Proposal of a personal mobility vehicle capable of traversing rough terrain

Abstract

Purpose: 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.

• Leg-wheel robot
• personal mobility vehicle
• robotic wheelchair
• rough terrain

Acknowledgements

The author thanks all concerned, including the fourth-year undergraduates of our research team for their most helpful assistance with test preparation and the like.