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Dynamic control of a reconfigurable stair-climbing mobility system

Published online by Cambridge University Press:  24 May 2012

R. Morales
Department of Electrical, Electronics and Automation Engineering, University of Castilla-La Mancha, Albacete 02071, Spain
J. Somolinos*
Department of Oceanic Systems, Universidad Politécnica de Madrid, Madrid 28040, Spain
J. Cerrada
Department of Computer Systems and Software Engineering, Universidad Nacional de Educación a Distancia (UNED), Madrid 28040, Spain
*Corresponding author. E-mail:


Electric-powered wheelchairs improve the mobility of people with physical disabilities, but the problem to deal with certain architectural barriers has not been resolved satisfactorily. In order to solve this problem, a stair-climbing mobility system (SCMS) was developed. This paper presents a practical dynamic control system that allows the SCMS to exhibit a successful climbing process when faced with typical architectural barriers such as curbs, ramps, or staircases. The implemented control system depicts high simplicity, computational efficiency, and the possibility of an easy implementation in a microprocessor-/microcontroller-based system. Finally, experiments are included to support theoretical results.

Copyright © Cambridge University Press 2012

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