Nakajima Shuro
Chiba Institute of Technology , Chiba , Japan.
Disabil Rehabil Assist Technol. 2014 May;9(3):248-59. doi: 10.3109/17483107.2013.823630. Epub 2013 Aug 6.
Personal mobility vehicles (PMVs) are now being actively developed. Most PMVs are wheel-driven, a mode of transport notable for its efficiency. However, such vehicles tend to have little mobility over rough terrain. We propose a new type of PMV, a vehicle that traverses relatively smooth terrain by wheel but is capable of negotiating rough terrain by using its wheel mechanisms as legs.
The PMV we propose is intended to provide its user with a degree of outdoor mobility in daily urban life, say when going to a neighbourhood shop or simply taking a stroll. We do not consider elevators and other infrastructural elements that should be barrier-free, but rather focus on unimproved terrains that act as barriers to transport; for example, the steps that often act as de facto boundaries around building entrances.
We developed a new type of PMV and implemented a new algorithm to realize the capability to move on rough terrain. We experimentally compared the capability of a commercially available PMV and the developed PMV.
Through an experiment involving the traversing of a representative terrain and a comparative experiment using a stock PMV, we demonstrated the features of the proposed PMV.
We developed a single-seat personal mobility vehicle, the RT-Mover PType 3, which is capable of traversing steps and other unimproved terrain often found within an urban environment. RT-Mover PType 3 can handle oblique slopes and other terrain that can be quite difficult to negotiate with a conventional electric wheelchair, thus enabling individuals with impaired mobility to move freely about urban environments. The current vehicle is primarily intended for the active elderly and other individuals in fairly good health, although, through further research and development, we do hope to extend its usefulness to those with substantial mobility impairments.
个人移动车辆（PMV）目前正在积极研发中。大多数PMV是轮式驱动，这种运输方式以其效率而闻名。然而，这类车辆在崎岖地形上的机动性往往较差。我们提出了一种新型的PMV，一种通过轮子在相对平坦的地形上行驶，但能够利用其轮式机构像腿一样在崎岖地形上通行的车辆。
我们提出的PMV旨在为用户在日常城市生活中提供一定程度的户外机动性，比如去附近商店或只是散步的时候。我们不考虑电梯和其他应无障碍的基础设施元素，而是关注那些对交通构成障碍的未改善地形；例如，经常作为建筑物入口周围实际边界的台阶。
我们开发了一种新型的PMV，并实现了一种新算法以实现其在崎岖地形上行驶的能力。我们通过实验比较了市售PMV和所开发的PMV的性能。
通过一项涉及穿越代表性地形的实验以及使用市售PMV的对比实验，我们展示了所提出的PMV的特点。
我们开发了一种单座个人移动车辆，即RT-Mover PType 3，它能够穿越城市环境中常见的台阶和其他未改善地形。RT-Mover PType 3可以应对斜坡和其他传统电动轮椅很难通行的地形，从而使行动不便的人能够在城市环境中自由移动。目前这款车辆主要面向活跃的老年人和其他健康状况相当良好的人群，不过，通过进一步的研发，我们确实希望将其用途扩展到行动严重受限的人群。
