Impact of Mass and Weight Distribution on Manual Wheelchair Propulsion Torque

摘要: Propulsion effort of manual wheelchairs, a major determinant user mobility, is function human biomechanics and mechanical design. Human studies that investigate both variables simultaneously have resulted in largely inconsistent outcomes, motivating the implementation robotic propulsion system characterizes inherent performance wheelchairs. This study investigates impacts mass distribution on wheelchair by configuring an ultra-lightweight chair to two weights (12-kg 17.6-kg) load distributions (70% 55% drive wheels). The torques these four configurations were measured for straight maneuver fixed-wheel turn, tile carpet. Results indicated increasing 17.6-kg had largest effect acceleration, requiring 7.4% 5.8% more torque carpet, respectively. Reducing wheel steady-state motion turning acceleration turning; increased 13.5% 11.8%, 16.5% 4.1%, 73% 5.1%, These results demonstrate robot's high sensitivity, support clinical importance evaluating effects axle position across maneuvers surfaces.