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研究生： Hasan Bulut
Hasan Bulut
論文名稱： 具有轉移功能的智能家居輪椅的開發
Development of Wheelchair with Transfer Capability for Smart Home
指導教授： 林其禹
Chyi-Yeu Lin
口試委員: 李維楨
Wei-Chen Lee
林鼎晸
Ding-ZhengLin
學位類別： 碩士
Master
系所名稱： 工程學院 - 機械工程系
Department of Mechanical Engineering
論文出版年： 2020
畢業學年度： 108
語文別： 英文
論文頁數： 49
中文關鍵詞： Wheelchair 、Body transfer 、Robotic Wheelchair 、Transfer mechanism
外文關鍵詞： Wheelchair, Body transfer, Robotic Wheelchair, Transfer mechanism
相關次數： 點閱：178  下載：18 
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  •  上一筆

    • 摘 要

    近年來，社會上的殘疾人士及老年人口與日俱增，需要雇用更多的護理人員來協助他們的日常生活。但是，護理費用十分昂貴，受傷率也高。因此對於具有更好的功能的行動輔助設備的需求是十分迫切的，特別是使用於室內的行動輔助設備。
    本研究實現智能居家的概念，主要目的是開發一種可以協助使用者在床與輪椅及馬桶與輪椅之間進行轉移的輪椅。具體而言，這項研究需要將市售的手動輪椅改裝成電動輪椅，並實現輪椅的橫躺機構以及轉移機構。
    橫躺機構是以通過線性致動器控制椅背及靠腳墊來予以實現；轉移機構則是通過設計一個輸送帶系統來完成。
    本研究最終成功的打造了一個實現智能家用理念的輪椅，且在未來的研究中，更可以將此系統轉成一個全自主的系統。

    ABSTRACT

    The rapid growth of disabled and aging people in society necessitates the employment of caregivers to assist them in performing everyday activities. However, caregiving is highly expensive with high injury rates. Assistive devices, especially the ones focusing on mobility inside the house are needed to reduce the burden on the caregiver. As a result, the main objective of this study was to design a wheelchair that can transfer its user between a bed and toilet chair that is designed for this purpose with minimal help from a caregiver. Specifically, the study proposed turning a commercially available manual wheelchair into a powered one and implementation of a reclining mechanism and a transfer mechanism.
    The reclining mechanism was achieved by controlling the backrest and the leg rest by linear actuators and the transfer mechanism was achieved by designing a conveyor belt system.
    The objectives for a transfer wheelchair was determined and implemented in a way that the system can be turned into a fully autonomous one as part of future work.

    TABLE OF CONTENTS ABSTRACT ii 摘 要 iii TABLE OF CONTENTS iv LIST OF FIGURES vii CHAPTER 1 1 INTRODUCTION 1 1.1 Background and Motivation 1 1.1.1 Mobility Assistive Devices and Transfer Aides 2 1.2 The objective of The Study 6 1.3 Thesis Structure 6 CHAPTER 2 7 MECHANISM DESIGN SYNTHESIS 7 2.1 Task Scenario 7 2.2 Power Wheelchair Design 9 2.3 Reclining Mechanism 10 2.3.1 Backrest Reclining Mechanism 12 2.3.2 Leg Rest Reclining Mechanism 14 2.4 Hand Rest Mechanism 16 2.5 Transfer Mechanism 17 2.6 Motorized wheels 22 CHAPTER 3 24 CONTROL SCHEME AND WORKING PROCEDURE 24 3.1 Transfer Between Bed and Wheelchair 24 3.2 Transfer Between Wheelchair and Toilet Chair 28 CHAPTER 4 29 CONCLUSION AND FUTURE WORK 29 4.1 Results 29 4.2 Conclusion 30 4.3 Future Work 30 REFERENCES 31 APENDIX I: Arduino Code for Controlling the Motorized Wheels 35 APPENDIX II: Arduino Code for Controlling Reclining and Hand Rest Mechanism 38 APPENDIX III: Arduino Code for Controlling Transfer Mechanism 41

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