Development of Indoor Locomotion Assistive Robot, Ball-Chair, for the Elderly

고령자를 위한 실내 이동 보조 로봇 볼체어의 개발

  • Kim, Woo-Yong (Dept. of Mechanical System Design Engineering, Seoul Nat'l Univ. of Science and Technology) ;
  • Kim, Jung-Yup (Dept. of Mechanical System Design Engineering, Seoul Nat'l Univ. of Science and Technology)
  • 김우용 (서울과학기술대학교 기계시스템디자인공학과) ;
  • 김정엽 (서울과학기술대학교 기계시스템디자인공학과)
  • Received : 2014.01.17
  • Accepted : 2014.05.07
  • Published : 2014.07.01


This paper describes the development of an indoor locomotion assistive robot, Ball-Chair, comprising a novel drive system. This robot facilitates locomotion assistive operation in narrow spaces, in which common wheelchairs cannot move easily. The Ball-Chair has two main features: its structural feature and driving mechanism. The exoskeleton frames of the Ball-Chair have been designed with octagonal shapes resembling a circle, for minimizing its volume and weight. Additionally, all its driving parts (including the ball) are mounted within of the robot to enhance its safety. The Ball-Chair features a reverse ball-mouse driving mechanism comprising two driving omni-wheels in the x- and y-axes. By controlling the speed of each omni-wheel, a holonomic driving system that can facilitate omnidirectional locomotion has been achieved using only two wheels. The effective movement of the Ball-Chair in any direction within narrow indoor spaces was experimentally verified. The paper outlines the development procedure in detail.


Assistive Robot;Indoor Locomotion;Ball-Chair


Supported by : 서울과학기술대학교


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