Rehabilitaion of the hands and feet for a Power-Assisted Wheelchair

• Main Authors: HUANG,SIH-HAN, 黃思翰
• Other Authors: 陳沛仲
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/ndj59h

碩士 === 南臺科技大學 === 機械工程系 === 104 === Abstract As the improvement in medicine, promotes the human life, the world becomes to an aging society gradually, and also increases the demand of wheelchair. In addition, the long-term use of manual wheelchairs could easily lead to hand injuries, more oxygen consumption and higher heart rate, while the long-term use of electric wheelchair could reduces the cardiopulmonary function due to a lack of hand movement. Therefore, a power-assisted wheelchair with two hub motors as the actuators is proposed, which has the advantages of portability and less operating efforts. Finally, three different users to make hands and feet and hands power-assisted experiments rehabilitation experiment in terms of hands and feet power-assisted experiments were pushing with both hands, one hand push, push hands feet kicking, kicking one leg with one hand push experiment right hand thrust force or kick left foot, left and right wheel reference speed, left and right wheels and the left and right wheels voltage control signal current consumption, from the experimental results shown in Fig prove different users will get different operating power assist, in the hands and feet experimental aspects of rehabilitation to three user's hand pushing wheelchairs and rehabilitation agencies kicking leg, seen from the experimental results in Fig., the user pushes the push frequency and speed of the wheelchair, often kicking leg kick and rehabilitation institutions pendulum speed. Keywords: Hands and feet Rehabilitation,Power-Assisted Wheelchair, Torque bserver, Lyapunov's Theory.