For a normal life, persons with locomotors disabilities need mobility. Their transfer from bed to wheel chair and then into a car represents one of their essential needs. This paper presents research results on the adaptive mechatronic system for transferring people with locomotor disabilities from the wheelchair into the car. Experiments with perception subsystem have been conducted in real motion environment. The mechatronic system’s main component is a parallelogram mechanism whose motion is controlled by the processed signals acquired from the sensors of visual perception subsystem. For avoiding person’s body collision with different parts of the car (pillar, celling, door) the perception subsystem has camera and laser sensor. The information from these sensors determine accurate control of parallelogram mechanism motion.

Full Text:



M. Pandelea, I. Todiriţe, C. Radu Frenţ, L. Vlădăreanu, and M. Iliescu, Integrated Smart System for Robotic Assisted Living, in A. Joshi, A. K. Nagar, G. Marin-Raventos (eds), “Sustainable Intelligent Systems,” Advances in Sustainability Science and Technology, Springer Singapore, 2021,

M. Luperto, J. Monroy, J. Renoux, F. Lunardini, N. Basilico, M. Bulgheroni, and N. A. Borghese, Integrating Social Assistive Robots, IoT, Virtual Communities and Smart Objects to Assist at-Home Independently Living Elders: The MoveCare Project, International Journal of Social Robotics, pp. 1-31, 2022.

T. Shen, M. R. Afsar, H. Zhang, C. Ye, and X. Shen, A 3D Computer Vision-Guided Robotic Companion for Non-Contact Human Assistance and Rehabilitation, Journal of Intelligent & Robotic Systems, 100(3), pp. 911-923, 2020.

M. M. Martins, C. P. Santos, A. Frizera-Neto, and R. Ceres, Assistive mobility devices focusing on smart walkers: Classification and review, Robotics and Autonomous Systems, 60(4), 2012.

Y. Long and Y. Peng, Development and Validation of a Robotic System Combining Mobile Wheelchair and Lower Extremity Exoskeleton, Journal of Intelligent & Robotic Systems, 104(1), pp. 1-12, 2022.

M. Ning, K. Yu, C. Zhang, Z. Wu, and Y. Wang, Wheelchair design with variable posture adjustment and obstacle-overcoming ability, J. of the Brazilian Society of Mechanical Sciences and Engineering, 43(4), pp. 1-21, 2021.

M. F. Jimenez, W. Scheidegger, R. C. Mello, T. Bastos, and A. Frizera, Bringing proxemics to walker-assisted gait: using admittance control with spatial modulation to navigate in confined spaces, Personal and Ubiquitous Computing, pp. 1-19, 2021.

K. Iwakiri, M. Sotoyama, and M. Takahashi, Evaluation of lifting and lowering velocities while using a patient lift for transfer during nursing care, International Journal of Industrial Ergonomics, 86, 103194, 2021.

C. M. Bauer, I. Nast, M. Scheermesser, R. P. Kuster, D. Textor, M. Wenger, and D. Baumgartner, A novel assistive therapy chair to improve trunk control during neurorehabilitation: Perceptions of physical therapists and patients, Applied Ergonomics, 94, 103390, 2021.

Z. Huang, A. Nagata, M. Kanai-Pak, J. Maeda, Y. Kitajima, M. Nakamura, and J. Ota, Robot patient for nursing self-training in transferring patient from bed to wheel chair, in International Conference on Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management, pp. 361-368, Springer Cham. June 2014.

A. Cotfas, I. Dugaesescu, C. Nitu, G. M. B. Mincu, and M. Iliescu, Mechatronic system for increasing mobility of people with locomotor disability, The Romanian Journal of Technical Sciences, Applied Mechanics., 66(3), pp. 245-251, 2021.


  • There are currently no refbacks.