Simulation model of a lever-propelled wheelchair

Sasaki, M., Ota, Y., Hase, K., Stefanov, Dimitar ORCID logoORCID: and Yamaguchi, M. (2014) Simulation model of a lever-propelled wheelchair. In: 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’14), August 26-30, 2014, Chicago, IL, USA. . [Conference or Workshop Item]


Wheelchair efficiency depends significantly on the individual adjustment of the wheelchair propulsion interface. Wheelchair prescription involves reconfiguring the wheelchair to optimize it for specific user characteristics. Wheelchair tuning procedure is a complicated task that is performed usually by experienced rehabilitation engineers. In this study, we report initial results from the development of a musculoskeletal model of the wheelchair lever propulsion. Such a model could be used for the development of new advanced wheelchair approaches that allow wheelchair designers and practitioners to explore virtually, on a computer, the effects of the intended settings of the lever-propulsion interface. To investigate the lever-propulsion process, we carried out wheelchair lever propulsion experiments where joint angle, lever angle and three-directional forces and moments applied to the lever were recorded during the execution of defined propulsion motions. Kinematic and dynamic features of lever propulsion motions were extracted from the recorded data to be used for the model development. Five healthy male adults took part in these initial experiments. The analysis of the collected kinematic and dynamic motion parameters showed that lever propulsion is realized by a cyclical three-dimensional motion of upper extremities and that joint torque for propulsion is maintained within a certain range. The synthesized propulsion model was verified by computer simulation where the measured lever-angles were compared with the angles generated by the developed model simulation. Joint torque amplitudes were used to impose the torque limitation to the model joints. The results evidenced that the developed model can simulate successfully basic lever propulsion tasks such as pushing and pulling the lever.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Published in:
Engineering in Medicine and Biology Society (EMBC), 2014 36th Annual International Conference of the IEEE, (ISSN :
1557-170X) Pages
6923 - 6926
Keywords (uncontrolled): basic lever propulsion tasks dynamic motion parameters joint angle joint torque amplitudes kinematic motion parameters lever angle lever-propelled wheelchair lever-propulsion interface musculoskeletal model propulsion motions simulation model three-directional forces upper extremities wheelchair lever propulsion
Research Areas: A. > School of Science and Technology > Design Engineering and Mathematics
Item ID: 15626
Useful Links:
Depositing User: Dimitar Stefanov
Date Deposited: 30 Apr 2015 13:25
Last Modified: 13 Oct 2016 14:33

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