Self-balancing Wheelchair Caster Arm Stabilization
Solution Overview
Problem
Motorized wheelchairs often cause users to be jolted backward when accelerating or forward when decelerating, and can tip due to uneven surfaces or inclines, leading to discomfort and safety issues for users who are not physically capable of manually powering them.
Innovation Solution
The implementation of a stabilization system using smart caster arms with force sensing and actuation capabilities, which adjust their position to maintain a predetermined force on the ground and counteract changes in orientation, ensuring the wheelchair remains stable by applying stabilizing forces as needed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If motorized wheelchairs accelerate or go up inclines, then mobility is improved, but users are jolted backward causing discomfort and safety issues
Solution Approach 1:
The caster arm acts as a counterbalancing element that applies opposing force to the wheelchair frame during acceleration and incline movement. The force sensing system detects the jolting forces and the actuator adjusts the caster arm position to generate counterbalancing forces, reducing the net jolting effect on the user.
Solution Approach 2:
The force sensing system continuously monitors forces on the caster arm before significant jolting occurs. The control system uses this preliminary data to predict upcoming jolts and activates the actuator in advance to position the caster arm optimally, preventing rather than merely reacting to the harmful effect.
2Speed
If motorized wheelchairs decelerate or go down inclines, then mobility is improved, but users are jolted forward causing discomfort and safety issues
Solution Approach 1:
The caster arm system provides counterbalancing forces during deceleration and downhill movement. The force sensing system detects forward jolting forces and the actuator adjusts the caster arm to generate opposing forces, stabilizing the wheelchair and protecting the user from harmful jolts.
Solution Approach 2:
The force sensing system continuously provides feedback on forces applied to the caster arm during deceleration. The control system processes this feedback and adjusts the actuator in real-time to maintain optimal counterbalancing, creating a closed-loop control system that effectively mitigates forward jolting.
3Stability of the object's composition
If caster arms maintain constant contact with ground, then stability is improved, but response time to stabilize wheelchair increases
Solution Approach 1:
The caster arm system transitions from static constant contact to dynamic adaptive contact. The actuator continuously adjusts the caster arm position based on real-time force sensing data, allowing the system to maintain stability while responding rapidly to changing conditions without the delay associated with engaging disengaged arms.
Solution Approach 2:
The force sensing system enables the caster arm to self-regulate its contact force with the ground. The system automatically adjusts the arm position and applied force based on detected conditions, eliminating the need for external intervention or delayed mechanical engagement while maintaining both stability and rapid response.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This system effectively reduces jolting and tipping, providing improved comfort and safety by maintaining balance and stability during acceleration, deceleration, and on uneven surfaces, enhancing the user experience for those who rely on motorized wheelchairs.
Implementation Method 1
the at least one caster arm including a force sensing system configured to measure a force exerted on the underlying surface by the at least one caster arm
Data Source
AI summary
The presently disclosure describes a system for stabilizing a wheelchair. The system includes at least one caster arm configured to maintain contact with a surface underlying the wheelchair. The at least one caster arm includes a force sensing system configured to measure a force exerted on the underlying surface by the at least one caster arm; and an actuator to configured adjust a position of the at least one caster arm based at least in part on the measured force.