Sit-to-Stand and Stand-to-Sit Control Mechanisms of Two-Wheeled Wheelchair

This paper presents a mechanism for standing and sitting transformation of a wheelchair using a two-wheeled inverted pendulum concept with reduced torque requirement, in simulation studies. The motivation of this work is to design a compact standing mechanism to help an elderly/disabled person with...

Full description

Bibliographic Details
Main Authors:	Normaniha, Abd Ghani, Tokhi, M. O.
Format:	Article
Language:	English
Published:	The American Society of Mechanical Engineers 2016
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/16716/ http://umpir.ump.edu.my/id/eprint/16716/ http://umpir.ump.edu.my/id/eprint/16716/ http://umpir.ump.edu.my/id/eprint/16716/1/fkee-2016-maniha-Sit-to-Stand%20and%20Stand1.pdf

id	ump-16716
recordtype	eprints
spelling	ump-167162018-02-05T02:07:01Z http://umpir.ump.edu.my/id/eprint/16716/ Sit-to-Stand and Stand-to-Sit Control Mechanisms of Two-Wheeled Wheelchair Normaniha, Abd Ghani Tokhi, M. O. TK Electrical engineering. Electronics Nuclear engineering This paper presents a mechanism for standing and sitting transformation of a wheelchair using a two-wheeled inverted pendulum concept with reduced torque requirement, in simulation studies. The motivation of this work is to design a compact standing mechanism to help an elderly/disabled person with functional limitation in lower extremities to maneuver in small and confined spaces and enable them to perform standard daily life routines independently. The wheelchair system at the upright standing position is tested with different travel distances, and the challenge is to control both sit-to-stand and stand-to-sit operations in a stable manner using flexible-joint humanoid. An additional spring/damping element is incorporated at each wheel to provide a comfortable ride for the user especially during stand-to-sit transformation task. A PD-fuzzy control with modular structure is implemented, and the performance of the system is observed through visual nastran 4d (vn4d) visualization software and simulation in matlab. The stand-to-sit performance tests have shown more than 38% reduction in tilt and back seat angles fluctuation in linear travel motion using a suspension system, while the initial tilt torque needed is 50% less than the amount required in previous designs. The American Society of Mechanical Engineers 2016-04-01 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/16716/1/fkee-2016-maniha-Sit-to-Stand%20and%20Stand1.pdf Normaniha, Abd Ghani and Tokhi, M. O. (2016) Sit-to-Stand and Stand-to-Sit Control Mechanisms of Two-Wheeled Wheelchair. Journal of Biomechanical Engineering, 138 (4). pp. 1-12. ISSN 0148-0731 http://dx.doi.org/10.1115/1.4032800 doi: 10.1115/1.4032800
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Normaniha, Abd Ghani Tokhi, M. O. Sit-to-Stand and Stand-to-Sit Control Mechanisms of Two-Wheeled Wheelchair
description	This paper presents a mechanism for standing and sitting transformation of a wheelchair using a two-wheeled inverted pendulum concept with reduced torque requirement, in simulation studies. The motivation of this work is to design a compact standing mechanism to help an elderly/disabled person with functional limitation in lower extremities to maneuver in small and confined spaces and enable them to perform standard daily life routines independently. The wheelchair system at the upright standing position is tested with different travel distances, and the challenge is to control both sit-to-stand and stand-to-sit operations in a stable manner using flexible-joint humanoid. An additional spring/damping element is incorporated at each wheel to provide a comfortable ride for the user especially during stand-to-sit transformation task. A PD-fuzzy control with modular structure is implemented, and the performance of the system is observed through visual nastran 4d (vn4d) visualization software and simulation in matlab. The stand-to-sit performance tests have shown more than 38% reduction in tilt and back seat angles fluctuation in linear travel motion using a suspension system, while the initial tilt torque needed is 50% less than the amount required in previous designs.
format	Article
author	Normaniha, Abd Ghani Tokhi, M. O.
author_facet	Normaniha, Abd Ghani Tokhi, M. O.
author_sort	Normaniha, Abd Ghani
title	Sit-to-Stand and Stand-to-Sit Control Mechanisms of Two-Wheeled Wheelchair
title_short	Sit-to-Stand and Stand-to-Sit Control Mechanisms of Two-Wheeled Wheelchair
title_full	Sit-to-Stand and Stand-to-Sit Control Mechanisms of Two-Wheeled Wheelchair
title_fullStr	Sit-to-Stand and Stand-to-Sit Control Mechanisms of Two-Wheeled Wheelchair
title_full_unstemmed	Sit-to-Stand and Stand-to-Sit Control Mechanisms of Two-Wheeled Wheelchair
title_sort	sit-to-stand and stand-to-sit control mechanisms of two-wheeled wheelchair
publisher	The American Society of Mechanical Engineers
publishDate	2016
url	http://umpir.ump.edu.my/id/eprint/16716/ http://umpir.ump.edu.my/id/eprint/16716/ http://umpir.ump.edu.my/id/eprint/16716/ http://umpir.ump.edu.my/id/eprint/16716/1/fkee-2016-maniha-Sit-to-Stand%20and%20Stand1.pdf
first_indexed	2023-09-18T22:22:40Z
last_indexed	2023-09-18T22:22:40Z
_version_	1777415760562356224

Sit-to-Stand and Stand-to-Sit Control Mechanisms of Two-Wheeled Wheelchair

Similar Items