Collision-Detecting Device for Omnidirectional Electric Wheelchair

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="672826.fig.0010a" src="https://static.hindawi.com/articles/isrn/volume-2013/672826/figures/672826.fig.0010a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>  <svg height="7.9499998" id="M65" style="vertical-align:-0.1638pt" version="1.1" viewbox="0 0 9.625 7.9499998" width="9.625" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,7.675)"><path d="M536 404q0 -17 -13.5 -31.5t-26.5 -14.5q-8 0 -15 10q-11 14 -25 14q-22 0 -67 -50q-47 -52 -68 -82l37 -102q31 -88 55 -88t78 59l16 -23q-32 -48 -68.5 -78t-65.5 -30q-19 0 -37.5 20t-29.5 53l-41 116q-72 -106 -114.5 -147.5t-79.5 -41.5q-21 0 -34.5 14t-13.5 37
q0 16 13.5 31.5t28.5 15.5q12 0 17 -11q5 -10 25 -10q22 0 57.5 36t89.5 111l-40 108q-22 58 -36 58q-21 0 -67 -57l-19 20q81 107 125 107q17 0 30 -22t39 -88l22 -55q68 92 108.5 128.5t74.5 36.5q20 0 32.5 -14t12.5 -30z" id="x1D465"></path></g>
</svg>-axis displacement</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="672826.fig.0010b" src="https://static.hindawi.com/articles/isrn/volume-2013/672826/figures/672826.fig.0010b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b><svg height="12.175" id="M66" style="vertical-align:-3.56265pt" version="1.1" viewbox="0 0 9.9624996 12.175" width="9.9624996" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,7.675)"><path d="M556 393q0 -39 -36 -106q-42 -78 -185 -279q-47 -66 -81 -108t-117 -135l-112 -26l-8 22q150 90 251 219q-6 136 -39 340q-8 53 -21 53q-6 0 -27 -19.5t-38 -42.5l-16 26q80 111 127 111q23 0 35 -28t20 -90q18 -137 27 -263h2q142 200 142 279q0 24 -14 48q-4 7 5 26
q13 28 43 28q18 0 30 -15.5t12 -39.5z" id="x1D466"></path></g>
</svg>-axis displacement</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="672826.fig.0010c" src="https://static.hindawi.com/articles/isrn/volume-2013/672826/figures/672826.fig.0010c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b><svg height="12.4375" id="M67" style="vertical-align:-0.1638pt" version="1.1" viewbox="0 0 8.5874996 12.4375" width="8.5874996" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,12.162)"><path d="M475 507q0 -83 -20 -172t-56 -167.5t-93.5 -129t-125.5 -50.5q-157 0 -157 227q0 78 21.5 164t59 161t96.5 123.5t126 48.5q79 0 114 -58t35 -147zM391 522q0 155 -81 155q-62 0 -111 -82.5t-73 -200.5h253q12 81 12 128zM373 346h-255q-12 -91 -12 -150q0 -72 20 -123
t63 -51q34 0 64 28.5t52.5 77t39 103t28.5 115.5z" id="x1D703"></path></g>
</svg>-axis displacement</td></tr></table></td></tr></table>

<table><svg height="12.175" id="M64" style="vertical-align:-3.56265pt" version="1.1" viewbox="0 0 9.9624996 12.175" width="9.9624996" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,7.675)"><path d="M556 393q0 -39 -36 -106q-42 -78 -185 -279q-47 -66 -81 -108t-117 -135l-112 -26l-8 22q150 90 251 219q-6 136 -39 340q-8 53 -21 53q-6 0 -27 -19.5t-38 -42.5l-16 26q80 111 127 111q23 0 35 -28t20 -90q18 -137 27 -263h2q142 200 142 279q0 24 -14 48q-4 7 5 26
q13 28 43 28q18 0 30 -15.5t12 -39.5z" id="x1D466"></path></g>
</svg>-axis collision.</table>

International Scholarly Research Notices

Collision-Detecting Device for Omnidirectional Electric Wheelchair

Figure 10