Kinematic analysis of the sit-to-stand mechanism of a reconfigurable wheelchair

In this paper; the authors presents kinematics analysis of a sit to stand mechanism of a reconfigurable wheelchair. A reconfigurable wheelchair is a device designed and built for the purpose of rehabilitation and self-assistance for a disabled 25 kg child. In addition to the sit-to-stand facility; the developed wheelchair has two additional features: upper body laying by adjusting the back seat and knee and ankle exercising mechanism. This flexible configuration will allow the user to use the wheelchair as a mobility device as well as for rehabilitation purposes without need any external support. The mechanism is identified and a position analysis for the transform between sit to stand posture is obtained. MATLAB software is used to simulate the pattern of motion of both the input link and the follower. Proceeding in the investigation, velocity and acceleration analyses are derived for the reconfigurable wheelchair. Based on the previous analysis, the linear velocity and acceleration equations of the moving links are obtained.