Article

Personal mobility vehicles (PMVs) are now being actively developed. Most
PMVs are wheel-driven, a mode of transport notable for its efficiency. However,
such vehicles tend to have little mobility over rough terrain. We propose a new
type of PMV, a vehicle that traverses relatively smooth terrain by wheel but is
capable of negotiating rough terrain by using its wheel mechanisms as legs.
METHOD: The PMV we propose is intended to provide its user with a degree of
outdoor mobility in daily urban life, say when going to a neighbourhood shop or
simply taking a stroll. We do not consider elevators and other infrastructural
elements that should be barrier-free, but rather focus on unimproved terrains
that act as barriers to transport; for example, the steps that often act as de
facto boundaries around building entrances. RESULTS: We developed a new type of
PMV and implemented a new algorithm to realize the capability to move on rough
terrain. We experimentally compared the capability of a commercially available
PMV and the developed PMV. CONCLUSIONS: Through an experiment involving the
traversing of a representative terrain and a comparative experiment using a stock
PMV, we demonstrated the features of the proposed PMV. IMPLICATIONS FOR
REHABILITATION: We developed a single-seat personal mobility vehicle, the
RT-Mover PType 3, which is capable of traversing steps and other unimproved
terrain often found within an urban environment. RT-Mover PType 3 can handle
oblique slopes and other terrain that can be quite difficult to negotiate with a
conventional electric wheelchair, thus enabling individuals with impaired
mobility to move freely about urban environments. The current vehicle is
primarily intended for the active elderly and other individuals in fairly good
health, although, through further research and development, we do hope to extend
its usefulness to those with substantial mobility impairments.

Langue : ANGLAIS