Commercial Wheelchair Research Articles

Design and Prototype a Stair-Climbing Wheelchair

Abstract The disabled usually utilize wheelchairs for their daily mobility and locomotion. These motorized vehicles can travel on relatively flat surfaces or tracks without any problems, but moving up and down the stairs is always a challenge for most commercial wheelchairs. In other words, a person with a disability cannot go anywhere inside a multistory building, shopping store, subway, etc. if they are not built according to accessibility codes. A versatile wheelchair with the ability to negotiate stairs not only improves the daily lives of people with disability, but it can also save their lives in the event of an emergency which requiring immediate evacuation of a building. This article proposes two novel designs to facilitate the stair-climbing feature for a motorized wheelchair. One of the design concepts is based on a curved-spoke mechanism with transformation capability from a round wheel to a tri-leg mechanism to facilitate the translation mode as well as the stair-climbing mode of a wheelchair. The next design concept is an enhanced tri-wheel mechanism using a combination of a tri-wheel setup and planetary gears, to provide a unique capability for the climbing mechanism. After analysis and considering the pros and cons of each design concept, the tri-wheel planetary mechanism has been selected for making a scaled-down model and testing the transmission system on the stairs. The scaled-down prototype can successfully move up or down the stairs in the climbing mode and travel on flat or inclined surfaces in the translation mode.

Design of a Wheelchair-Mounted Robotic Arm for Feeding Assistance of Upper-Limb Impaired Patients

This paper delineates the design and realization of a Wheelchair-Mounted Robotic Arm (WMRA), envisioned as an autonomous assistance apparatus for individuals encountering motor difficulties and/or upper limb paralysis. The proposed design solution is based on employing a 3D printing process coupled with optimization design techniques to achieve a cost-oriented and user-friendly solution. The proposed design is based on utilizing commercial Arduino control hardware. The proposed device has been named Pick&Eat. The proposed device embodies reliability, functionality, and cost-effectiveness, and features a modular structure housing a 4-degrees-of-freedom robotic arm with a fixing frame that can be attached to commercial wheelchairs. The arm is integrated with an interchangeable end-effector facilitating the use of various tools such as spoons or forks tailored to different food types. Electrical and sensor components were meticulously designed, incorporating sensors to ensure user safety throughout operations. Smooth and secure operations are achieved through a sequential procedure that is depicted in a specific flowchart. Experimental tests have been carried out to demonstrate the engineering feasibility and effectiveness of the proposed design solution as an innovative assistive solution for individuals grappling with upper limb impairment. Its capacity to aid patients during the eating process holds promise for enhancing their quality of life, particularly among the elderly and those with disabilities.

Optimizing frontal impact occupant protection systems for passengers seated in wheelchairs

ObjectiveThe advent of automated vehicles (AVs) provides an opportunity to design integrated wheelchair seating stations that provide an equivalent level of safety for occupants using wheelchairs as those using vehicle seating. This study designed a frontal occupant protection system for an integrated second-row wheelchair seating station that includes optimized airbags and seatbelt systems. MethodsMADYMO models were used to optimize belt geometry for a midsized male ATD seated in a surrogate wheelchair fixture, with and without inclusion of a Self Conforming Rearseat Air Bag (SCaRAB). Sled tests were performed to confirm the benefits of airbag use and optimized belt geometry. Additional modeling was performed with commercial manual and power wheelchairs, to identify the effects of wheelchair design and forward clear space on occupant kinematics and injury measures. Additional sled tests were performed with manual and power wheelchairs to demonstrate effectiveness of the restraint system with commercial products. ResultsSimulations and tests both showed improved kinematics using an optimized seatbelt system geometry compared to a commonly used suboptimal D-ring location that places the shoulder belt at a more outboard location. Use of the SCaRAB helped compensate for suboptimal geometry. Results include specific recommendations for belt geometry relative to the wheelchair seating station and airbag parameters suitable for protecting occupants seated in wheelchairs. Restraint systems initially optimized using the surrogate wheelchair also performed well with the two commercial wheelchairs. The clear space required for maneuvering a wheelchair will likely prevent injurious head contact in frontal crashes. ConclusionsThis study is the first to design a frontal optimal occupant protection system for an integrated second-row wheelchair seating station, demonstrating that it should be feasible once integrated wheelchair seating stations are included in AVs.

Arduino UNO Based Wheelchair Control using Bluetooth and Android Mobile

The main goal of this project is to design and construct a low-cost wheelchair control system that uses an Android phone. Patients with diverse physical limitations have relied on wheelchairs to assist them with movement and to meet their day-to-day prerequisites. However, in other circumstances, the mobility of a wheelchair is dependent on another person. It includes people who are unable to lift their arms or push the wheels forward, such as paraplegics, quadriplegics, stroke patients, the elderly, and others. Joystick-oriented wheelchairs, which are supposed to be a solution for these people, might cause a variety of issues since they demand fundamental shoulder mobility. For the categories described above of patients, this is not always practicable. Furthermore, because it is wireless and can be worn on either hand, this solution does not have the positioning restrictions that a joystick wheelchair could have, allowing the user to sit in their preferred posture for the least amount of pain. The goal of this initiative is to enable autonomous mobility for people with disabilities. Thus, this research study provides a Bluetooth-based wheelchair prototype that maybe operated by an Android smartphone application. A transmitter and a receiver that can communicate wirelessly makeup the framework. The 433 Mhz RF Transmitter and Receiver Unit was utilized for wireless transmission since it delivers data through an antenna at speeds ranging from 1Kbps to 10Kbps and has a range of up to 100 metres, The wheelchair's receiver unit receives signals from the transmitter unit through an Arduino Uno micro-controller, which causes the wheels to turn in the desired direction. Motor drivers that convert electricity as needed by the wheels makeupmakeup the reception unit. This technology offers an alternative to commercial wheelchairs since it is more effective, less expensive, and simpler to control.

SWADAPT1: assessment of an electric wheelchair-driving robotic module in standardized circuits: a prospective, controlled repeated measure design pilot study

ObjectivesThe objective of this study is to highlight the effect of a robotic driver assistance module of powered wheelchair (PWC), using infrared sensors and accessorizing a commercial wheelchair) on the reduction of the number of collisions in standardized circuit in a population with neurological disorders by comparing driving performance with and without assistance.MethodsThis is a prospective, single-center, controlled, repeated measure design, single-blind pilot study including patients with neurological disabilities who are usual drivers of electric wheelchairs. The main criterion for evaluating the device is the number of collisions with and without the assistance of a prototype anti-collision system on three circuits of increasing complexity. Travel times, cognitive load, driving performance, and user satisfaction are also analyzed.Results23 Patients, 11 women and 12 men with a mean age of 48 years old completed the study. There was a statistically significant reduction in the number of collisions on the most complex circuit: 61% experienced collisions without assistance versus 39% with assistance (p = 0.038).ConclusionThis study concludes that the PWC driving assistance module is efficient in terms of safety without reducing the speed of movement in a population of people with disabilities who are habitual wheelchair drivers. The prospects are therefore to conduct tests on a target population with driving failure or difficulty who could benefit from this device so as to allow them to travel independently and safely.

Key Components Related to Pressure Injury Formation: An Initial Investigation Into Pressure Distribution and Blood Perfusion Responses in Wheelchair Users.

Soft tissue around bony prominences in the buttocks and back are high-risk areas prone to the development of pressure injuries. From a clinical perspective, prevention of pressure injuries all together is the ideal situation. Unfortunately, prevalence rates still reach 47% with recurrence rates even higher. The goals of this study were to evaluate the effects of a series of wheelchair movements, some that currently exist in commercial wheelchairs and some new, on interface pressures and perfusion under the buttocks. Twenty-seven chair positions were obtained by varying back recline, seat pan tilt, and articulation of two supports along the back. Although back recline is commonly taught by therapists to be used as a pressure relieving posture, results indicated an increase in pressures under the ischial tuberosities and sacral areas in reclined positions. Articulation of the back supports produced changes in posture moving from an "erect" to "slouched" position. These movements successfully shifted pressures across back regions. Seat pan tilt was effective in shifting pressures off the ischial tuberosity regions. Additionally, in a portion of the participants, seat pan tilt consistently increased perfusion under the ischial tuberosity region. The findings of this research suggest that movements other than back recline should be considered to more effectively alter interface pressures, particularly in high-risk regions like the sacrum and ischial tuberosities.

Wireless Gesture Control Wheelchair

Wheelchairs have been used by patients who suffer from various physical disabilities to help them with locomotion and cater their day to day needs with ease. But there are some cases where the movement of a wheelchair is dependent on another individual as is the case with patients who lack the required arm strength and movement to properly push the wheels forward such as quadriplegics, paraplegics, stroke patients, elders etc. Joystick oriented wheelchairs, thought to be a solution to those kinds of patients, can pose different problems as it requires basic shoulder movement. It is not always possible for the aforementioned types of patients. In addition, our solution doesn’t have the positional constraints that a joystick wheelchair might have as it is wireless and can be worn on either hand which allows the patient to sit in their preferred position for minimum discomfort. This project is an attempt to help the disabled move around independently. Thus, in this research work, we present a prototype of a wireless gesture-based wheelchair which can be controlled via hand gestures. The framework consists of a transmitter and a receiver that communicate with each other wirelessly. For wireless transmission, 433Mhz RF Transmitter and Receiver Unit has been used as it transmits data through an antenna at the speed of 1Kbps – 10Kbps and the range can be adjusted as required. The transmitter unit consists of an Arduino LilyPad microcontroller and an accelerometer that has been attached to a hand glove. The accelerometer sensor has been used to register the position of the hand while creating a gesture. This glove is supposed to be worn by the patient allowing them to move their hand conveniently, sending signals to the receiver unit connected to the wheelchair leading to the movement of the wheels in the desired direction. The receiver unit consist of motor drivers that convert the voltage as needed by the wheels. This paper presents an alternative to the commercial wheelchairs as it is cost effective, easy to control and efficient. The working and assembly of the system has been explained in the paper.

Finite element analysis of a commercial wheelchair

Due to the structural constraints of wheelchairs for users with motor disabilities, it is essential to understand and ensure their proper functioning for the quality of life of these users. The main objective of this study is to analyze the stresses and displacements in a wheelchair using the finite element method to evaluate its functional and structural aspects though simulations. Influenced by normative techniques that consider ergonomic, anthropometric and biomechanical, factors were considered to verify the compliance of this equipment considering current standards. Results were compared with experimental analyses performed by the Brazilian National Institute of Metrology, Quality and Technology (INMETRO). Results showed that von Mises stress limit values were exceeded in the chair frame by 6.5%, in the collision analysis by 72.1%, and in the footrest by 189.4%. This indicated that the structure of the analyzed wheelchair is not adequated based on simulation results, same as INMETRO reports.

Construction of system development environment and feasibility of function expansion for QOL support based on commercial electric wheelchair.

Construction of system development environment and feasibility of function expansion for QOL support based on commercial electric wheelchair.

Model Predictive Control of an autonomous wheelchair

This paper presents the development of a MPC architecture for an autonomous wheelchair, that aims at reaching a desired goal while considering physical actuator limitations, obstacle avoidance and comfort constraints. The controller has been designed in such a way that it can be easily applied to an existing commercial wheelchair, without the need for a redesign of the on-board motor controllers. Moreover, thanks to the introduction of an inner feedback linearizing loop, a linear MPC has been considered, allowing for an efficient real-time implementation of the control system. The experimental results show the effectiveness of the proposal, and demonstrate that MPC can be considered a promising control approach to develop autonomous vehicles.

Innovative Power Wheelchair Control Interface: A Proof-of-Concept Study.

Some people without independent mobility are candidates for powered mobility but are unable to use a traditional power wheelchair joystick. This proof-of-concept study tested and further developed an innovative method of driving power wheelchairs for people whose impairments prevent them from operating commercial wheelchair controls. Our concept, Self-referenced Personal Orthotic Omni-purpose Control Interface (SPOOCI), is distinguished by referencing the control sensor not to the wheelchair frame but instead to the adjacent proximal lower-extremity segment via a custom-formed orthosis. Using a descriptive case-series design, we compared the pre-post functional power wheelchair driving skill data of 4 participants, measured by the Power Mobility Program, using descriptive analyses. The intervention consisted of standard-care power wheelchair training during 12 outpatient occupational or physical therapy sessions. All 4 participants who completed the 12-wk intervention improved their functional power wheelchair driving skills using SPOOCI, but only 3 were deemed safe to continue with power wheelchair driving.

User Testing of the Self-Referenced Personal Orthotic Omni-Purpose Control Interface (SPOOCI): An Innovative Power Wheelchair Control Device

Abstract Date Presented 4/17/2015 Individuals who are candidates for power mobility but whose severe physical impairments prevent them from operating commercial wheelchair controls are more independent driving a power wheelchair controller that is user-referenced (worn) rather than wheelchair-referenced (traditional joystick).

Applying ISO 16840-2 Standard to differentiate impact force dissipation characteristics of selection of commercial wheelchair cushions.

Results from applying the International Organization for Standardization (ISO) 16840-2 test method for determining the impact damping characteristics of 35 wheelchair cushions plus a high resilience (HR70) polyurethane reference foam sample are reported. The generation of impact forces when a wheelchair user either transfers onto a cushion or the wheelchair encounters rough terrain or bumps down a step can endanger the viability of tissues, especially if these forces occur repeatedly. The results demonstrate significant differences in the impact force dissipation characteristics of different cushion products but do not reliably identify differences in performance that can be attributed to descriptive information about cushion composition alone. Instead, these results demonstrate that the materials, proprietary design, and construction features of wheelchair cushions in combination dictate impact force dissipation properties. The results of a cluster analysis are used to generate a model that can be used to compare the impact damping properties obtained from the ISO 16840-2 test method with those of a range of cushions and the reference cushion. Manufacturers will therefore be able to provide users and clinicians with information about the impact force dissipation properties of the cushions that will enable them to make more informed product choices for achieving improved comfort and to protect skin integrity.

Design and validation of a lower limb exoskeleton employing the recumbent cycling modality for post-stroke rehabilitation

This paper presents the design and validation of a lower limb exoskeleton robot for post-stroke patients at the early stage of neurorehabilitation. Instead of the usual walking gait, the popular exercise, recumbent cycling, is adopted to provide a safe and comfortable movement training to the patients who lost active motor abilities due to a very low muscle power. The exoskeleton robot mounted on a commercial wheelchair possesses two pairs of hip and knee joints on the right and left legs, respectively, and each joint has one degree of freedom actuated by a custom-made linear actuator in the sagittal plane. Additionally, two passive ankle joints are added to provide a limited range of motion for human comfort. The hip and knee joint motion profiles were calculated based on a simplified kinematic model of the recumbent cycling modality, and implemented through the motor position–velocity–time trajectory. Clinical trials were conducted on six stable post-stroke patients with a low muscle power under the supervision of a skilled therapist. The preliminary results validated the functionality and feasibility of the new exoskeleton robot and showed a promising application of the recumbent cycling modality in robot-assisted neurorehabilitation.

2A2-C06 車いす用レジャービークルの開発(福祉ロボティクス・メカトロニクス(2))

This study develops a "climbing support vehicle for wheelchair." It be able to rig up a commercial wheelchair. It can also reduce the burden on caregivers. Ultimate goal of this study is climbing a slope of 20 degrees. Typically, electric wheelchairs is not able to climb the slope of 10 degrees only. Further This study designed the tilt mechanism of the bearing surface, and the turning system on using a gasoline engine for power. This report describes the details and the design contents of the vehicle to suggest.

Interface shear and pressure characteristics of wheelchair seat cushions

Pressure ulcer incidence rates have remained constant despite advances in support surface technology. Interface shear stress is recognized as a risk factor for pressure ulcer development and is the focus of many shear reduction technologies incorporated into wheelchair cushions; however, shear reduction has not been quantified in the literature. We evaluated 21 commercial wheelchair seat cushions using a new methodology developed to quantify interface shear stress, interface pressure, and horizontal stiffness. Interface shear stress increased significantly with applied horizontal indenter displacement, while no significant difference was found for interface pressure. Material of construction resulted in significant differences in interface shear stress, interface pressure, and horizontal stiffness. This study shows that the existing International Organization for Standardization (ISO) 16840-2 horizontal stiffness measure provides similar information to the new horizontal stiffness measure. The lack of a relationship between interface shear stress and the overall horizontal stiffness measure, however, suggests that a pressure and shear force sensor should be used with the ISO 16840-2 horizontal stiffness measure to fully quantify a cushion's ability to reduce interface shear stress at the patient's bony prominences.

Development of Intelligent Power Wheelchair to assist in minimizing care

In this research, Authors participated in a research project about “Development of Intelligent Power Wheelchair Assisting the frail elderly parson on Daily Life”. Recently, the number of elderly people increases, and the development of welfare apparatus having the effect of minimizing care is required. Authors develop Intelligent Power Wheelchair along with minimizing care needs for frail elderly people. This wheelchair consists of commercial sensors and a commercial wheelchair. With data observed by these sensors, the movement of the person is analyzed. In the welfare engineering, to provide the most suitable service, it is important a system understands the human's intention. It is thought that this wheelchair is usable as the teaching materials to develop that algorithm.

Human-machine interfaces based on EMG and EEG applied to robotic systems

BackgroundTwo different Human-Machine Interfaces (HMIs) were developed, both based on electro-biological signals. One is based on the EMG signal and the other is based on the EEG signal. Two major features of such interfaces are their relatively simple data acquisition and processing systems, which need just a few hardware and software resources, so that they are, computationally and financially speaking, low cost solutions. Both interfaces were applied to robotic systems, and their performances are analyzed here. The EMG-based HMI was tested in a mobile robot, while the EEG-based HMI was tested in a mobile robot and a robotic manipulator as well.ResultsExperiments using the EMG-based HMI were carried out by eight individuals, who were asked to accomplish ten eye blinks with each eye, in order to test the eye blink detection algorithm. An average rightness rate of about 95% reached by individuals with the ability to blink both eyes allowed to conclude that the system could be used to command devices. Experiments with EEG consisted of inviting 25 people (some of them had suffered cases of meningitis and epilepsy) to test the system. All of them managed to deal with the HMI in only one training session. Most of them learnt how to use such HMI in less than 15 minutes. The minimum and maximum training times observed were 3 and 50 minutes, respectively.ConclusionSuch works are the initial parts of a system to help people with neuromotor diseases, including those with severe dysfunctions. The next steps are to convert a commercial wheelchair in an autonomous mobile vehicle; to implement the HMI onboard the autonomous wheelchair thus obtained to assist people with motor diseases, and to explore the potentiality of EEG signals, making the EEG-based HMI more robust and faster, aiming at using it to help individuals with severe motor dysfunctions.

Experimental evaluation of the wheelchair occupant protection under different impact conditions using commercial wheelchairs

Mobility is a necessity for the population and to guarantee the access to the transport for all people with a minimum safety level must be an objective for our society. When wheelchair users access a vehicle and are unable to transfer to a seat, even when they are helped by other people, the wheelchair itself turns into a vehicle seat. The problem arises in the event of an impact, because wheelchairs are designed as mobility technical aidswith low weight as amain objective, butmost of themwithout specific safety requirements that allow wheelchairs to withstand the loads generated during an impact and to protect the wheelchair occupant. This work evaluates different commercial wheelchairs regarding its behaviour under three impact conditions (front, rear, and side) using different wheelchair tie-down and occupant-restraint systems (WTORS). In these conditions, the aspects that have more influence on the wheelchair occupant safety during an impact in a motor vehicle are analysed. Impact tests, mainly in rear and side directions, showed a very low level of occupant protection, due to the insufficient wheelchair structure strength and, in some cases, due to the inefficiency of a type of WTORS. In frontal impacts, submarining and dummy neck loads are the most critical parameters to achieve a good level of protection. The low strength of the wheelchair backrest is the main factor that increases the occupant injury risk in rear impacts, while the collapse of the wheelchair structure occurred in side impacts.

A robotics wheelchair for crowded public environment

Describes the robotic wheelchair MAid (Mobility Aid for Elderly and Disabled People). MAid's task is to support and transport people with limited motion skills. It is based on a commercial wheelchair that has been equipped with an intelligent control and navigation system. Conversations with disabled and elderly people and with their physicians indicate that the automatic functions desired in a robotic wheelchair do not include following walls or passing doorways, but do include navigation in narrow, cluttered environments and through wide, crowded areas. MAid performs these functions.