On a Complete Dynamical Model of Manual Wheelchair for Virtual Reality Simulation Platform
| Autor: | Philippe Pudlo, Jean-Christophe Popieul, Chouki Sentouh, Viet Thuan Nguyen, Toufik Bentaleb |
|---|---|
| Přispěvatelé: | Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 (LAMIH), Université de Valenciennes et du Hainaut-Cambrésis (UVHC)-Centre National de la Recherche Scientifique (CNRS)-INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France) |
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
030506 rehabilitation
Caster Computer science Yaw Resistance Virtual reality Contact force [SPI.AUTO]Engineering Sciences [physics]/Automatic Manual wheelchair 03 medical and health sciences Wheelchair Wheelchairs Wheels Solid modeling Manuals 0305 other medical science Focus (optics) Tires Simulation Force Haptic technology |
| Zdroj: | IEEE International Conference on Systems, Man and Cybernetics (SMC) IEEE International Conference on Systems, Man and Cybernetics (SMC), Oct 2019, Bari, Italy. pp.2417-2422, ⟨10.1109/SMC.2019.8913960⟩ SMC |
| Popis: | International audience; A manual wheelchair (MWC) is an indispensable support for a person with reduced mobility. The researches on improving performance of MWC, therefore, should be validated by a reliable simulation platform, which allows simulating the MWC operation in virtual reality (VR), before being tested on real conditions. This research aims to provide a fully-constituted dynamical model of MWC which will be used in simulator platform to simulate the real movements of wheelchair and to generate the force feedback (haptics) during the push phase (hand-to-rim contact). With focus on the performance of wheelchair at the low-speed region, this model comprised the tire-road contact forces and the influence of the front free caster wheels. Validation experiments simulating several typical daily maneuvers of the manual wheelchair were conducted. Compared to previous research, the new model presented in this paper overcomes the problem of overestimating the the yaw rate. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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