Nakajima Shuro
The Department of Advanced Robotics, Chiba Institute of Technology , Narashino, Chiba , Japan.
Disabil Rehabil Assist Technol. 2014 Mar;9(2):151-63. doi: 10.3109/17483107.2013.870238. Epub 2013 Dec 17.
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.
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.
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.
We proposed a novel gait algorithm for our PMV and realised the proposed motion pattern for PMV-based negotiating obstacles.
Our single-seat personal mobility vehicle, RT-Mover PType 3 features wheels attached on legs capable of performing leg motion, which allows the vehicle to traverse rough terrains in urban areas. We proposed a gait algorithm for RT-Mover PType 3 consisting of a series of leg motions in response to rough terrain. With this algorithm, the vehicle can traverse not only randomly placed obstacles, but also a step approached at an oblique angle, which conventional powered wheelchairs cannot navigate. Experiments with a passenger demonstrated the effectiveness of the proposed gait algorithm, suggesting that RT-Mover PType 3 can expand the mobility and range of activities of wheelchair users.
个人移动车辆（PMV）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，轮式PMV在应对障碍物时机动性往往较差。四轮车辆RT-Mover PType 3已被开发出来，其特点是带有能够进行腿部运动的轮式腿。这使得PMV能够克服不平坦地形，包括以一定角度接近的台阶，而普通轮椅无法通过。
本文讨论一种步态算法，即当道路上出现障碍物时，腿部执行必要的腿部运动。为了将轮子抬离地面并进行腿部运动，支撑轮必须移动到支撑点，以确保车辆在三个轮子上保持稳定。当朝着目标支撑点移动时，一个轮子可能会遇到另一个障碍物，本文还描述了针对这种情况的应对方法。
为评估步态算法，使用了几种障碍物配置对搭载乘客的车辆进行性能测试。通过实验展示了PMV的能力。
我们为我们的PMV提出了一种新颖的步态算法，并实现了基于PMV的应对障碍物的提议运动模式。
我们的单座个人移动车辆RT-Mover PType 3的特点是腿部附有能够进行腿部运动的轮子，这使得车辆能够穿越城市地区的崎岖地形。我们为RT-Mover PType 3提出了一种步态算法，该算法由一系列针对崎岖地形的腿部运动组成。通过这种算法，车辆不仅可以穿越随机放置的障碍物，还可以穿越传统电动轮椅无法行驶的倾斜角度接近的台阶。搭载乘客的实验证明了所提议步态算法的有效性，表明RT-Mover PType 3可以扩大轮椅使用者的活动能力和活动范围。
