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Recent Developments of the HLPR Chair



Roger V. Bostelman, James S. Albus, Tommy Chang


The Home Lift, Position and Rehabilitation (HLPR) Chair, developed at the National Institute of Standards and Technology (NIST) within the Intelligent Systems Division (ISD) from 2005 to 2006, is currently being evaluated for static stability using computer aided design. HLPR Chair has a unique shape as compared to conventional wheelchairs and powered chairs. Therefore, evaluation of stability is necessary to ensure rider safety. Also, HLPR Chair was originally designed and built with only manual controls. Recently, HLPR Chair has been transitioned towards an autonomous patient mobility device to evaluate its performance for navigation by less cognizant drivers, such as patients with early signs of dementia. Preliminary electronics, software drivers and calibration have been completed. Also, a plan has been developed for providing full autonomous HLPR Chair capability based on previous defense project developments at NIST using a standard control architecture called 4 Dimensional/Real-time Control System (4D/RCS). Approximated stability evaluation, control developments and autonomous control plans are described in this paper.
Proceedings Title
International Conference on Rehabilitation Robotics | 10th | 2007 | ICORR |
Conference Dates
June 13-15, 2007
Conference Location
Conference Title
International Conference on Rehabilitation Robotics


3D imaging, 4D/RCS, autonomous patient mobility, calibration, healthcare mobility, navigation


Bostelman, R. , Albus, J. and Chang, T. (2007), Recent Developments of the HLPR Chair, International Conference on Rehabilitation Robotics | 10th | 2007 | ICORR |, NL, [online], (Accessed May 30, 2024)


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Created June 15, 2007, Updated February 19, 2017