Wheeled Mobility Research Articles

Validation of a new road and contact model for vehicle–soft soil terrain interaction through an elaborate modelling of the FED-Alpha vehicle

Employing multibody dynamic simulations with semi-empirical tyre models is widely recognised as a cost-effective approach. A recent development introduces a novel road and tyre–soil contact model that is not only swift and memory-efficient but also addresses limitations in classical semi-empirical models. This study conducts a thorough validation of the new road and contact model by creating a detailed multibody model of the four-wheeled vehicle, Fuel Efficiency Demonstrator – Alpha, integral to NATO’s Next-Generation reference mobility model. The comprehensive model encompasses the chassis, suspension, tyres, engine, transmission and various other components. Through simulations of various driving scenarios, accounting for complex terrain geometries, spatially varying soil properties and multi-pass phenomena, the model’s performance is evaluated. The simulation results are compared with physical measurements, providing a detailed assessment of the tyre–soil model’s predictive accuracy for wheeled vehicle mobility on deformable terrains.

Use of Remote Focus Groups to Improve Inclusive Design Practice

This study examines the use of remote focus groups to obtain wheeled mobility device user’s ideas regarding Shared Autonomous Vehicles (SAVs). Given the global increase in the aging population and disabled people, inclusive design is essential for accessible transportation. Using remote focus groups, this research collected statements from nine wheeled mobility device users about their design preferences, needs, and challenges with SAVs. Participants attended four virtual sessions featured with presentations and videos of SAVs. Discussions were video recorded in Zoom, with transcripts reviewed for accuracy. Data analysis included cleaning, coding, and assessing interrater reliability using the ICC. The findings not reported here highlighted the diverse needs and preferences of participants, emphasizing the importance of collecting information from this group early in the design process. This study shows well-planned remote focus groups can be an effective tool to gather human factors system design information from user populations that face transportation barriers.

Initial validation and feasibility of a Standardized Navigation Of Winter Mobility & Accessibility Network (SNOWMAN) course for wheelchairs

Many Canadian manual wheelchair users face many challenges in winter months such as slippage on ice- or snow-covered ramps, snow windrows, and casters becoming stuck in deep or hard packed snow. These barriers impact wheelchair users’ ability to participate in the community. This study aimed to evaluate the validity and feasibility of a winter wheelchair obstacle course known as the Standardized Navigation Of Winter Mobility & Accessibility Network (SNOWMAN). The results demonstrated that the SNOWMAN course authentically represented real-world winter conditions, as confirmed by participant responses and qualitative feedback from four manual wheelchair users. The course was comprehensive, covering a range of winter obstacles typically encountered by wheelchair users. Construct validity was established by differentiating performance between manual wheelchairs and a motorized platform with snow tracks, showcasing varying completion times and device satisfaction levels. Feasibility was also assessed, with the administration protocol being mostly adhered to, safety measures implemented, and usability scores meeting acceptable thresholds. The SNOWMAN course showed promise for evaluating wheelchair adaptations and devices for winter conditions, as well as training users in winter mobility skills. Future research directions include comparing different wheeled mobility devices, exploring adaptations for usability in winter, and developing new technology tailored for challenging terrains and winter conditions. The SNOWMAN course could serve as a valuable tool for both research and clinical applications in enhancing winter mobility for wheelchair users.

Wheeled mobility use outcomes: a systematic review protocol of measurement properties.

Numerous tools have been developed to measure constructs related to wheelchair use. Currently, no toolkit comprehensively details assessments of wheeled mobility device use based on the quality of their measurement properties. The current review aims to systematically identify high-quality assessment tools that measure different aspects of wheeled mobility use. The objectives are two-fold: i) to synthesize outcome measures that assess use of wheeled mobility devices, and ii) to evaluate measurement properties of the assessment tools. The populations of interest are manual wheelchair users, power wheelchair users, and scooter users of any age, diagnosis, or setting. Instruments of any type will be included. The JBI methodology for systematic reviews of measurement properties will guide this review. A search strategy will be developed to search the following databases: MEDLINE (Ovid), Embase, CINAHL (EBSCOhost), PsycINFO (EBSCOhost), PsycTests (EBSCOhost), Web of Science, and Google Scholar. The article selection process, data extraction, and quality appraisal will be performed by 2 independent reviewers, with a third reviewer being consulted to achieve consensus. The methodological quality of the studies will be assessed through the Consensus Standards for the Selection of Measurement Instruments (COSMIN) Risk of Bias tool and the COSMIN Checklist. The quality of the pooled evidence and individual measurement properties will be graded using the Grading of Recommendations Assessment, Development, and Evaluation (GRADE) approach and the COSMIN Criteria for Good Measurement Properties recommendations. Measurement properties of each instrument will be described, with the goal of developing a toolkit that identifies appropriate assessment tools for wheeled mobility use outcomes. PROSPERO CRD4202276169.

Recommendations for clinical decision-making when offering exoskeletons for community use in individuals with spinal cord injury.

Approved in 2014 by the Food and Drug Administration (FDA) for use with a trained companion, personal powered exoskeletons (PPE) for individuals with spinal cord injury (SCI) provide an opportunity for the appropriate candidate to ambulate in their home and community. As an adjunct to wheeled mobility, PPE use allows those individuals who desire to ambulate the opportunity to experience the potential physiological and psychosocial benefits of assisted walking outside of a rehabilitation setting. There exists, however, a knowledge gap for clinicians regarding appropriate candidate selection for use, as well as who might benefit from ambulating with a PPE. The purpose of this paper is to provide guidance for clinicians working with individuals living with SCI by outlining an expert consensus for a PPE decision-making algorithm, as well as a discussion of potential physiological and psychosocial benefits from PPE use based on early evidence in publication.

Tumro: A Tunable Multimodal Wheeled Jumping Robot Based on the Bionic Mechanism of Jumping Beetles

The implementation of multimodal motion ensures the stable operation in complex terrain environments, thus providing an effective guarantee for system performance. The crawling‐jumping robot has the ability to navigate in various road conditions utilizing different modes of movement. However, the mobility of the current multimodal jumping robots remains somewhat constrained by their jumping capability and the recovery time after each jump. Drawing inspiration from the energy‐storage jumping mechanism of jumping beetles, a tuneable multimodal jumping robot (Tumro) capable of executing multimodal movements including wheeled locomotion and ground‐based jumping, which can achieve a jump height of up to 3 m and swiftly recover its wheeled crawling state without requiring posture correction post‐jump, is presented. Through a specific structural design, the robot can storage energy and switch motions to jump in the desired direction based on the preset angle according to actual demand. The jumping process is thoroughly analyzed, and the kinematics and dynamics models are derived in meticulous detail. In addition, the performance of the robot is comprehensively assessed from aspects of wheel action versus vertical jump capability, power consumption, and endurance across various motion modes. The simulation scene experiment demonstrates the robot's exceptional jumping capability and efficient wheeled mobility.

Common reasons for non-participation during the outcome measurement process: wheeled mobility service delivery quality improvement reporting

Objective The purpose of this paper is to describe non-participation during the outcome measurement step of the wheeled mobility service delivery process (WMSDP) based on the Functional Mobility Assessment (FMA)-Uniform Dataset (UDS) Registry. Introduction The WMSDP is a standard framework for the provision of wheeled mobility devices, and several factors influence the client’s experience throughout the process. Patient-reported outcomes are one way to measure the client’s experience as part of a quality improvement program. Methods A retrospective descriptive study was conducted on the FMA-UDS Registry to measure the response rate during the outcome measurement step of the WMSDP and describe the reasons an individual did not complete the FMA-UDS. The FMA-UDS was examined at two time points: pre-delivery and post-delivery of the wheeled mobility device. Results As of September 2, 2021, 10,253 cases have been entered into the FMA-UDS Registry. 2,247 cases were no longer participating pre-delivery, and an additional 3,905 cases were no longer participating post-delivery. The most common reasons for non-participation in the FMA-UDS pre-delivery and post-delivery included: equipment not delivered; provider no longer participating in the FMA-UDS; funding issues; no new equipment; client opted out; loss in contact; deceased; returned equipment; and other. Discussion The type and frequency of non-participation in the outcome measurement step of the WMSDP is critical to understanding why individuals participate in outcome measures and provides insight into the barriers and facilitators for the implementation of quality improvement programs.

Evolution, Design, and Future Trajectories on Bipedal Wheel-legged Robot: A Comprehensive Review

This comprehensive review delves into the realm of bipedal wheel-legged robots, focusing on their design, control, and applications in assistive technology and disaster mitigation. Drawing insights from various fields such as robotics, computer science, and biomechanics, it offers a holistic understanding of these robots' stability, adaptability, and efficiency. The analysis encompasses optimization techniques, sensor integration, machine learning, and adaptive control methods, evaluating their impact on robot capabilities. Emphasizing the need for adaptable, terrain-aware control algorithms, the review explores the untapped potential of machine learning and soft robotics in enhancing performance across diverse operational scenarios. It highlights the advantages of hybrid models combining legged and wheeled mobility while stressing the importance of refining control frameworks, trajectory planning, and human-robot interactions. The concept of integrating soft and compliant mechanisms for improved adaptability and resilience is introduced. Identifying gaps in current research, the review suggests future directions for investigation in the fields of robotics and control engineering, addressing the evolution and terrain adaptability of bipedal wheel-legged robots, control, stability, and locomotion, as well as integrated sensory and perception systems, microcontrollers, cutting-edge technology, and future design and control directions.

Probability of independent walking and wheeled mobility in individuals with cerebral palsy.

To estimate the probability of independent walking and wheeled mobility in individuals with cerebral palsy (CP) at home and in the community in relation to age and gross motor function. This was a longitudinal cohort study using data reported into the combined Swedish CP follow-up programme and national quality registry from October 2000 to October 2022. Walking, walking with aids, wheeled mobility, and assisted mobility defined independent or assisted mobility at home and in the community, based on the Functional Mobility Scale with additional data on wheelchair performance, were assessed. There were 52 858 examinations reported for 6647 individuals with CP (age range 0-32 years, follow-up period 0-22 years). Most children and adults in Gross Motor Function Classification System (GMFCS) levels I or II walked without assistive devices. The probability of dependence on others for mobility in the community was high for both children and adults in GMFCS levels III to V. Although independent mobility is vital for participation and social inclusion, many children and adults with CP are dependent on others for mobility. We recommend clinicians, together with families and individuals with CP, explore how to increase access to independent mobility from an early age and continuously throughout the life course. • There is a high probability of independent walking in Gross Motor Function Classification System (GMFCS) levels I to II. • Mobility options vary most at home and in the community in GMFCS level III. • Being dependent on others for mobility is likely in GMFCS levels III to V.

Wheeled and Seated Mobility Devices Provision: Quantitative Findings and SWOT Thematic Analysis of a Global Occupational Therapist Survey.

To better understand the global role of occupational therapists and explore facilitators and barriers impacting user access to high quality, affordable wheeled and seated mobility device (WSMD) provision worldwide. Mixed-method approach utilizing quantitative findings and qualitative strengths, weaknesses, opportunities, and threats (SWOT) analysis of a global online survey. A total of 696 occupational therapists from 61 countries completed the survey. Almost 49% had 10 or more years of experience with the provision of WSMDs. WSMD provision had positive, significant associations with attainment of certification (0.000), higher service funding (0.000), higher country income (0.001), standardized training (0.003), continuous professional development (0.004), higher experience (0.004), higher user satisfaction (0.032), custom-made device provision (0.038), higher staff capacity (0.040), and more time working with users (0.050); negative, significant associations were identified with high cost of WSMDs (0.006) and pre-made device provision (0.019). SWOT analysis identified high country income, funding, experience, training, certification from global partners, variety of roles and practice settings, and interdisciplinary teamwork as strengths and opportunities for professional growth, while low country income, lack of time/staff capacity/standardization/support services, and poor access to proper devices were indicated as weaknesses and threats. Occupational therapists are skilled healthcare professionals and provide a variety of WSMD services. Efforts to build collaborative partnerships, enhance access to occupational therapists and funding options, improve service and standards for WMSD service delivery, and promote professional development will help to overcome challenges and facilitate WSMD provision globally. Promoting practices based on best available evidence for WSMD provision worldwide should be prioritized.

Effectiveness of wheeled mobility skill interventions in children and young people with cerebral palsy: A systematic review.

To systematically review the effectiveness of wheeled mobility interventions in children and young people with cerebral palsy (CP). A systematic literature search was performed in MEDLINE, Embase, Cochrane Central Register of Controlled Trials, EBSCO, PEDro, and Web of Science using database-specific concepts such as 'child' and 'wheelchair'. Studies focusing on wheeled mobility skill interventions with participants aged 6 to 21 years with CP were included. Twenty studies with 203 participants were included. The impact of wheeled mobility skill interventions was assessed on mobility skills (n = 18), activity and participation (n = 10), and quality of life (n = 3). No studies reported effects on stress, fatigue, and motivational aspects. Interventions included power wheelchair skill training (n = 12), computer-based training (n = 5), smart wheelchair training (n = 2), and manual wheelchair training (n = 1), showing positive wheeled mobility intervention effects. Study quality based on the Methodological Index for Non-Randomized Studies scale was 9 out of 16 and 14 out of 24 for non-comparative and comparative studies respectively. Risk of bias was serious-to-critical on the Risk of Bias in Non-Randomized Studies of Interventions. Wheeled mobility interventions showed promising beneficial effects on wheeled mobility, activity and participation, and quality of life for children and young people with CP. Future studies with structured and standardized training programmes and assessment tools are warranted to further accelerate the wheeled mobility skill acquisition process in this population.

Community mobility: psychosocial experiences of stroke survivors who use wheelchairs in Worcester, South Africa

BACKGROUND: Despite policies promoting transport inclusivity, persons with disabilities in South Africa experience difficulties when accessing public transport. Poor community mobility hampers community integration and participation in occupations outside the home. This article describes the psychosocial community mobility experiences, of stroke survivors using wheelchairs in a town in the Western Cape province of South Africa METHOD: The study used a descriptive qualitative design. The study population were community dwelling stroke survivors, from Worcester, using wheelchairs. Data was collected from eight participants through semi-structured telephonic interviews. Inductive thematic analysis was used FINDINGS: The four themes derived from the data were: Freedom of movement (My power chair, my Ferrari'), Social anxiety (People stare at you like they do not have a heart), Dependency (I must dance along to his fiddle), and Social isolation (You feel done in, dejected). Participants identified wheelchairs, private vehicles, and mini-bus taxis as modes of community mobility CONCLUSION: When transport barriers prevent dignified, spontaneous community integration negative psychosocial consequences (social anxiety, dependency, and social isolation) followed. Community mobility barriers hampered participants' ability to participate in meaningful occupations and left them isolated. Occupational therapists should take cognisance of the community mobility challenges wheelchair users might experience and implement intervention strategies to mediate these Implications for practice • Community mobility is essential to perform occupations outside the residential setting and must be included in occupational therapy assessment and intervention strategies. • Occupational therapists can empower individuals with mobility impairments with the life skills to manage psychological challenges caused by accessing public transport and decreased community mobility. • Occupational therapy intervention for wheelchair users accessing public transport should include effective, appropriate transfer strategies to embark and disembark from minibus taxis. • In certain circumstances the occupational therapist should consider the possibility of a motorised wheeled mobility device to facilitate community integration.

Investigation of Wheeled Mobility Device Orientation and Movement on Streetcars and Light Rail Vehicles during Normal and Emergency Braking

Wheeled mobility devices have been accessing public transit vehicles for decades, and most new rail transit systems are accessible. This has increased ridership by people with disabilities. Side-facing orientation on rail transit vehicles often is considered an option to increase capacity for wheeled mobility devices. This paper reports findings of a study of vehicle dynamics and wheeled mobility device orientation on rail transit vehicles. The study used acceleration data and field observations to evaluate wheeled mobility devices in longitudinal and side-facing orientations on streetcar and light rail vehicles. Results from the study include recommendations for longitudinal-oriented areas for wheeled mobility devices as well as additional public outreach on best practices for passengers who use wheeled mobility devices on rail transit vehicles.

Ingress/Egress Incidents Involving Wheelchair Users in a Fixed-Route Public Transit Environment

The objectives of this study were to characterize the ingress and egress activities of wheeled mobility device (WhMD) passengers using fixed-route large, accessible transit vehicles (LATVs), and to examine factors associated with incidents occurring on ramps. A retrospective review of public transit video surveillance footage of WhMD-seated passengers accessing fixed-route LATVs was conducted. Ingress and egress activities were characterized based on travel conditions and characteristics of the WhMD and LATV ramp. Incidents were identified based on predetermined criteria, and chi-square analysis was performed to identify WhMD and/or ingress/egress characteristics associated with incidents. Video records of 250 WhMD trips were analyzed. A total of 39 incidents occurred during ingress and 12 incidents occurred during egress. Results indicated that the frequency of incidents was significantly greater for scooter users and passengers who ascended the ramp using a rear-facing WhMD orientation. Narrow LATV ramp width was associated with the greatest number of incidents, followed by problems related to LATV door width and steep ramp slope.

Transit Operator Evaluation of Three Wheelchair Securement Systems in a Large Accessible Transit Vehicle

The safety, ease of use, and independent use of three wheelchair securement systems and three different types of wheeled mobility devices (WhMD), including a manual wheelchair, a powered wheelchair, and a three-wheeled scooter, were evaluated by eight vehicle operators of a large accessible public transit vehicle (LATV). The securement systems included a forward-facing four-point tiedown system, a prototype forward-facing autodocking system, and a prototype rear-facing-wheelchair passenger (RF-WP) system. The eight LATV operators transported wheelchair-seated passengers in each wheelchair securement system, after which they completed a questionnaire.Operators responded generally positively to the autodocking and RF-WP systems because they were observed by the drivers to be quicker and easier to use and allowed more independent use by wheelchair-seated passengers compared to the four-point tiedown system. From all three securement systems, operators favored the forward-facing autodocking system, because no assistance from operators is required to use it and most users preferred the forward-facing orientation in the vehicle. The autodocking system was perceived to be safe and easy to use by wheelchair- and scooter-seated passengers. These study results promote the need for alternative and improved securement systems that can be used by wheelchair and scooter-seated passengers that travel in LATVs in forward- or rearward-facing directions. Ideally, future securement solutions should not require assistance from LATV operators for their operation and should allow wheelchair- and scooter-seated passengers to ride public transportation safely and independently.

Effects of Speed, Curves, and Driver Behavior on Passive Securement Systems on Large Transit Buses

Wheeled mobility devices that are not secured properly on large transit vehicles pose risks to all passengers. The purpose of this study was to increase the understanding of the effects of horizontal and vertical curves, speed, and driver behavior on the safety and security of people using wheeled mobility devices in rear-facing passive containment systems on large transit buses. Testing included the use of manual wheelchairs and lightweight scooters on an articulated low-floor transit bus. The project conclusions were derived from data produced by accelerometers placed on the bus as well as visual observations of wheeled mobility device movement. The data showed a clear difference in the amount of movement of the wheeled mobility devices and the comfort of the seated passenger when the bus traveled on a combination of horizontal and vertical curves at different driving speeds.

Patient Satisfaction with Occupational Therapy Services for Wheeled Mobility and Seating Devices

Satisfaction of 81 patients was evaluated before and after receiving occupational therapy services. There was a statistically significant difference between patients’ scores before and after receiving occupational therapy services (p < .05). Over 85% indicated a high satisfaction in relation to quality and health outcomes attributed to occupational therapy services, 44% reported barriers related to limited availability, accessibility, and knowledge of occupational therapy services, and 35% made suggestions for improvements. Patient-therapist communication and easy access to occupational therapy services can enhance occupational therapy knowledge, lead to positive patient experience and quality health outcomes, and higher patient satisfaction.

The struggle for access – a qualitative document study of how people using wheeled mobility devices experience exclusion and discrimination

Purpose The overall aim of this study was to describe experiences of discrimination due to inaccessibility among people using mobility devices. Material and methods We conducted a thematic qualitative analysis of 88 complaints about wheeled mobility device use, inaccessibility, and discrimination submitted to the Swedish Equality Ombudsman (DO) during 2015 and 2016. Results The analysis resulted in three themes: instigating change by invoking laws and regulations and highlighting lack of compliance; demanding to be recognised, understood, and listened to; and struggling for equal access and social participation. Regulations and treaties were invoked as the basis for complaints by people using mobility devices regarding their lack of access to physical environments and impediments to their enjoyment of their full right to participate in and contribute to society. The complaints described feelings of discrimination, the disadvantages and exclusion due to physical inaccessibility, and experiences of being prevented from living one’s life as others do. Conclusions Complaints filed by people using mobility devices showed that they were denied access to a wide range of contexts, including offices, theatres, restaurants, schools, and public transportation, though they desired to live an active and social life outside their homes. Filing a complaint was a way to take action, highlight present inaccessibility, and express a hope for change. IMPLICATIONS FOR REHABILITATION Difficulties experienced by people using wheeled mobility devices can reveal knowledge important for revising existing design and renovation standards for housing and public buildings. Documenting facilitators and barriers in different environments is important for giving voice to the needs of wheeled mobility device users and revealing standards that need to be strongly enforced or revised. People using wheeled mobility devices should be supported in finding solutions in inaccessible environments, both to fulfil their wishes and to enable their participation in society.

Wheeled Mobility with Health Monitoring System

Wheeled Mobility with Health Monitoring System

Usability of a navigation application for travel in Quebec City with wheeled mobility device and, further validation of the Evaluation of satisfaction with geospatial assistive technology

Purpose Knowledge of route accessibility is indispensable for “wheeled mobility device” users to travel safely and efficiently; however, current navigation technologies hardly provide adapted information for this population. Aims of the study were to collect data on the usability of a navigation application and to propose a version 1.0 of the Evaluation of satisfaction with geospatial assistive technology (ESGAT), by addressing the criterion, construct and cross-cultural validities. Method A filmed field trial and a methodological study were conducted in parallel. Thirty wheeled mobility device users were filmed planning and making a 10-minute known journey using the HERE WeGo app. The ESGAT, ÉSTGA (French version) and the Computer System Usability Questionnaire were administered. A video observation grid addressed the effectiveness and efficiency during the journey. Descriptive, correlation and multiple match analyses were performed. Results Fourteen men and 16 women averaging 45.9 years old tried out HERE WeGo; 14 were powered wheelchair users. Usability of the app was moderate (good effectiveness, moderate efficiency and quite satisfied). The criterion validity of the ÉSTGA was good (r = 0.598; p < 0.001). The construct validity was average considering the results for factor 1 (α = 0.789, acceptable), factor 2 (α = 0,586, low) and factor 3 (α = 0.409, unacceptable). The cross-cultural validity (French vs English) was moderate (r = 0.861; p < 0.001). Conclusion ESGAT and ÉSTGA 1.0 questionnaires are now available in English and French with a total mean score (11 items), an informatics subscore (mean of 5 items) and a geomatic subscore (mean of 6 items). Their validation should be pursued with new navigation applications. IMPLICATIONS FOR REHABILITATION Clinicians should ask their clients using a wheeled mobility device to test navigation applications to ensure their safety and complete the Evaluation of satisfaction with geospatial assistive technology (ESGAT 1.0), also available in French. Clinicians should inquire about satisfaction for items addressing informatics (Ease of access, Learnability, Hands-free function, Ease of use, Transportability and Appearance) and items addressing geomatic (Content, Geographic information, Effectiveness, Efficiency, Real-time navigation assistance, Aspect of security). Rehabilitation clinicians should inquire about the efficiency of the navigation app, considering avoiding or announcing potential obstacles such as: travelling on the street for a long portion of the trip and not on the sidewalk; verbal indication too soon or too late; incorrect indication; damaged, and congested sidewalk.