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

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 ProjectDOI: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



• 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.



Method

• Analyzed and verified stability of Strong Arm system through experiments:– Applying different loads.– Using different system configurations.



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.



Conclusion

• Our modeling:– Accurately predicted system stability.– Is suitable for developing better control algorithms

to enhance device safety.

Documents

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