Design of a Robotic System to Measure Propulsion Work of Over-Ground Wheelchair Maneuvers


A wheelchair-propelling robot has been developed to live the efficiency of manual wheelchairs. The employment of a robot has bound benefits compared to the use of human operators with respect to repeatability of measurements and the flexibility to match many more wheelchair configurations than doable with human operators. Its style and implementation required significant engineering and validation of hardware and management systems. The robot will propel a wheelchair according to pre-programmed accelerations and velocities and measures the forces required to achieve these maneuvers. Wheel velocities were within zero.1 m/s of programmed values and coefficients of variation . Torque measurements were additionally repeatable with . By determining the propulsion torque required to propel the wheelchair through a series of canonical maneuvers, task-dependent input work for varied wheelchairs and configurations will be compared. This metric would serve to quantify the combined inertial and frictional resistance of the mechanical system.

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