A reconfigurable holonomic omnidirectional mobile bed with unified seating (RHOMBUS) for bedridden patients

Abstract

A hybrid wheelchairhd system for bedridden persons is developed and tested. A powered wheelchair can be docked to a bed portion and reconfgured to a flat stationary bed so that the bedridden person does not have to change seating when transferring between the chair and bed. Moreover the powered wheelchair can be docked to a toilet directly and automatically so that the bedridden can use the toilet without changing seating. A holonomic omnidirectional vehicle with a ball wheel mechanism is used for the wheelchair. The high maneuverability and holonomic nature of the vehicle allow the chair to be docked easily and precisely against a fixture. The wheelchair is equipped with a teleconferencing facility so that the bedridden patient may communicate face-to-face with a distal caregiver, friends and relatives. Through the communication network, the bedridden patient is supervised and assisted all the time by the caregiver in operating the system. Fmt, this paper describes the basic concept of the recodigurable holonomic omnidirectional mobile bed with unified seating, or RHOMBUS for short. Issues on the mechanical design of the vehicle, chair, and bed are addressed, followed by control issues. A force-guided docking control method using force sensors imbedded in the bumper of the vehicle is developed. A prototype system is designed and tested.

DOI: 10.1109/ROBOT.1997.614313

Cite this paper

@inproceedings{Mascaro1997ARH, title={A reconfigurable holonomic omnidirectional mobile bed with unified seating (RHOMBUS) for bedridden patients}, author={Stephen A. Mascaro and Joseph Spano and H. Harry Asada}, booktitle={ICRA}, year={1997} }