Design and Fabrication of Pneumatically Powered Wheel Chair-Stretcher Device
Design and Fabrication of Pneumatically Powered Wheel Chair-Stretcher Device
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ABSTRACT: Mobility aids are useful for disabled patients for transportation and a replacement for walking especially
in indoor and outdoor environment. Wheelchairs and stretchers are the most commonly used medical equipment for the
transportation of patients. Transferring the patients from wheelchair to stretcher or to the medical bed is always an issue
for the patients and for the attendants/ nurses as well. This may even result in musculoskeletal disorders to those who
are not trained to do so especially, when it comes to the caretakers. So there is a need for a wheelchair cum stretcher to
facilitate the disabled patient’s mobility and to provide novel medical equipment for use in the Indian hospitals.
Understanding the various issues regarding the mobility equipment and introducing a better design will be an asset for
the medical field and a helping hand for disabled individuals. This paper presents the design and fabrication of
pneumatically powered stretcher-chair convertible device with movable support segments in an attempt to help such
patients and caregivers. This helps the caregiver avoid heavy lifting situations that put their back at risk of injury. The
caregiver can merely shift the patient from a bed on to the device while the device is in the form of a stretcher. Then the
device can be converted into a wheelchair automatically with a press of a button. This can be done in the reverse
direction as well, when the patients in sitting in the wheel chair can be converted to a stretcher smoothly for the purpose
of diagnosis etc.
I. INTRODUCTION
A mobility aid is a device designed to assist walking or otherwise improve the mobility of people with mobility
impairment. Engineering sciences have come up with numerous aids for the patients. Out of these, mechanical aids for
physically impaired, especially for immobile patients are a major class. Assistive technology for the mobility of
impaired includes the wheelchair, lift aids and other devices, all of which have been around for centuries.
There are various walking aids which can help with impaired ability to walk and wheelchairs or mobility scooters for
more severe disability or longer journeys which would otherwise be undertaken on foot. For people who are blind or
visually impaired the white cane and guide dog have a long history of use. Other aids can help with mobility or transfer
within a building or where there are changes of level.
Traditionally the phrase "mobility aid" has applied mainly to low technology mechanical devices. The term also
appears in government documents, for example dealing with tax concessions of various kinds. It refers to those devices
whose use enables a freedom of movement similar to that of unassisted walking or standing up from a chair. Technical
advances can be expected to increase the scope of these devices considerably, for example by use of sensors and audio
or tactile feedback.
In this age of nuclear families, the smaller number of available caregivers for paralyzed patients is a major problem.
The shifting of such patients to a wheelchair is a delicate process and in most of the instances, two or more caregivers
are required. Paralysis patients are highly dependent on their caregivers. Today, number of available caregivers per
patient is showing a decreasing trend. The transfer of these immobile patients from bed to a wheel chair is a delicate
process and in most of the instances, two or more caregivers are required. However, it is estimated that 1 in 3 nurses or
caregivers will develop back injuries. Most injuries occur because the patient is relatively heavy to lift and access to
them is difficult when attempting to place the patient onto another seat. This poses a need for improving the available
support devices to ease the effort of available caregivers. Besides this, the inconvenience to the patient during the
transfer procedure also needs to be addressed. The transfer procedure gets harder with increase in the patient weight
and with the degree of immobility.
This paper addresses the above issue by presenting a new type of mobility aid, which is Stretcher to wheel chair
convertible device. The wheel chair can be converted to a stretcher whenever necessary with patient onboard. The
transformation is very smooth and can be made possible just with a press of a button. This is made possible using a
pneumatic system, which is first of its kind. Hydraulic based systems are already available in the market. However, due
to its higher cost, complexity and maintenance requirements makes its usability sacrificed. The reason why the
pneumatic system was not used in this system was its jerking behavior since air used in pneumatic system is
compressible when compared to liquids
This drawback is overcome using a shock absorber system, which make the working smoother. So by making this
system pneumatic, all the disadvantages of hydraulic based system is nullified and can make the system more user-
friendly.
and pain. Proper seating is an important aspect of wheelchair selection, and wheelchair cushions provide pressure relief
and some postural support. Electric powered mobility may be the best choice for driving long distance and may be
beneficial for people with upper and lower extremity impairments.
Fig.2.1: Anthropometric data of wheelchair user related uses within easy reach
(Source: www.socialjustice.nic.in)
This figure shows the ergonomic details of a person sitting in a wheelchair and based on wheelchair ergonomics and
posture analysis, the optimum angle between upper body and thigh region while sitting is 100-110° angle at the
knee joint (between thighs and lower legs) is 105- 110°.
The basic design of the device has evolved from the concept of a convertible wheelchair. Thus the initial sketches
for the project design included only the skeletal structure of a wheelchair.
Then the convertible feature was included to the design at a conceptual level and tremendous amount of
brainstorming was done. Since the fundamental aim of is to provide comfort to the patient as well as his/ her
caregiver, powered conversion of the device between chair and stretcher was given focus. In the second phase, the
power source was to be selected. Though hydraulic actuators are the best in terms of load handling and stability, the
relatively high cost and the bulkiness of the units hindered their choice for our purpose. Electric motors have good
load carrying capacity, speed control characteristics, precision etc. But their implementation necessitates the use of
gears, belts or pulleys making the over unit becomes bulky and heavy.
So pneumatic power where selected. The compressed air supply could be some distance away from the device.
Pneumatic actuators provide high force and speed at low unit cost in a small footprint.The next phase of design was
the choice of pneumatic cylinder specifications and the actuating mechanism as well as the link manipulation. After
considering various space and convenience factors, inverted-slider crank mechanism was selected for pneumatic
cylinders 1 & 2. Further the 2D design view was drawn using AutoCAD 2010 and 3D design view was drawn using
3ds max 2014, detailed examination of link dimensions, cylinder-link configurations, stress and strain analysis was
done using ANSYS software version 14.5. Once the design of links is safe and fixed, similar trial and error
procedure was repeated for various cylinder pressure, piston force and link configurations, incorporating the load/
the patient weight on the device. Since the design and fabrication of a prototype was intended, a maximum patient
weight of 100 kg was set. The patient’s body weight supported by each section of the device was estimated as per
the percentage body weight distribution suggested in the book, Human Body Dynamics: Classical Mechanics and
Human Movement by Aydin Tozeren. Also, based on wheelchair ergonomics and posture analysis, the optimum
angle between upper body and thigh region while sitting is 100-110° angle at the knee joint (between thighs and
lower legs) is 105- 110°.
This figure 3.3 shows the side view of the device in 2D.The head section is 600mm,seat section is 390mm and foot
section is 395mm.The distance from head section to the ground is 1202mm and the distance from the foot section to the
ground is 195mm.The front wheel is of diameter 140mm and the rear wheel is of diameter 320mm.
The 3D view of the device was designed using 3ds max 2014. In the 3D section, the pneumatic cylinders are shown.
The following views were obtained:
The figure 3.4 shows the 3D view of the device in wheelchair position. The front view of head section, seat section,
foot section, foot rest, front wheels and rear wheels are shown in the figure.
The figure 3.5 shows the 3D view of the device in stretcher position in which the two piston cylinders attached to the
base frame are shown. The two piston cylinders are in outward stroke, while the device is in stretcher position
13 Steel rod 3 1m MS
60si2MnA spring
16 Hydraulic Shock Absorber 1 8 inch stroke length
steel
17 Air flow control valve 2 6 mm dia
18 Male valve 4 6mm and 8mm dia
19 Female valve 4 6mm and 8mm dia
20 Split valve 2 6 mm dia
The table 3.1 shows the bill of materials that was used for the fabrication of the device. We mainly faced a high cost on
fabricating the body frame as it consists of purchasing mild steel round and square rods, galvanized iron flat sheets.
Although the labor charge for welding is high, we made efforts to reduce additional cost charges in welding as we
ourselves did the welding work. Most of the components were purchased from shops and body building workshops.
Pneumatic Pressure
Make Bore Stroke No. s
Cylinder Range
The power for the stretcher-chair conversion is pneumatic, as mentioned in the by pneumatic cylinders. Double acting
cylinders of two different specifications have been used depending on the load and orientation they are subjected to.
The two cylinders are labeled as cylinder-1 and cylinder-2. Both the cylinders are fixed parallel to each other and
simultaneously power the stretcher chair conversion of the head section.
Electrical
Sl No Manufacturer
Specifications
The force applied on nodes B and C were 500N each and the nodes A and D has rotary displacement respectively. The
base frame has 4 hinged pins. The whole load is acted on the hinged pins of base frame so that each hinged pin will
carry a load of 500N respectively.
According Von-Mises theory, Equivalent Stress analysis was done and the result obtained was that the maximum
equivalent stress is experienced at the third hinged pin. Other than this, Maximum shear stress and strain energy
analysis is also carried out, in order to make sure that the design is safe and the result obtained was satisfactory.
As the Maximum Shear Stress is analyzed on four hinged pins of the base frame, the result obtained was that the
maximum shear stress is experienced at the hinged point C with a value of 1.7162e8Paand minimum shear stress at D
with a value of 50.846Pa and both values are within the safe limit as shown in Figure 3.8.
In the case of Strain Energy Analysis, it was found that maximum strain energy was experienced at point C with a
value of 0.010296 Joules whereas minimum strain energy was experienced beyond point D with a value of 6.1819e-17
Joules as shown in Figure 3.9. Both the values obtained are within the safe limit.
From the above results, on the basis of Distortion Energy Theory and Von-Mises criteria, it was proved that the design
is safe. As per the analysis result, the device could carry a load of 100kg.
IV. FABRICATION
The entire fabrication of the device has been done around a basic framework. The framework has been made by
welding together mild steel pipes of square and rectangular cross sections, using Metal Arc Welding and Arc Welding
Electrodes (3.15mm x 350, 100-140 AMPS, DC(+/-)/AC OCV 50(min)). The relative low cost, availability and
properties like decent tensile, compressive strengths and weld-ability favored the choice of mild steel over other metals.
The frame has three main sections, namely the head, seat and foot sections. The framework along with the support
surfaces bears the patients weight. The seat section forms the basis as far as the assembling is concerned.
The head section and foot section are hinged to the seat section. The movable support segments are anchored in the
seat and head sections. The movable segments are then given a cushion each. Also the head section is given a pillow
type cushion. Arm rests are attached on either sides of seat section such that they can be swung sideways with the seat
edge as the pivot. The leg of the fabricated prototype is integral to the seat section. The angular orientations of the legs
are so as to provide the best balance. Each leg terminates into a flange on which a wheel is attached.
Rear wheels of 800mm diameter and front wheels of 200mm diameter have been used here. The wheels provide the
mobility to the device both in the stretcher and chair position. Each wheel has the ability to facilitate steering and front
wheels could facilitate 360 degree rotation of the device.
The total cost of the system is exactly 13, 614 INR. Which is comparatively less when compared to other similar
products in the industry which make use of hydraulic drives instead of pneumatic drives.
V. TESTING
While testing the device, it encountered a problem of jerking while conversion from wheelchair to stretcher and vice
versa. Also the process of conversion was not smooth working. In order to avoid the shock and jerking during the
stretcher-chair conversion of the device, a hydraulic shock absorber was implemented in the device. With the help of
this shock absorber, all the jerking and shock problem were solved. The shock damper uses SAE 60 lubricant oil for its
functioning.
Also a rear hatch lift support of a car has been implemented on the device for the smooth conversion processing of the
device. It has enabled smooth working of the device especially when converting from stretcher to wheelchair. The
figure 5.1 and 5.2 shows the image of the finally fabricated wheelchair-stretcher convertible device. The device in the
figure is in wheelchair position where the two piston cylinders are in inward stroke and compression of pressurized air
takes place inside the both piston cylinders. The air reservoir is visible in this image which is in blue color. The head
section, seat section and foot section are equipped with cushions and armrests are attached to head section.
The figure 5.1 shows the image of the finally fabricated wheelchair-stretcher convertible device in front view where the
device is in wheelchair position. The highlights in this image are the head section, seat section and foot section which
are equipped with cushions, footrests, armrests, rear wheel and front wheel.
The figure 5.2 shows the image of the finally fabricated wheelchair-stretcher convertible device in side view where the
device is in stretcher position. The three sections viz. head section, seat section and foot sections forms a continuous
mattress surface. The two piston cylinders are in outward stroke and expansion of pressurized air takes place inside the
both piston cylinders.
VI. CONCLUSION
A prototype of the pneumatically powered stretcher-chair device for a patient weight of 100kg was designed and
fabricated. The chair to bed conversion feature of this device makes patient transfer easier. The use of simple shifting
aids such as patient shifters can further optimize the patient transfer by avoiding heavy lifting situations and possible
back injury to the caregivers. This device combines the concept of patient mobility, patient transfer as well as patient
comfort. This enables the user to have two fold utility and satisfaction. Thus the spending of time for the patient to shift
from a normal wheelchair to a separate stretcher or from a separate stretcher to wheelchair vice versa is reduced. The
pneumatic components used herein have simple operation principles. Therefore, fault detections are simple. Also
pneumatic system proves to be non-hazardous.
Software and techniques used in design of the device must be altered in accordance to the needs. For this study, several
software packages were used independently to create and obtain an optimal wheelchair-stretcher convertible device
design. The specific packages used include AutoCAD 2010, 3ds Max 2014 and ANSYS 14.5. Various stress and strain
analysis was done and as per the result of analysis, the design was safe and implemented the fabrication of the device.
The main objective of this product that is to eliminate the step of shifting patient from bed or stretcher to wheelchair
and vice versa especially in the case of paralyzed patients was successfully attained. It reduces the effort of the
caregivers and makes sure that the patient is not hurt during the process of conversion. It is possible to save 50% space
by the wheelchair-stretcher device. The product will thus likely be an efficient mobility aid in hospitals.
REFERENCES
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BIOGRAPHY
Vishnu Prasad K V completed his B.Tech degree in Mechanical Engineering (2015) from
K.M.C.T College of Engineering, Calicut, Kerala. His areas of interest include Designing
and Drafting, Computer Aided Design. He is currently undergoing courses in Product
Design.
Rashid Ahamed K completed his B.Tech degree in Mechanical Engineering (2015) from
K.M.C.T College of Engineering, Calicut, Kerala. He is very much passionate about Management,
Marketing and Business. He is currently undergoing Business related Courses.
Safar Abdul Razack completed his B.Tech degree in Mechanical Engineering (2015) from
K.M.C.T College of Engineering, Calicut, Kerala. He has keen interest in Heating, Ventilation and
Air conditioning. He is presently undergoing an advanced course in HVAC at ISHRAE Institute
of Excellence, New Delhi.
Shamil Salam completed his B.Tech degree in Mechanical Engineering (2015) from K.M.C.T
College of Engineering, Calicut, Kerala. He has a great passion in latest technologies and
manufacturing of machines. He is committed to do experimental analysis beyond the theoretical
arena. Now he is a CEO at KENZON Pvt. Ltd