Modeling and analytic optimization of dynamic comfort for wheelchair robots undergoing random roads

Abstract

To make a rapid comfort assessment and a reasonable dynamic parameters choice of wheelchair robots, this paper proposes a dynamic comfort coefficient κ and analytically optimizes the cushion damping. Firstly, a traveling vibration model of the occupant-wheelchair system for wheelchair robots running on random roads was created. Secondly, the analytic formula of the occupant RMS (root mean square) acceleration was deduced. Moreover, the dynamic coefficient κ was proposed and its influence laws were revealed. Finally, the cushion system optimal damping ratio was calculated based on κ. The results show that the κ value is only determined by the parameters of the occupant-wheelchair system. The smaller the κ value is, the better the dynamic comfort is for wheelchair robots running on random roads. By minimizing κ, the occupant-wheelchair system can achieve a statistically optimal dynamic comfort effect.