Short Tilte:Performance assessment of a pushrim-activated power-assisted wheelchair control system
Journal:IEEE Transactions on Control Systems Technology
Year, Volume, Issue, Page(s):02, 10, 1, 121-126
Study compared torque data obtained with a pushrim-activated power-assisted wheelchair (PAPAW) to that of traditional manual wheelchair propulsion among subjects with spinal cord injury. The PAPAW is a hybrid between a manual wheelchair and an electric-powered wheelchair and its shared control system must account for human behavior and user interaction with the device. The human power is delivered by the arms through the pushrims while the electric power is delivered by a battery through 2 electric motors. The PAPAW uses a form of gain scheduling based on events recorded from the pushrim torque. Comparisons were made for 2 speeds at normal resistance. Results showed that the peak torque was reduced by more than 50 percent and the time on the rim was nearly doubled with the PAPAW. These changes have been shown to significantly reduce the strain on the upper extremities commonly associated with secondary disabling conditions.