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다자세 제어가 가능한 휠체어용 의자기구의 설계 및 제어
배주환(Ju-hwan Bae),김규석(Gyu-Seok Kim),류제청(Je-Cheong Ryu),문인혁(Inhyuk Moon) Korean Society for Precision Engineering 2010 한국정밀공학회지 Vol.27 No.5
This paper presents a design of seat mechanism for multi-postures controllable wheelchair. The possible seat postures are reclining, tilting, standing, which are controlled by four seat mechanisms using four linear actuators. The seat mechanisms designed in this study are reclining, tilting, forward-tilting, and elevation mechanism. Three postures except standing are controlled by corresponding mechanisms, but the standing posture is performed by combination of the reclining and the forward-tilting mechanism. Posture control system is composed of PID controllers and a planner to determine a feasible posture based on a posture transition diagram. Simulation results show that the seat mechanism and its control system are applicable to a multipostures controllable wheelchair.
The Development of Foldable Electric Wheelchair with Separable Power Module
장대진(Dae Jin Jang),김용철(Yong Cheol Kim),김신기(Shin Ki Kim),류제청(Je Cheong Ryu) Korean Society for Precision Engineering 2018 한국정밀공학회지 Vol.35 No.10
This study shows the 4 - Bar linkage design process and static/dynamic stability analysis of a foldable electric wheelchair that can be loaded into a vehicle for long-distance trips. Conventional foldable electric wheelchairs have been developed for indoor use because the safety of the disabled is not secure enough for outdoor use. However, the disabled have generally used foldable electric wheelchairs for outdoor use, potentially putting themselves in a dangerous situation. The body of a foldable electric wheelchair consists of a double 4 - Bar linkage system that shares one link. The architecture of the wheelchair’s four-bar linkage frame was synthesized using four finitely separated design positions. This simple method can design a planar four-bar mechanism through the use of four finitely separated poses (orientation and position). The power driving module includes a battery and controller, and can be separated to load into a car easily. An analysis of the tip-over measurement was performed using ADAMS and LifeMOD during a maneuver on the ground. by force-moment stability metric. Several elements, including the center of gravity position, rotational radius, and acceleration, were evaluated how to affect stability metric.