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 regular wheelchair is unable to perform such a maneuver, the system functions as a non-conventional wheelchair with several intelligent features. We describe the unique mechanical design and the design choices associated with it. We showcase the embedded control architecture that allows for several 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.

中文翻译：

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半自动爬楼梯康复机器人的设计、分析和原型制作

在本文中，我们描述了与 SKALA 相关的机械设计、系统概述、集成和控制技术，SKALA 是一种独特的大型机器人，用于携带残疾人上下楼梯。由于普通轮椅无法执行此类操作，因此该系统可用作具有多种智能功能的非传统轮椅。我们描述了独特的机械设计和与之相关的设计选择。我们展示了允许多种不同远程操作模式的嵌入式控制架构，所有这些都已详细描述。我们进一步研究了与系统自主运行相关的架构。