CN117942233A

CN117942233A - Auxiliary wheelchair system

Info

Publication number: CN117942233A
Application number: CN202410244970.XA
Authority: CN
Inventors: 王志坚; 姜飞龙; 沈忠飞; 朱海滨; 吕勇; 张海军; 刘睿莹; 徐俊娜; 林培杰; 郑忠华
Original assignee: Jiaxing University
Current assignee: Jiaxing University
Priority date: 2024-03-05
Filing date: 2024-03-05
Publication date: 2024-04-30

Abstract

The invention is applicable to the technical field of medical rehabilitation robots, and provides an auxiliary wheelchair system, which comprises a seat system, a posture adjustment system and a chassis movement system; the two chassis movement systems are respectively arranged at two sides of the bottom of the posture adjustment system, the seat system is arranged at the top of the posture adjustment system, and when the two chassis movement systems singly or cooperatively move, the posture adjustment system and the seat system can be driven to move and surmount, and the posture adjustment system is used for adjusting the posture of the seat system; in the chassis motion system, the motor drives the Mecanum wheel to realize transverse and longitudinal motion, and the motor drives the swinging rod to realize obstacle crossing function; the three gesture adjusting branches can adjust the gesture of the seat in real time according to the needs of a user; the pneumatic muscle-based multifunctional robot has the characteristics of multiple functions, large gesture adjustment range and flexible movement, and can be used for helping old people and disabled people and medical assistance.

Description

Auxiliary wheelchair system

Technical Field

The invention belongs to the technical field of medical rehabilitation robots, and particularly relates to an auxiliary wheelchair system.

Background

Auxiliary wheelchairs are an important tool. The Chinese patent application number 03126318.6 and the Chinese patent application number 201911240688.X adopt the matching of large and small wheels to realize the obstacle surmounting of the wheelchair on steps and obstacles, but the height of the wheelchair is limited by the size of the wheels. Chinese patent application number 202020519153.8, 202111104202.7 use a combination of mechanisms to increase the obstacle crossing height, but the obstacle crossing height is limited. Meanwhile, the wheelchair has the problems of single function, limited posture adjustment range and limited movement range and flexibility, and a new auxiliary wheelchair system is necessary to be designed.

Disclosure of Invention

The embodiment of the invention aims to provide an auxiliary wheelchair system, which aims to solve the problems mentioned in the background art and has the advantages of multiple functions, large gesture adjustment range, flexible movement and the like.

Embodiments of the present invention are thus implemented, an auxiliary wheelchair system comprising a seating system, a posture adjustment system, and a chassis motion system;

The two chassis movement systems are respectively arranged at two sides of the bottom of the posture adjustment system, the seat system is arranged at the top of the posture adjustment system, and when the two chassis movement systems singly or cooperatively move, the posture adjustment system and the seat system can be driven to move and surmount, and the posture adjustment system is used for adjusting the posture of the seat system;

One chassis motion system comprises a first chassis module, a second chassis module, a first swinging rod and a second swinging rod, wherein the second chassis module is arranged at one side of the bottom of the attitude adjustment system through a lower side plate, the first chassis module is connected with one side, far away from the lower side plate, of the second chassis module through the first swinging rod, so as to form a four-bar structure, and the deformation of the four-bar structure is driven by the first chassis module and the second chassis module.

Preferably, the chassis module one includes: the rotating shafts of the motor III and the motor eight are fixedly connected with the swinging rod I and the swinging rod II respectively;

the chassis module II comprises: the frame I, motor II, motor five, motor six of setting in frame I, motor II, motor six's axis of rotation respectively with swinging arms I, swinging arms II fixed connection, motor I, motor five's axis of rotation respectively with Mecanum wheel three, mecanum wheel four fixed connection.

Preferably, the posture adjustment system comprises at least two posture adjustment branches, and at least two posture adjustment branches are regularly arranged.

Preferably, the posture adjustment system comprises three posture adjustment branches, which are respectively: the gesture adjusting branch I, the gesture adjusting branch II and the gesture adjusting branch III which are uniformly distributed on the circumference and have the same structure;

The first attitude adjusting branch comprises a first end piece, a second end piece, a third air cylinder, and a first air cylinder, a first pneumatic muscle and a second air cylinder which are linearly arranged between the first end piece and the second end piece, wherein the first air cylinder, the first pneumatic muscle and the second air cylinder are rotatably connected with the first end piece, and a telescopic rod of the third air cylinder is rotatably connected with the second end piece.

Preferably, the seating system comprises at least a seat having a seat cushion and a backrest.

Preferably, the auxiliary wheelchair system further comprises an auxiliary system, and two auxiliary systems are respectively arranged at two sides of the seat system.

Preferably, the auxiliary system comprises: side panels, end piece three and pneumatic muscle groups;

The side board is arranged on one side of the seat system, three pneumatic muscle groups are circumferentially distributed and arranged on the side board, the third end piece is arranged at one end of the pneumatic muscle groups far away from the side board, the pneumatic muscle groups are rotatably connected with the third end piece, and the third end piece is provided with an air claw.

Preferably, the pneumatic muscle group comprises an end piece IV, an end piece V, a pneumatic muscle II, a pneumatic muscle III and a pneumatic muscle IV, wherein the pneumatic muscle III and the pneumatic muscle IV are connected in series through an intermediate connecting piece and are arranged between the end piece IV and the end piece V in parallel with the pneumatic muscle II, the pneumatic muscle III is rotatably connected with the end piece IV, and the pneumatic muscle II is rotatably connected with the end piece IV; such a rotatable connection may be configured as a universal joint.

Preferably, brass is selected as the material of the first end piece, the second end piece, the third end piece, the fourth end piece and the fifth end piece in order to ensure the wear resistance and the strength of the mounting threads of the auxiliary wheelchair system; in order to reduce the weight of the auxiliary wheelchair system, the materials of the seat system and the side panels are plastic, and the auxiliary wheelchair is manufactured by adopting an injection molding technology.

Preferably, the auxiliary wheelchair system further comprises a control module for controlling the attitude adjustment system and the chassis movement system.

Preferably, the control module is connected with a stay wire type encoder which is used for monitoring the displacement change of each pneumatic muscle, and the stay wire type encoder is selected from DX-025 stay wire type encoders, so that the weight of the stay wire type encoder is light, and the influence on components in the displacement control process is small.

Compared with the prior art, in the auxiliary wheelchair system provided by the embodiment of the invention, the motor of the chassis module drives the Mecanum wheel to realize transverse and longitudinal movement, and the motor drives the swinging rod to realize obstacle crossing function; the three gesture adjusting branches can adjust the gesture of the seat in real time according to the needs of a user; by utilizing the characteristics of pneumatic muscles, the utility model has the characteristics of various functions, large gesture adjustment range and flexible movement, the combination of the chassis modules can realize obstacle surmounting of various height obstacles, and can be used for helping old people and disabled people and medical assistance.

Drawings

FIG. 1 is a perspective view of an auxiliary wheelchair system according to an embodiment of the present invention;

FIG. 2 is a block diagram of a chassis motion system in one embodiment;

FIG. 3 is a block diagram of a posture adjustment system in one embodiment;

FIG. 4 is a block diagram of a posture adjustment branch in one embodiment;

FIG. 5 is a block diagram of an auxiliary system in one embodiment;

FIG. 6 is a block diagram of a pneumatic muscle group in one embodiment;

in the accompanying drawings: chassis motion system 100, chassis module one 101, chassis module two 102, chassis module three 103, chassis module four 104, posture adjustment system 200, seat system 300, assistance system 400, motor one 5, motor two 6, frame one 7, swing lever one 8, motor three 9, mecanum wheel one 10, motor four 11, frame two 12, mecanum wheel two 13, mecanum wheel three 14, mecanum wheel four 15, motor five 16, motor six 17, swing lever two 18, motor seven 19, motor eight 20, lower side plate 21, posture adjustment branch one 22, seat 23, posture adjustment branch two 24, posture adjustment branch three 25, end piece one 26, end piece two 27, cylinder one 28, pneumatic muscle one 29, cylinder two 30, cylinder three 31, pneumatic claw 32, end piece three 33, pneumatic muscle group one 34, pneumatic muscle group two 35, pneumatic muscle group three 36, side panel 37, end piece four 38, pneumatic muscle two 39, pneumatic muscle three 40, intermediate connection piece 41, pneumatic muscle four 42, and end piece five 43.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

Noun interpretation: pneumatic muscle refers generally to pneumatic artificial muscle; pneumatic artificial muscle is driven by compressed air provided from outside to push and pull, and the process of the pneumatic artificial muscle is similar to the muscle movement of human body.

Specific implementations of the invention are described in detail below in connection with specific embodiments.

As shown in fig. 1 to 6, an auxiliary wheelchair system according to an embodiment of the present invention includes a seat system 300, a posture adjustment system 200, and a chassis motion system 100;

The two chassis motion systems 100 are respectively arranged at two sides of the bottom of the posture adjustment system 200, the seat system 300 is arranged at the top of the posture adjustment system 200, and when the two chassis motion systems 100 move singly or cooperatively, the posture adjustment system 200 and the seat system 300 can be driven to move and surmount, and the posture adjustment system 200 is used for adjusting the posture of the seat system 300;

One of the chassis motion systems 100 includes a first chassis module 101, a second chassis module 102, a first swing rod 8, and a second swing rod 18, where the second chassis module 102 is disposed at one side of the bottom of the posture adjustment system 200 through a lower side plate 21, the first chassis module 101 is connected to one side of the second chassis module 102 far away from the lower side plate 21 through the first swing rod 8 and the second swing rod 18, so as to form a four-bar structure, and deformation of the four-bar structure is driven by the first chassis module 101 and the second chassis module 102;

The two chassis motion systems 100 are identical in structure, and the other chassis motion system 100 includes a chassis module three 103, a chassis module four 104, a swing lever three and a swing lever four, and the chassis modules are identical in structure.

In this embodiment, the two chassis motion systems 100 move individually or cooperatively, as exemplified by: the chassis module I101 and the chassis module II 102 drive the swing rod II 18 to swing forwards and drive the swing rod I8 to swing forwards at the same time when the X-axis positive direction passes through an obstacle, and the chassis module II 102 realizes climbing; the actuation of the second chassis module 102 and the fourth chassis module 104 drives the second chassis module 102, the lower side plate 21 and the fourth chassis module 104 to move along the positive direction of the X axis; the first chassis module 101 and the second chassis module 102 drive the swing rod 18 to swing backwards, and drive the swing rod 8 to swing backwards until the first chassis module 101 is flush with the second chassis module 102, the third chassis module 103 is flush with the fourth chassis module 104 and the XY surface, and the second chassis module 102 and the fourth chassis module 104 drive the two chassis motion systems 100 and the lower side plate 21 to move along the positive direction of the X axis.

In one example of the present embodiment, the chassis module one 101 includes: the device comprises a frame II 12, a motor III 9, a motor IV 11, a motor seven 19 and a motor eight 20 which are arranged in the frame II 12, wherein the rotating shafts of the motor III 9 and the motor seven 19 are respectively and fixedly connected with a swinging rod I8 and a swinging rod II 18, and the rotating shafts of the motor IV 11 and the motor eight 20 are respectively and fixedly connected with a Mecanum wheel I10 and a Mecanum wheel II 13;

The chassis module two 102 includes: the device comprises a first frame 7, a first motor 5, a second motor 6, a fifth motor 16 and a sixth motor 17 which are arranged in the first frame 7, wherein rotating shafts of the second motor 6 and the sixth motor 17 are fixedly connected with a first swinging rod 8 and a second swinging rod 18 respectively, and rotating shafts of the first motor 5 and the fifth motor 16 are fixedly connected with a third Mecanum wheel 14 and a fourth Mecanum wheel 15 respectively.

Specifically, when the obstacle is surmounted in the positive direction of the X axis, the motor six 17 and the motor seven 19 drive the swing rod two 18 to swing forwards, the motor two 6 and the motor three 9 drive the swing rod one 8 to swing forwards, and the chassis module two 102 realizes climbing; the Mecanum wheel IV 15 in the chassis module II 102 and the corresponding Mecanum wheel in the chassis module IV 104 drive the chassis module II 102, the lower side plate 21 and the chassis module IV 104 to move along the positive direction of the X axis; the motor six 17 and the motor seven 19 drive the swing rod two 18 to swing backwards, the motor two 6 and the motor three 9 drive the swing rod one 8 to swing backwards until the chassis module one 101 is flush with the chassis module two 102, the chassis module three 103 is flush with the chassis module four 104 and the XY surface, and the Mecanum wheel three 14, the Mecanum wheel four 15 and the Mecanum wheel corresponding to the chassis module four 104 in the chassis module two 102 drive the two chassis motion systems one 100 and the lower side plate 21 to move along the positive direction of the X axis together.

In one example of the embodiment, the shells of the motor III 9, the motor IV 11, the motor seven 19 and the motor eight 20 are fixedly connected with the frame II 12; the shell bodies of the first motor 5, the second motor 6, the fifth motor 16 and the sixth motor 17 are fixedly connected with the first frame 7.

In the embodiment, the wheelchair has a plurality of functions of obstacle surmounting, posture adjustment, universal movement and the like by utilizing the posture adjustment system 200 and the four-bar structure, so that the requirements of helping the old and disabled can be met; three groups of gesture adjustment branches are utilized in the gesture adjustment system 200, so that the gesture of the wheelchair is dynamically adjusted in real time according to the requirements of a user; the Mecanum wheels are adopted in the chassis modules to realize the transverse and longitudinal movement adjustment of the wheelchair, and the combination of a plurality of chassis modules can realize obstacle surmounting of various height obstacles.

As shown in fig. 1, 3, and 4, in one embodiment, the posture adjustment system 200 includes at least two posture adjustment branches, and at least two of the posture adjustment branches are regularly arranged.

In one example, the posture adjustment system 200 includes three posture adjustment branches, which are: the gesture adjusting branch circuits I22, the gesture adjusting branch circuits II 24 and the gesture adjusting branch circuits III 25 which are uniformly distributed on the circumference and have the same structure;

The first posture adjustment branch 22 comprises a first end piece 26, a second end piece 27, a third cylinder 31, and a first cylinder 28, a first pneumatic muscle 29 and a second cylinder 30 which are linearly arranged between the first end piece 26 and the second end piece 27, wherein the first cylinder 28, the first pneumatic muscle 29, the second cylinder 30 and the first end piece 26 are rotatably connected, a telescopic rod of the third cylinder 31 is rotatably connected with the second end piece 27, and a cylinder body of the third cylinder 31 is fixed on the lower side plate 21; the rotatable connection is configured as a universal joint.

In one example, the posture adjustment system 200 includes two posture adjustment branches, and the two posture adjustment branches are regularly arranged.

In one example, the posture adjustment system 200 includes four posture adjustment branches, and the four posture adjustment branches are uniformly distributed in a circumference.

In this embodiment, when three gesture adjustment branches are set, the gesture adjustment branch first 22, the gesture adjustment branch second 24, and the gesture adjustment branch third 25 are in parallel connection, and by taking the gesture adjustment branch first 22 as an example, the first gesture adjustment branch 22 can realize linear motion along the Y direction by controlling the first cylinder 28, the first pneumatic muscle 29, the second cylinder 30, and the third cylinder 31; the combination of the first posture adjustment arm 22, the second posture adjustment arm 24 and the third posture adjustment arm 25 can realize the linear motion of the seat system 300 along the Z-axis and the rotational motion around the X-axis and the Y-axis relative to the lower side plate 21.

As shown in fig. 1 and 3, in one embodiment, the seating system 300 includes at least a seat 23 having a seat cushion and a backrest.

In one example of this embodiment, the seating system 300 may also include foot pads, armrests, and the like.

In one example of this embodiment, the seating system 300 may further include a control handle, controller, or control screen, etc., disposed on the armrest; the first pneumatic muscle 28, the first pneumatic muscle 29, the second pneumatic muscle 30 and the third pneumatic muscle 31 can realize the linear motion of the first gesture adjusting branch 22 along the Y direction; the combination of the posture adjustment branch I22, the posture adjustment branch II 24 and the posture adjustment branch III 25 can realize the linear motion of the seat 23 relative to the lower side plate 21 along the Z axis and the rotary motion around the X axis and the Y axis.

As shown in fig. 1, 5 and 6, in one embodiment, the auxiliary wheelchair system further includes an auxiliary system 400, and two auxiliary systems 400 are disposed on two sides of the seat system 300, respectively.

In this embodiment, the auxiliary system 400 includes: side panel 37, end piece three 33 and pneumatic muscle group;

Taking one auxiliary system 400 as an example, the side panel 37 is disposed on one side of the seat system 300, three pneumatic muscle groups are circumferentially distributed on the side panel 37, the third end piece 33 is disposed at one end of the pneumatic muscle group far away from the side panel 37, the pneumatic muscle groups are rotatably connected with the third end piece 33, and the third end piece 33 is provided with an air claw 32; the air jaw 32 may assist the user in gripping the article.

In one example of this embodiment, the air jaw 32 is fixedly connected to the third end piece 33, and the side panel 37 is in an L-shaped configuration and is fixedly connected to the seat 23; the end piece III 33 is connected with the side panel 37 by three groups of pneumatic muscle groups which are completely identical in structure and uniformly distributed on the circumference, namely, the pneumatic muscle group I34, the pneumatic muscle group II 35 and the pneumatic muscle group III 36 are connected, one end of the pneumatic muscle group I34, one end of the pneumatic muscle group II 35 and one end of the pneumatic muscle group III 36 are rotatably connected with the end piece III 33, and the other end of the pneumatic muscle group III is fixedly connected with the side panel 37.

In one example of this embodiment, the rotatable connection between the side panels 37 and the seat 23 allows the side panels 37 to be controlled to rotate to adjust the position of the air fingers 32 when it is desired to clamp items in several orientations.

In one example of the embodiment, the pneumatic muscle group comprises a fourth end piece 38, a fifth end piece 43, a second pneumatic muscle 39, a third pneumatic muscle 40 and a fourth pneumatic muscle 42, wherein the third pneumatic muscle 40 and the fourth pneumatic muscle 42 are connected in series through an intermediate connecting piece 41 and are arranged between the fourth end piece 38 and the fifth end piece 43 in parallel with the second pneumatic muscle 39, the third pneumatic muscle 40 is rotatably connected with the fourth end piece 38, and the second pneumatic muscle 39 is rotatably connected with the fourth end piece 38; such a rotatable connection may be configured as a universal joint.

In one example of this embodiment, the first end piece 26, the second end piece 27, the third end piece 33, the fourth end piece 38, the fifth end piece 43, and the intermediate connection piece 41 may be a connection block, a connection plate, or other block-shaped metal block.

In the above example, the first pneumatic muscle group 34, the second pneumatic muscle group 35 and the third pneumatic muscle group 36 are connected in parallel, and by taking the first pneumatic muscle group 34 as an example, the second pneumatic muscle group 39, the third pneumatic muscle group 40 and the fourth pneumatic muscle group 42 can be controlled to realize the linear motion of the first pneumatic muscle group 34 along the Y direction; the combination of the pneumatic muscle group one 34, the pneumatic muscle group two 35 and the pneumatic muscle group three 36 can realize the linear motion of the end piece three 33 along the Z axis and the rotary motion around the X axis and the Y axis relative to the side panel 37, and the air claw 32 can rotate around the Z axis or can linearly move along the X axis and the Y axis.

In the embodiment, the control of each system is realized by controlling each motor, each air cylinder and each pneumatic muscle, so that the transverse, longitudinal, obstacle crossing, posture adjustment and auxiliary actions can be realized, and the accurate track control can be realized.

In one embodiment, to ensure wear resistance and strength of the auxiliary wheelchair system mounting threads, the materials of the first end piece 26, the second end piece 27, the third end piece 33, the fourth end piece 38, and the fifth end piece 43 may be brass; in order to reduce the weight of the auxiliary wheelchair system, the material of the seat 23 and the side panels 37 is plastic, and is manufactured by injection molding technology.

In one embodiment, the auxiliary wheelchair system further comprises a control module for controlling the attitude adjustment system 200 and the chassis motion system 100, and the control module may further control the auxiliary system 400.

In one example of the present embodiment, the control module includes a first control unit for controlling the chassis motion system 100, a second control unit for controlling the posture adjustment system 200, and a third control unit for controlling the auxiliary system 400; the first control unit, the second control unit and the third control unit can all adopt PLC controllers.

In one example of the present embodiment, each pneumatic muscle is connected to a pneumatic pipeline (not shown), and compressed air is delivered through the pneumatic pipeline to drive each pneumatic muscle to act, i.e. to monitor and control the action of the pneumatic muscle group;

The auxiliary wheelchair system also comprises a motion monitoring unit, such as a displacement sensor, a stay wire encoder and the like, wherein the motion monitoring unit is used for monitoring the motion of each pneumatic muscle of the pneumatic muscle group, and the motion is characterized by isobaric, isotonic and equilong states.

In the embodiment, the pneumatic muscle has the advantages of larger power/mass ratio, better flexibility, constant joint angle, adjustable rigidity and the like; the air cylinder and pneumatic muscle combination provides pulling pressure, plays an auxiliary reinforcing role, fully exerts self advantages, makes up for the advantages and can be used for application and simulation of a multifunctional scene of the wheelchair.

In one embodiment, the action monitoring unit comprises: the sensor assembly is connected with the computer through the data acquisition card; the pneumatic pipeline is provided with a valve component which is connected with a computer through a data acquisition card;

The sensor assembly is used for monitoring the action of each pneumatic muscle, feeding back a monitoring result to the computer through the data acquisition card, outputting a control signal to the valve assembly through the data acquisition card, and controlling the flow and the on-off of compressed air in the pneumatic pipeline through the valve assembly.

In general, the valve assembly includes a proportional pressure regulating valve and the sensor assembly includes: the air pressure sensor, force sensor and displacement sensor may be a wire-pulling encoder, which is an application of the prior art and will not be described in detail herein.

In one example of this embodiment, the pneumatic line is vented with a source of air, which may be the air outlet of a compressor through which compressed air is generated; the air source may be a high-pressure air storage tank through which compressed air is supplied, and of course, may be other air supply devices, which are not particularly limited herein.

In the above embodiment of the present invention, the chassis movement system 100 is provided with the four-bar linkage structure, so that the transverse, longitudinal, obstacle crossing and posture adjustment can be performed, so that in the chassis movement system 100, the motor in the chassis modules (the first chassis module 101, the second chassis module 102, the third chassis module 103 and the fourth chassis module 104) drives the Mecanum wheel to realize the transverse and longitudinal movement, and the motor drives the swing rod to realize the obstacle crossing function; the three posture adjustment branches can adjust the posture of the seat 23 in real time according to the needs of a user; in the posture adjustment branches (a first posture adjustment branch 22, a second posture adjustment branch 24 and a third posture adjustment branch 25) of the posture adjustment system 200, the characteristics of pneumatic muscles are utilized, the functions are various, the posture adjustment range is large, the movement is flexible, the obstacle surmounting of various height obstacles can be realized by combining a plurality of chassis modules, and the system can be used for helping old people and disabled people and medical assistance; the method is easy to realize achievement transformation, has a simple overall structure and low cost, and is easy to popularize and apply.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims

1. An auxiliary wheelchair system, characterized in that the auxiliary wheelchair system comprises a seat system, a posture adjustment system and a chassis movement system;

2. The auxiliary wheelchair system of claim 1 wherein the chassis module one comprises: the rotating shafts of the motor III and the motor eight are fixedly connected with the swinging rod I and the swinging rod II respectively;

3. The auxiliary wheelchair system of claim 1 wherein the attitude adjustment system comprises at least two attitude adjustment arms, at least two of the attitude adjustment arms being regularly arranged.

4. The auxiliary wheelchair system of claim 3 wherein the attitude adjustment system comprises three attitude adjustment arms, the three attitude adjustment arms being: the gesture adjusting branch I, the gesture adjusting branch II and the gesture adjusting branch III which are uniformly distributed on the circumference and have the same structure;

5. The auxiliary wheelchair system of claim 1 wherein the seating system comprises at least a seat having a seat cushion and a backrest.

6. The auxiliary wheelchair system of claim 1 further comprising an auxiliary system, two of the auxiliary systems being disposed on either side of the seating system.

7. The auxiliary wheelchair system of claim 6 wherein the auxiliary system comprises: side panels, end piece three and pneumatic muscle groups;

8. The auxiliary wheelchair system of claim 7 wherein the pneumatic muscle group comprises a fourth end member, a fifth end member, a second pneumatic muscle, a third pneumatic muscle, and a fourth pneumatic muscle, the third pneumatic muscle and the fourth pneumatic muscle being connected in series by an intermediate connection and being disposed in parallel with the second pneumatic muscle between the fourth end member and the fifth end member, the third pneumatic muscle being rotatably connected with the fourth end member, and the second pneumatic muscle being rotatably connected with the fourth end member.

9. The auxiliary wheelchair system of any of claims 1-8 further comprising a control module for controlling the attitude adjustment system and chassis motion system.