Design and Fabrication of a Stair Climbing Soft Robotic Chair for Disabled and Senior People
Disciplines
Computer Engineering | Electrical and Computer Engineering | Mechanical Engineering
Abstract (300 words maximum)
In this paper we will explore the capabilities of a soft robot that is able to carry a person upstairs, designed for senior and disabled people. By making this robot out of soft compliant materials we allow for greater maneuverability and there is no switching between chairs to get upstairs. This design allows the user to gain back independence which improves overall happiness and wellbeing.
The model that we have made has three wedge shaped actuators that when filled with pressure can form either a round wheel for normal flat terrain or expand to easily go upstairs. Since we will be using NinjaFlex there is a specific balance of pressure to allow give in the wheels, in round form, making small objects like rocks or cracks undetectable to the user. When in the expanded form the pressure is much higher making it stiffer to effectively climb stairs. The model we are making will be 1 square foot and capable of carrying 1-pound upstairs.
The model will be made of soft and hard components, with the wheels being the primary source of compliant materials and the chair portion and its connection to the base being hard to effectively secure an object, like a person. To avoid unnecessary spending and having multiple models we used Finite Element Analysis to examine the effectiveness of the actuators in the wheels. This is critical because it allows us to see the effects of stress-strain relations, failure, bending, buckling, and stiffness. This paper will also offer knowledge on 3D printing using NinjaFlex.
Academic department under which the project should be listed
SPCEET - Robotics and Mechatronics Engineering
Primary Investigator (PI) Name
Turaj Ashuri
Additional Faculty
Amir Ali Amiri Moghadam, Department of Mechatronics Engineering, aamirimo@kennesaw.edu
Design and Fabrication of a Stair Climbing Soft Robotic Chair for Disabled and Senior People
In this paper we will explore the capabilities of a soft robot that is able to carry a person upstairs, designed for senior and disabled people. By making this robot out of soft compliant materials we allow for greater maneuverability and there is no switching between chairs to get upstairs. This design allows the user to gain back independence which improves overall happiness and wellbeing.
The model that we have made has three wedge shaped actuators that when filled with pressure can form either a round wheel for normal flat terrain or expand to easily go upstairs. Since we will be using NinjaFlex there is a specific balance of pressure to allow give in the wheels, in round form, making small objects like rocks or cracks undetectable to the user. When in the expanded form the pressure is much higher making it stiffer to effectively climb stairs. The model we are making will be 1 square foot and capable of carrying 1-pound upstairs.
The model will be made of soft and hard components, with the wheels being the primary source of compliant materials and the chair portion and its connection to the base being hard to effectively secure an object, like a person. To avoid unnecessary spending and having multiple models we used Finite Element Analysis to examine the effectiveness of the actuators in the wheels. This is critical because it allows us to see the effects of stress-strain relations, failure, bending, buckling, and stiffness. This paper will also offer knowledge on 3D printing using NinjaFlex.