Design and Performance Evaluation of 4 Wheeled Omni Wheelchair with Reduced Slip and Vibration

Holonomic wheelchairs are being popular for their ability to move in constrained spaces due to their omnidirectional mobility. In this paper we have presented design and development of a 4 wheel driven omni wheelchair suited for indoor navigation with reduced wheel slippage and vibration. The design has been evaluated with wheel load measurement from current consumption and vibration measurement with a 3 axis accelerometer mounted on the chassis. From the result and analysis, it is evident that our proposed design shows less wheel slippage and vibration than existing designs. The system can find its application as an assistive aid for geriatric population or as a smart indoor mobility vehicle.