Study On Auxiliary Standing Intelligent Wheelchair For Patients With Movement Disability

A great deal of research on lower extremity exoskeleton have been done by many institutions at home and abroad,but the research of intelligent wheelchair is relatively few.At present,the function of electric wheelchair is relatively simple,and can’t be organically combined with exoskeleton,so it can’t meet the needs of specific groups.In this study,a set of assistant standing intelligent wheelchair structure and control system is designed for the patients with standing dysfunction,which is capable of being integrated with exoskeleton.First of all,based on the analysis of the human body standing law and ergonomics,a kind of auxiliary standing wheelchair structure which can be combined with lower extremity exoskeleton is designed,including the structure of electric wheelchair and auxiliary standing mechanism.And auxiliary standing mechanism includes rotating mechanism,lifting mechanism,retarding mechanism and supporting mechanism.Rotating mechanism uses the worm gear and worm to transmit power while lifting mechanism adopts double helix transmission scheme.Then,based on the analysis of the intelligent wheelchair model,the inverse kinematics of the auxiliary standing mechanism is deduced from the movement of the human standing model.And the auxiliary force and torque provided by the auxiliary standing mechanism are calculated by the Lagrange method.The virtual prototype technology has carried on the simulation and analysis of auxiliary standing wheelchair model,the kinematic parameters of the auxiliary standing wheelchair model are obtained,and the simulation results are similar to those of the third chapter,which verified the rationality of mechanism design.Finally,the overall scheme of the control system is designed according to the demand of the intelligent wheelchair.The hardware of the control system includes the main controller module,the driving module and the communication sensing module.The software of the control system is designed and the host software based on the Android phone is designed,besides the function of the remote control of wheelchair with mobile phone software is verified experimentally.