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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.

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Presentation on theme: "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."— Presentation transcript:

1 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 Slideshow Project DOI:10.1682/JRRD.2013.11.0240JSP Stability analysis of electrical powered wheelchair-mounted robotic-assisted transfer device Hongwu Wang, PhD; Chung-Ying Tsai, MS; Hervens Jeannis, MS; Cheng-Shiu Chung, MS; Annmarie Kelleher, MS; Garrett G. Grindle, MS; Rory A. Cooper, PhD

2 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 Slideshow Project DOI:10.1682/JRRD.2013.11.0240JSP Aim – Investigate stability of newly developed Strong Arm. Attaches and integrates with electrical powered wheelchair to assist with transfers. Relevance – An easy-to-use robotic system that assists with transfers could significantly increase quality of life and independence for people with disabilities.

3 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 Slideshow Project DOI:10.1682/JRRD.2013.11.0240JSP Method Analyzed and verified stability of Strong Arm system through experiments: – Applying different loads. – Using different system configurations.

4 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 Slideshow Project DOI:10.1682/JRRD.2013.11.0240JSP Results Model predicted system’s center of mass distributions very well compared with experimental results. When real transfers were conducted with 50 and 75 kg loads and an 83.25 kg dummy, current Strong Arm could transfer all weights safely without tip-over.

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 Slideshow Project DOI:10.1682/JRRD.2013.11.0240JSP Conclusion Our modeling: – Accurately predicted system stability. – Is suitable for developing better control algorithms to enhance device safety.

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