Design, Analysis & Prototyping of a Semi-Automated Staircase-Climbing Rehabilitation Robot
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In this paper, we describe the mechanical design, system overview, integration and control techniques associated with SKALA, a unique large-sized robot for carrying a person with physical disabilities, up and down staircases. As a reg- ular wheelchair is unable to perform such a maneuver, the system functions as a non-conventional wheelchair with sev- eral intelligent features. We describe the unique mechanical design and the design choices associated with it. We show- case the embedded control architecture that allows for sev- eral different modes of teleoperation, all of which have been described in detail. We further investigate the architecture associated with the autonomous operation of the system.
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