled PMVs tend to have poor mobility against negotiating obstacles. The four-wheeled vehicle RT-Mover PType 3 has been developed featuring...
| Publicado en: | Disability & Rehabilitation: Assistive Technology Vol. 9; no. 2; pp. 151 - 164 |
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| Autor principal: | |
| Formato: | equations & formulas pictorial research tables/charts Journal Article |
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Taylor & Francis Ltd
Mar2014
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| Acceso en línea: | Ver este registro en EBSCOhost |
| fields | @attributes: recordID: 1 pdfLink: plink: https://search.ebscohost.com/login.aspx?direct=true&db=ccm&AN=104023060&site=ehost-live header: @attributes: shortDbName: ccm uiTerm: 104023060 longDbName: CINAHL Complete uiTag: AN controlInfo: bkinfo: dissinfo: jinfo: jid: 17483107 1X04 jtl: Disability & Rehabilitation: Assistive Technology issn: 17483107 maglogo: Y pubinfo: dt: Mar2014 vid: 9 iid: 2 pid: 377 pub: Taylor & Francis Ltd place: Philadelphia, Pennsylvania artinfo: ui: 104023060 94358266 10.3109/17483107.2013.870238 NLM24345285 104023060 ppf: 151 ppct: 13 formats: fmt: @attributes: type: P tig: atl: Gait algorithm of personal mobility vehicle for negotiating obstacles. aug: au: Nakajima, Shuro sug: subj: Assistive Technology Devices Motor Vehicles Equipment Design Software Walking Human Funding Source ab: Purpose: Personal mobility vehicles (PMVs) are under active development. Most PMVs are wheel-driven, a mode of transport notable for its efficiency. However, wheeled PMVs tend to have poor mobility against negotiating obstacles. The four-wheeled vehicle RT-Mover PType 3 has been developed featuring wheeled legs capable of leg motion. This allows the PMV to overcome uneven terrains, including a step approached at an angle, which ordinary wheelchairs cannot negotiate. Method: This article discusses a gait algorithm in which a leg executes the necessary leg motion when optionally presented with obstacles on a road. In order to lift a wheel off the ground and perform a leg motion, the support wheels must be moved to support points to ensure that the vehicle remains stable on three wheels. When moving towards the target support point, a wheel may encounter another obstacle, and a response method for this case is also described. Results: To assess the gait algorithm, several configurations of obstacles were used for performance tests with a passenger. The capabilities of the PMV were demonstrated through experiments. Conclusion: We proposed a novel gait algorithm for our PMV and realised the proposed motion pattern for PMV-based negotiating obstacles. pubtype: Academic Journal doctype: equations & formulas pictorial research tables/charts Journal Article ougenre: Article language: English refInfo: holdings: @attributes: islocal: N |
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