Analysis of movement to develop a virtual reality powered-wheelchair simulator

Children with limitations in mobility greatly benefit from training to acquire the skills necessary for the safe operation of a powered wheelchair (PW). Proper training leads to safer and more frequent use of the PW, which in turn has an important impact on quality of life. Training can be difficult to accomplish, especially in children with sever physical or cognitive disabilities. A virtual reality based simulator may constitute an adequate solution for the practice of PW driving skills in these individuals, by providing a graded training program in a safe environment. We propose to build a simulator that would incorporate three-dimensional visual feedback using VR equipment, as well as inertial feedback through the use of a motion platform. This would provide a realistic setting, as users would experience the appropriate inertial forces that accompany acceleration, rotation and changes in inclination during PW driving. The programming of these forces relies on the measurement of movement in a real PW. We report here the results of a first experiment involving the measurement of acceleration during various PW driving tasks, including starting, stopping, turning and moving on inclined planes. Our analyses indicate that the movement of a real PW could be adequately reproduced by the motion platform. Implications for the design of the simulator are discussed.