Abstract
Pushrim-activated power-assisted wheels (PAPAWs) are assistive technologies that provide on-demand propulsion assistance to wheelchair users. In this study, we aimed to develop an adaptive PAPAW controller that responds effectively to changes in environmental conditions (e.g., type of surface or terrain). Experiments were conducted to collect kinematics of wheelchair motion using a frame-mounted inertial measurement unit (IMU) while performing a variety of wheelchair activities on different indoor/outdoor terrains. Statistical characteristics of velocity and acceleration measurements were extracted and used to develop a terrain classification framework to identify certain indoor and outdoor terrains. The terrain classification framework, based on random forest classification algorithms and kinematic features, was implemented and tested in our laboratory-developed PAPAW. This computationally efficient terrain classification framework was successfully implemented and tested in real-time. The power-assist ratio of each wheel was adjusted based on the type of terrain (e.g., more assistance was provided on outdoor terrains). Our findings revealed that propulsion effort (e.g., peak input torque) on asphalt was significantly reduced when using adaptive controllers compared to conventional PAPAW controllers. In addition, subjective views of participants regarding the workload of wheelchair propulsion (e.g., physical/cognitive effort) supported the positive effects of adaptive PAPAW controllers. We believe that the adoption of terrain-specific adaptive controllers has the potential to improve the accessibility of outdoor terrains and to prevent or delay upper extremity joint degeneration or pain.
Highlights
M ANUAL Wheelchairs (MWCs) are the most commonly prescribed wheeled mobility assistive devices (WMADs) for people with ambulatory limitations [1]
We examined 6 variables to compare the performance of the Conventional and Adaptive Pushrim-activated power-assisted wheels (PAPAWs) controllers
The random forest (RF) classifier trained based on PAPAW data was tested for real-time terrain classification
Summary
M ANUAL Wheelchairs (MWCs) are the most commonly prescribed wheeled mobility assistive devices (WMADs) for people with ambulatory limitations [1]. In 2012, it was estimated that about 68% of WMAD users in Canada relied on MWCs for mobility [2]. MWCs are relatively lightweight, compact, and easy to maneuver [3]. MWCs have the potential to enhance physical activity [4], [5]. The physical demand of manual wheelchair (MWC) propulsion varies across indoor and outdoor terrains. Kinetic analysis of wheelchair propulsion during start-up revealed that pushrim forces and moments are considerably higher when wheeling uphill or pushing over uneven terrains [6]. Frequent propulsion on rough terrains can increase the risk of upper-extremity injuries [8], [9]
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
