다자유도 자세제어가 가능한 휠체어의 구조 해석

This paper proposes a kinematic analysis for a multi-posture controllable wheelchair. The available functions of the wheelchair are reclining, tilting, standing-up, and elevation, which are performed by controlling four linear actuators. The standing-up function is controlled by extending the back-rest and the leg-rest of the seat at once. To optimize the wheelchair posture into the human body structure, the speed of the linear actuators is controlled independently. Simulation results using a wheelchair-seat model proposed in this study show the wheelchair controllable multi-postures is feasible.