Task of Pushing a Button by Using the Manipulator on the Wheelchair

Abstract

In recent years, it becomes difficult to care in constant attendance on each disability person. So the caretakers cannot have many time for movement support. Therefore we paid our attentions to the movement support for disability person who uses an electrical wheelchair. We thought that the expansion of moving area by using a robot arm on the electrical wheelchair. For example, it push a button of the elevator. In this report, we propose a controller. A proposed control method is made a database by using the inverse kinematics. And proposed controller is composed air pipe and control stick. We show that the experiment result of pushing the button by using the robot arm on the wheelchair.