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Sprigle, Stephen

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https://hdl.handle.net/1853/71727
 https://orcid.org/0000-0003-0462-0138
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0000-0003-0462-0138
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Author: Caspall, Jayme × End date: 2014 × Start date: 2010 × Item Type: Publication ×

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Design of a Robotic System to Measure Propulsion Work of Over-ground Wheelchair Maneuvers

2014 , Liles, Howard , Huang, Morris , Caspall, Jayme , Sprigle, Stephen

A wheelchair-propelling robot has been developed to measure the efficiency of manual wheelchairs. The use of a robot has certain advantages compared to the use of human operators with respect to repeatability of measurements and the ability to compare many more wheelchair configurations than possible with human operators. Its design and implementation required significant engineering and validation of hardware and control systems. The robot can propel a wheelchair according to pre-programmed accelerations and velocities and measures the forces required to achieve these maneuvers. Wheel velocities were within 0.1 m/s of programmed values and coefficients of variation (CV) < 2%. Torque measurements were also repeatable with CV <10%. By determining the propulsion torque required to propel the wheelchair through a series of canonical maneuvers, task-dependent input work for various wheelchairs and configurations can be compared. This metric would serve to quantify the combined inertial and frictional resistance of the mechanical system.

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Anatomical Model Propulsion System: Measuring Manual Wheelchair Efficiency

2010 , Dao, Phuc , Sprigle, Stephen , Caspall, Jayme , Ferri, Aldo A. , Eicholtz, Matthew , Wang, Stan

The goal of this project was to produce a test device and methodology capable of measuring the mechanical efficiency of manual wheelchairs. The result would provide an objective measure of wheelchair performance that are required to effectively prescribe wheelchairs and to code wheelchairs properly for reimbursement.

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iMachine: Measuring Manual Wheelchair Mass Properties

2010 , Eicholtz, Matthew , Sprigle, Stephen , Ferri, Al , Caspall, Jayme , Dao, Phuc , Wang, Stan

Mass properties are important parameters in dynamic systems analysis, but may be difficult to estimate for irregularly-shaped objects. Specifically, the iMachine is designed to analyze manual wheelchairs in an effort to determine the propulsion efficiency using the Anatomical Model Propulsion System (AMPS).

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