DocumentCode :
2628860
Title :
A new dynamic model of the manual wheelchair for straight and curvilinear propulsion
Author :
Chénier, Félix ; Bigras, Pascal ; Aissaoui, Rachid
fYear :
2011
fDate :
June 29 2011-July 1 2011
Firstpage :
1
Lastpage :
5
Abstract :
Due to their mechanical design, current wheelchair ergometers cannot simulate the behaviour of a wheelchair propelled on curvilinear paths. This is because they implement a dynamic model of the Wheelchair-user system propelled on Straight Line only (WSL). In this paper, we present a new dynamic model of the Wheelchair-user propelled on Straight and Curvilinear paths (WSC), along with a characterization method based on measurements recorded on the field. Other than measured geometrical constants and kinetic/kinematic data from instrumented wheels, no information about the dynamic parameters such as the system´s mass and its moment of inertia are necessary. The accuracy of the new WSC model was compared with the WSL model. To this end, ten subjects propelled an instrumented wheelchair following straight and curvilinear patterns. The recorded kinetics were fed to both models, and their estimated kinematics were compared to the recorded ones. For the curvilinear patterns, the RMS relative error between the estimated and measured rear wheels velocities over a complete push cycle are lower for the WSC model than for the WSL model. Outward wheel: 7.98% (WSC) vs 12.98% (WSL). Inward wheel: 10.76% (WSC) vs 20.73% (WSL).
Keywords :
biomechanics; ergonomics; handicapped aids; man-machine systems; propulsion; wheelchairs; characterization method; curvilinear wheelchair propulsion pattern; geometrical constants; kinematic data; kinetic data; manual wheelchair curvilinear propulsion; manual wheelchair dynamic model; manual wheelchair straight propulsion; straight wheelchair propulsion pattern; wheelchair ergometers; wheelchair-user system; Instruments; Kinematics; Manuals; Mathematical model; Propulsion; Wheelchairs; Wheels; Wheelchairs; dynamics; ergometers; modeling; simulation; Biomechanics; Equipment Design; Ergometry; Humans; Models, Theoretical; Wheelchairs;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Rehabilitation Robotics (ICORR), 2011 IEEE International Conference on
Conference_Location :
Zurich
ISSN :
1945-7898
Print_ISBN :
978-1-4244-9863-5
Electronic_ISBN :
1945-7898
Type :
conf
DOI :
10.1109/ICORR.2011.5975357
Filename :
5975357
Link To Document :
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