Journal of Rehabilitation Research & Development (JRRD)

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Stability analysis of electrical powered wheelchair-mounted robotic-assisted transfer device

Hongwu Wang, PhD, et al.

The ability of people with disabilities to live in their homes and communities with maximal independence often hinges, at least in part, on their ability to transfer or be transferred by an assistant. An easyto- use system for assisting with transfers, attachable to electrical powered wheelchairs (EPWs) and readily transportable, could have a significant positive effect on the quality of life of people with disabilities. This study investigated the stability of our newly developed Strong Arm, which is attached and integrated with an EPW to assist with transfers. The stability of the system was analyzed and verified by experiments applying different loads and using different system configurations. Our modeling accurately predicts the stability of the system and is suitable for developing better control algorithms to enhance the safety of the device.
http://dx.doi.org/10.1682/JRRD.2013.11.0240

Volume 51 Number 5, 2014
   Pages 761 — 774


View HTML ¦ View PDF ¦ Contents Vol. 51, No.5

This article and any supplementary material should be cited as follows:
Wang H, Tsai C, Jeannis H, Chung C, Kelleher A, Grindle GG, Cooper RA. Stability analysis of electrical powered wheelchair-mounted robotic-assisted transfer device. J Rehabil Res Dev. 2014;51(5):761–74.
http://dx.doi.org/10.1682/JRRD.2013.11.0240
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Last Reviewed or Updated  Thursday, August 28, 2014 10:11 AM

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