Paper Info
Title
A multipurpose robotic wheelchair and rehabilitation device for the home
Abstract
This paper describes a novel home lift, position, and rehabilitation (HLPR) chair, designed at National Institute of Standards and Technology (NIST), to provide independent patient mobility for indoor tasks, such as moving to and placing a person on a toilet or bed, and lift assistance for tasks, such as accessing kitchen or other tall shelves. These functionalities are currently out of reach of most wheelchair users. One of the design motivations of the HLPR Chair is to reduce back injury, typically, an important issue in the care of this group. The HLPR Chair is currently being extended to be an autonomous mobility device to assist cognition by route and trajectory planning. This paper describes the design of HLPR Chair, its control architecture, and algorithms for autonomous planning and control using its unique kinematics.
Year
DOI
Venue
2007
10.1109/IROS.2007.4398980
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
Keywords
Field
DocType
multipurpose robotic wheelchair,rehabilitation device,home lift-position-rehabilitation chair,independent patient mobility,autonomous mobility device,trajectory planning,autonomous planning
Wheelchair,Motion planning,Rehabilitation,Computer science,Robot kinematics,Control engineering,NIST,Home lift,Mobile robot,Back injury
Conference
ISSN
ISBN
Citations 
2153-0858
978-1-4244-0911-2
2
PageRank 
References 
Authors
0.60
5
2
Name
Order
Citations
PageRank
Roger Bostelman116732.16
Albus, J.216022.48