廬棃偺RT-Mover僔儕乕僘

丂Fig.1偼扨弮側抜嵎傪RT-Mover偑堏摦偟偰偄傞搑拞偱偁傞丏嵍屻幵椫傪媟偺傛偆偵帩偪忋偘傞偨傔偵丆巆傝俁偮偺巟帩幵椫偱嶌傞巟帩懡妏宍偵廳怱偑擖傞傛偆偵俁偮偺巟帩幵椫偺埵抲傪挷惍偟偰偄偨[paper 5]丏偨偩偟壽戣揰偼丆俁偮偺巟帩幵椫偺埵抲傪偢傜偡偨傔偺僗儁乕僗偑昁梫偱偁傞偙偲偲丆俁偮偺巟帩幵椫偺埵抲偺挷惍偱懳墳偱偒傞晄惍抧偺斖埻偑彫偝偄偙偲偩偭偨丏偦偙偱PType 3偱偼僔乕僩晹暘傪嵍塃偵僗儔僀僪偡傞婡峔傪晅壛偟偰俁偮偺巟帩幵椫偱嶌傞巟帩懡妏宍撪偵廳怱偑梋桾傪帩偭偰擖傞傛偆偵夵椙傪巤偟偨[paper 2]丏[paper 4]偵偼丆奺幵椫偺愙抧埵抲崅偝偵傛偭偰曄壔偡傞堏摦壜擻側晄惍抧偺斖埻偺夝愅寢壥傪帵偟偰偁傞丏


壽戣揰

丂廬棃偺RT-Mover僔儕乕僘偱偼僒僀僶僗儘儞偱愝掕偝傟偨壽戣楬柺傪堏摦偡傞偙偲偼崲擄偱偁傞丏

侾丏奒抜傪忋傞晄惍抧堏摦擻椡偼側偄
丂丂棟桼丗俁抜偺奒抜傪忋傞応崌丆婡懱偑嵟戝偱40搙庛孹偔丆壛偊偰奒抜摜柺偵偁傞巟帩幵椫偺
丂丂丂丂丂埵抲傪挷惍偡傞僗儁乕僗偑側偄偨傔廬棃尋媶偺惉壥偱偼堏摦偑壜擻偱偁傞丏

俀丏Ramp and Door偱偺僪傾偺奐偗暵傔偑偱偒側偄
丂丂棟桼丗僪傾偺奐偗暵傔偺嵺偵僪傾偑幵椫偲姳徛偟丆庤偑撏偔斖埻傪挻偊傞偙偲偱偁傞丏

Already proposed RT-Movers' problem

They face difficulty of getting over tasks of cybathlon as follows.

- There is no capability of climbing three-step stairs up and down.
丂Reason: The body tilts at maximum almost 40 degrees when climbing stairs. In addition to that, there is no space to adjust supporting wheels in order to provide enough static stability. Previous research outcome cannot deal with this situation.

- It is difficult to open and close a door at Ramp and Door task.
丂Reason: A pilot's arm does not reach a handle of the door because wheels interfere with the door when opening and closing.

Fig.1 RT-Mover climbs up a step.


婡懱奐敪偵偍偗傞栚昗乮僒僀僶僗儘儞2016乯

丂廬棃尋媶偱偼丆抜嵎抧宍偵娭偟偰乽扨弮抜嵎乻傪慜採偵峫偊偰偄偨丏杮僾儘僕僃僋僩偱偼懳徾偲偡傞晄惍抧偺斖埻傪乽悢抜偺奒抜乻傑偱奼戝偡傞丏偙傟偑怴偟偄婡懱奐敪偺戝偒側栚揑偺堦偮偱偁傞丏悢抜偺奒抜偺堏摦偑壜擻偵側傟偽丆偄傢備傞僶儕傾僼儕乕娭楢朄偱懳徾偵側傜側偄屄強偵巆傞奒抜側偳偺晄惍抧傕帺桼偵堏摦偱偒傞傛偆偵側傞偨傔丆偦偺岠壥偼旕忢偵戝偒偄丏
丂偙傟偵壛偊偰丆僔乕僩偵忔偭偨傑傑僪傾偺奐偗暵傔偑偱偒傞傛偆偵丆偁傞偄偼懌偑僥乕僽儖偺壓偵擖傞傛偆偵偲偄偭偨擔忢惗妶偱偺妶摦傕壜擻偵側傞傛偆偵奺晹暘偺壜摦斖埻傪奼戝偡傞丏

偦偺偨傔偺庡側夵椙億僀儞僩偼埲壓偱偁傞丏
丒搵忔晹暘偺堏摦曽岦偺捛壛乮嵍塃曽岦偵壛偊偰慜屻曽岦乯
丒搵忔晹暘偺壜摦斖埻偺奼戝
丒婡懱挿偺専摙
丒僔儞僾儖側婡峔偵傛傞丆偦偺応慁夞婡擻偺払惉

Aim of developing brand-new machine

The brand-new machine must complete all tasks of cybathlon including three-step stairs. That means it wins the gold medal at cybathlon.

Major improvements are follows:
- Add an axis to move a seat forward and backward
- Expand a movable area of the seat
- Modify a body length
- Install a new mechanism for pivoting by using a simple mechanism

Fig.2 PType WA for Cybathlon 2016

PType WA for Cybathlon 2016(Fig.2)

丂奒抜偺忋傝壓傝婡擻傗僔乕僩晹偺堏摦婡擻傪壛偊丆偝傜偵婡峔傗僔僗僥儉傪愻楙偟偨崅婡擻揹摦幵偄偡RT-Mover PType WA傪怴偨偵奐敪偟偨(Figs.2 - 4). 婡夿丆揹婥夞楬丆僐儞僺儏乕僞僔僗僥儉丆僜僼僩僂僄傾偡傋偰偺崁栚偑変乆偺奐敪崁栚偱偁傞丏
奐敪偟偨婡懱偺堏摦惈擻傪昡壙偟榑暥[paper 6 ? 8]偵傑偲傔偨丏

We are developping the latest version of RT-Mover, named as PType WA (Figs. 2 - 4). All fields such as mechanics, electrical system, computer system, software and control algorithm, are within our works.
The performance of PType WA was evaluated and written in [paper 6] ? [paper 8].


Fig.3 RT-Mover PType WA in lab


Fig.4 Under development of PType WA






Fig.5 RT-Mover PType WA MK-嘦

Fig.6 Robotic arm

Fig.7 Down stairs

RT-Mover PType WA MK-嘦傊偺恑壔 (for Cybathlon 2020)

丂 擄堈搙偑崅偔側偭偨僒僀僶僗儘儞2020偵懳墳偡傞偨傔,庡偵師偺婡擻傪怴偨偵晅偗壛偊,RT-Mover Pype WA MK-嘦傊偲恑壔偟偨.

丒楢懕揑側奒抜傪忋傝壓傝偡傞堏摦惂屼傾儖僑儕僘儉
丒僪傾偺奐偗暵傔傪偱偒傞儘儃僢僩傾乕儉
丒偡傋偰偺僞僗僋摦嶌偺崅懍壔傾儖僑儕僘儉

The followings are main improvements for Cybathlon 2020 in which the level of tasks become more difficult than Cybathlon 2016:

-motoin algorithm for climbing up and down stairs,
-robotic algorithm for opeing and closing a door,
-speedy and stable motion algorithms for all tasks.
Now, we call the new machine as RT-Mover PType WA MK-嘦.


丂偄偔偮偐偺婡擻偵偮偄偰偼丆怴偨偵摿嫋[patent 4, 5]偲偟偰怽惪拞偱偁傞丏
Some new techniques are now applied for [patent 4, 5].

Reference

[paper 1] 拞搱廏楴丆嬤摗戱恀,乬晄惍抧堏摦僾儔僢僩僼僅乕儉RT-Mover僔儕乕僘偺愝寁巜恓乭丆愝寁岺妛丆vol.47, no.9, pp.423-432, 2012.
[paper 2] Shuro Nakajima,乬Proposal of a personal mobility vehicle capable of traversing rough terrain,乭Disability and Rehabilitation: Assistive Technology, vol.9, no.3, pp.248-259, 2014.
[paper 3] Shuro Nakajima,乬Gait algorithm of personal mobility vehicle for negotiating obstacles,乭Disability and Rehabilitation: Assistive Technology, vol.9, no.2, pp.151-163, 2014.
[paper 4] Shuro Nakajima,乬Improved Gait Algorithm and Mobility Performance of RT-Mover Type Personal Mobility Vehicle,乭IEEE Access, vol.2, no.1, pp.26-39, 2014.
[paper 5] Shuro Nakajima,乬RT-Mover: a rough terrain mobile robot with a simple leg-wheel hybrid mechanism,乭The International Journal of Robotics Research, vol.30 Issue 13, pp.1609-1626, 2011.
[paper 6] Shuro Nakajima, 乬A New Personal Mobility Vehicle for Daily Life: Improvements on a New RT-Mover that Enable Greater Mobility are Showcased at the Cybathlon,乭 IEEE Robotics and Automation Magazine, vol.24, issue 4, pp.37-48, 2017.
[paper 7] 拞搱廏楴丆乬崙嵺嫞媄夛僒僀僶僗儘儞傪捠偠偨堏摦僾儔僢僩僼僅乕儉偺堏摦惈擻妋擣偲4埵擖徿偐傜偺抦尒乭丆擔杮儘儃僢僩妛夛帍丆vol.35, no.10, pp.739-749, 2017.
[paper 8] Shuro Nakajima, 乬Evaluation of the Mobility Performance of a Personal Mobility Vehicle for Steps,乭 IEEE Access, Vol.5, No. 1, pp.9748-9756, 2017.

[patent 1] Japanese patent no.5561744. 拞搱廏楴丆壠晉榓庻,乬乮捿徧乯幵丆乮撪梕乯幵椫宆晄惍抧堏摦儘儃僢僩偺媟摦嶌傾儖僑儕僘儉偺埨掕惈岦忋摦嶌偵娭偡傞摿嫋乭丆摿嫋戞5578738崋丆2014擭7寧18擔丏
[patent 2] Japanere patent no.5561744. 拞搱廏楴丆壠晉榓庻丆乬乮捿徧乯幵丆乮撪梕乯幵椫宆忋惍抧堏摦儘儃僢僩偺媟摦嶌傾儖僑儕僘儉偵娭偡傞摿嫋乭丆摿嫋戞5561744崋丆2014擭6寧20擔.
[patent 3] Japanese patent no.5105528. 拞搱廏楴丆乬乮捿徧乯幵丆乮撪梕乯幵椫宆晄惍抧堏摦儘儃僢僩偺摿挜揑側婡峔傪妶偐偟偨堏摦曽朄偵娭偡傞摿嫋乭丆摿嫋戞5105528崋丆2012擭10寧12擔.
[patent 4] 拞搱廏楴丆乬乮柤徧乯堏摦懱偺抜嵎堏摦惂屼曽朄丆乮撪梕乯堏摦僾儔僢僩僼僅乕儉偺巔惃惂屼媦傃抜嵎堏摦惂屼媄弍偵娭偡傞摿嫋乭丆摿婅2018-092958丆2018擭5寧14擔丏
[patent 5] 拞搱廏楴丆乬乮柤徧乯巐幵椫宆堏摦懱偺奒抜堏摦曽朄丆乮撪梕乯巐幵椫宆偺堏摦懱偑奒抜傪堏摦偡傞偨傔偺庤朄偵娭偡傞摿嫋乭乮怽惪庤懕偒拞偺偨傔屻擔峏怴乯

[press 1] REUTERS WEB NEWS, Oct.23, 2012. (儘僀僞乕捠怣儂乕儉儁乕僕丆摦夋僯儏乕僗丆2012擭10寧23擔宖嵹)
(http://jp.reuters.com/video/2012/10/23/japanese-scientist-gets-leg-up-on-wheelc?videoId=238623600乯

[press 2] DigInfo TV (WEB NEWS)丆Oct.15, 2012.
乬Robotic wheelchair from Chiba Tech turns wheels into legs and climbs over steps乭,
(https://www.youtube.com/watch?v=t2SHKyq5yCU)