title: Integrated modeling and design for realizing a two-wheeled wheelchair for disabled.
abstract: Two-wheeled wheelchairs are considered highly nonlinear and complex systems. The systems mimic a double-inverted pendulum scenario and will provide better maneuverability in confined spaces and also to reach higher level of height for pick and place tasks. The challenge resides in modeling and control of the two-wheeled wheelchair to perform comparably to a normal four-wheeled wheelchair. Most common modeling techniques have been accomplished by researchers utilizing the basic Newton's Laws of motion and some have used 3D tools to model the system where the models are much more theoretical and quite far from the practical implementation. This article is aimed at closing the gap between the conventional mathematical modeling approaches where the integrated 3D modeling approach with validation on the actual hardware implementation was conducted. To achieve this, both nonlinear and a linearized model in terms of state space model were obtained from the mathematical model of the system for analysis and, thereafter, a 3D virtual prototype of the wheelchair was developed, simulated, and analyzed. This has increased the confidence level for the proposed platform and facilitated the actual hardware implementation of the two-wheeled wheelchair. Results show that the prototype developed and tested has successfully worked within the specific requirements established.
authors.affiliation: a Department of Mechatronics, Kulliyyah of Engineering , International Islamic University Malaysia , Jalan Gombak , Kuala Lumpur , Malaysia.
authors.forename: Tareq
authors.initials: T
authors.lastname: Altalmas
authors.affiliation: a Department of Mechatronics, Kulliyyah of Engineering , International Islamic University Malaysia , Jalan Gombak , Kuala Lumpur , Malaysia.
authors.forename: Abqori
authors.initials: A
authors.lastname: Aula
authors.affiliation: a Department of Mechatronics, Kulliyyah of Engineering , International Islamic University Malaysia , Jalan Gombak , Kuala Lumpur , Malaysia.
authors.forename: Salmiah
authors.initials: S
authors.lastname: Ahmad
authors.affiliation: b Department of Automatic Control and Systems Engineering , The University of Sheffield , Sheffield , United Kingdom.
authors.forename: M O
authors.initials: MO
authors.lastname: Tokhi
authors.affiliation: a Department of Mechatronics, Kulliyyah of Engineering , International Islamic University Malaysia , Jalan Gombak , Kuala Lumpur , Malaysia.
authors.forename: Rini
authors.initials: R
authors.lastname: Akmeliawati
mesh_terms: D003198:Computer Simulation; D006233:Persons with Disabilities / Q000534:rehabilitation; D004867:Equipment Design / Q000379:methods*; D006801:Humans; D008962:Models, Theoretical; D019415:Torque; D014910:Wheelchairs
keywords: Lagrangian model; double inverted pendulum; equality; mobility; two-wheeled mobile robot; wheelchair