{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,7]],"date-time":"2025-11-07T08:46:08Z","timestamp":1762505168516,"version":"3.38.0"},"reference-count":13,"publisher":"SAGE Publications","issue":"9","license":[{"start":{"date-parts":[[2006,9,1]],"date-time":"2006-09-01T00:00:00Z","timestamp":1157068800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2006,9]]},"abstract":"<jats:p> This paper describes the mechanical devices, the movements and the associated kinematic models of a novel wheelchair prototype capable of climbing staircases. The key feature of the mechanical design is the use of two decoupled mechanisms in each axle, one used to negotiate steps, and the other to position the axle with respect to the chair to accommodate the overall slope. This decoupling makes possible many different climbing strategies, the overall mechanism being extraordinarily versatile from a control point of view. Kinematic models have been developed for the different mechanical configurations that appear during all the ascend\/descend processes. These models are required to control the actuators of the wheelchair in such a way that its centre of mass is able to follow arbitrary spatial trajectories. This is very important as one has to design very smooth spatial trajectories, keeping a near null inclination of the seat all the time in order to guarantee the comfort of the passenger, usually a handicapped or injured person. A real prototype is presented, and experimental results are reported that show the efficiency of the mechanism and the accuracy of the kinematic models developed. <\/jats:p>","DOI":"10.1177\/0278364906069149","type":"journal-article","created":{"date-parts":[[2006,8,23]],"date-time":"2006-08-23T14:18:08Z","timestamp":1156342688000},"page":"825-841","source":"Crossref","is-referenced-by-count":55,"title":["Kinematic Model of a New Staircase Climbing Wheelchair and its Experimental Validation"],"prefix":"10.1177","volume":"25","author":[{"given":"R.","family":"Morales","sequence":"first","affiliation":[{"name":"School of Industrial Engineering University of Castilla-La Mancha 13071                         Ciudad Real, Spain,"}]},{"given":"V.","family":"Feliu","sequence":"additional","affiliation":[{"name":"School of Industrial Engineering University of Castilla-La Mancha 13071                         Ciudad Real, Spain,"}]},{"given":"A.","family":"Gonz\u00e1lez","sequence":"additional","affiliation":[{"name":"School of Industrial Engineering University of Castilla-La Mancha 13071                         Ciudad Real, Spain,"}]},{"given":"P.","family":"Pintado","sequence":"additional","affiliation":[{"name":"School of Industrial Engineering University of Castilla-La Mancha 13071                         Ciudad Real, Spain,"}]}],"member":"179","published-online":{"date-parts":[[2006,9,1]]},"reference":[{"volume-title":"UNE Sillas de ruedas, Dimensiones Totales M\u00e1ximas, UNE 111-915-91","year":"1991","author":"AENOR","key":"atypb1"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904047616"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2003.1256296"},{"volume-title":"Proceedings of the 2001 IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Hirose, S.","key":"atypb4"},{"volume-title":"Proceedings of the 4th International Conference on Rehabilitation Robots","author":"Krovi, V.","key":"atypb5"},{"volume-title":"Proceedings of the 20th Annual International Conference of the IEEE Engineering in Medicine and Biology Society","author":"Lawn, M.","key":"atypb6"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2003.816875"},{"volume-title":"Stair-climbing vehicle for wheelchair","year":"1996","author":"Misawa, R.","key":"atypb8"},{"volume-title":"A new staircase climbing wheelchair","year":"2003","author":"Morales, R.","key":"atypb9"},{"volume-title":"Kinematics of a new staircase climbing wheelchair","year":"2004","author":"Morales, R.","key":"atypb10"},{"volume-title":"Proceedings of the 1999 IEEE International Conference on Robotics and Automation","author":"Uchida, Y.","key":"atypb11"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1109\/86.481974"},{"journal-title":"IEEEEMBC and CMBEC","year":"1995","author":"Wiesspeiner, G.","key":"atypb13"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364906069149","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364906069149","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,2]],"date-time":"2025-03-02T04:21:11Z","timestamp":1740889271000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364906069149"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2006,9]]},"references-count":13,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2006,9]]}},"alternative-id":["10.1177\/0278364906069149"],"URL":"https:\/\/doi.org\/10.1177\/0278364906069149","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"type":"print","value":"0278-3649"},{"type":"electronic","value":"1741-3176"}],"subject":[],"published":{"date-parts":[[2006,9]]}}}