The home lift, position, and rehabilitation (HLPR) chair has a unique design and novel capabilities when compared with conventional powered wheelchairs. In addition to mobility, it provides lift and can transfer patients. Even though medical devices are developing at a rapid pace today, an aspect that is often overlooked in these developments is adherence to “rider safety standards.” The contributions of this paper are threefold: (i) novel design of a lift and transfer system, (ii) experiments and results toward improved stability test designs that include HLPR-type devices to meet rider safety standards, and (iii) autonomous navigation and control based on nonlinear system theory of dynamic feedback linearization. Stability experimental results show promise for multipurpose patient mobility, lift, and transfer devices such as HLPR. A method for autonomous maneuvers was tested in simulation and experiments. We also expect the autonomous or semi-autonomous mobility mode of the vehicle to be useful for riders who have potential neural and cognitive impairments.
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e-mail: agrawal@udel.edu
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March 2010
Research Papers
An Advanced Patient Lift and Transfer Device for the Home
Roger Bostelman,
Roger Bostelman
National Institute of Standards and Technology
, Gaithersburg, MD 20899
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Ji-Chul Ryu,
Ji-Chul Ryu
Department of Mechanical Engineering,
University of Delaware
, Newark, DE 19716
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Tommy Chang,
Tommy Chang
National Institute of Standards and Technology
, Gaithersburg, MD 20899
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Joshua Johnson,
Joshua Johnson
Florida Gulf Coast University
, Fort Myers, FL 33965
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Sunil K. Agrawal
Sunil K. Agrawal
Department of Mechanical Engineering,
e-mail: agrawal@udel.edu
University of Delaware
, Newark, DE 19716
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Roger Bostelman
National Institute of Standards and Technology
, Gaithersburg, MD 20899
Ji-Chul Ryu
Department of Mechanical Engineering,
University of Delaware
, Newark, DE 19716
Tommy Chang
National Institute of Standards and Technology
, Gaithersburg, MD 20899
Joshua Johnson
Florida Gulf Coast University
, Fort Myers, FL 33965
Sunil K. Agrawal
Department of Mechanical Engineering,
University of Delaware
, Newark, DE 19716e-mail: agrawal@udel.edu
J. Med. Devices. Mar 2010, 4(1): 011004 (8 pages)
Published Online: March 26, 2010
Article history
Received:
October 7, 2009
Revised:
January 22, 2010
Online:
March 26, 2010
Published:
March 26, 2010
Citation
Bostelman, R., Ryu, J., Chang, T., Johnson, J., and Agrawal, S. K. (March 26, 2010). "An Advanced Patient Lift and Transfer Device for the Home." ASME. J. Med. Devices. March 2010; 4(1): 011004. https://doi.org/10.1115/1.4001255
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