IEEE Robotics & Automation Magazine - December 2017 - 46
The leg-motion consists of three parts:
1) The COG of the P-WA is moved within the support polygon.
2) The leg-motion wheel is moved similar to a leg (lifting and
swinging).
3) The front/rear steering and COG of the P-WA are reset to
the initial position (to Wheel Mode motion).
During the leg-motion mode, it is not necessary for a driver
to control the motion of the P-WA.
The Cybathlon
RT-Movers is the team name under which we attended the
2016 Cybathlon. The pilot of our team was a manual (nonpowered) wheelchair user, and his diagnosis is multiple
sclerosis [tetraplegia (upper limbs incomplete, lower limbs
complete)]. There were five third-year and first-year Wakayama University undergraduate students on the team who
helped with the team's activities, especially the experiments.
Our pilot completed all tasks with a full score of 660
points; however, the time taken to complete all goals was
312 s, which placed our team fourth in the final race at the
Cybathlon. Table 3 shows the final race results in terms of the
time of each task. Our team was behind by approximately 70 s
just after the first two tasks (the table and slalom), which were
easy to complete for other teams. In these tasks, our pilot
adjusted the P-WA a few times for the course adjustment, and
the following points should be improved in the near future:
● In the seat-sliding mode for the table task, some motions
should be controlled simultaneously and with higher speed.
● The P-WA should be well tuned for small turns with higher
speed.
● The driver under this tense atmosphere should perform
adequately.
Figure 8 shows the P-WA performance at the final race
[(e) was only in the qualification race]. The pilot opened the
door after a ramp [Figure 8(a)], and he drove on rough
terrain [Figure 8(b)] and slalomed between poles [Figure 8(c)].
In the table task [Figure 8(d)], the seat slid forward to not
interfere with the table. Figure 8(e) shows the first step in
A
0
30
18°
0
30
2,0
0
0
00
B
2,5
(a)
(b)
15
Seat Pitch Angle
Seat Roll Angle
Angle of Pitching Axis
Angle of Front Roll Axis
Angle of Rear Roll Axis
10
Angle (°)
5
0
-5
-10
166
168
170
172
174
Time (s)
176
178
180
182
(c)
Figure 9. The data from moving on the tilted path task at the Cybathlon: (a) the tilted path task [17], (b) a scene on the tilted path,
and (c) data concerning the movement from A of (a) to B of (a).
46
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IEEE ROBOTICS & AUTOMATION MAGAZINE
*
DECEMBER 2017
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