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

dc.contributor.author Liles, Howard
dc.contributor.author Huang, Morris
dc.contributor.author Caspall, Jayme
dc.contributor.author Sprigle, Stephen
dc.contributor.corporatename Georgia Institute of Technology. College of Architecture en_US
dc.contributor.corporatename Georgia Institute of Technology. Rehabilitation Engineering and Applied Research Lab en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Applied Physiology en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Mechanical Engineering en_US
dc.date.accessioned 2015-12-16T16:40:44Z
dc.date.available 2015-12-16T16:40:44Z
dc.date.issued 2014
dc.description © 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. en_US
dc.description DOI: 10.1109/TNSRE.2014.2371339
dc.description.abstract 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. en_US
dc.embargo.terms null en_US
dc.identifier.citation Liles, H.; Huang, M.; Caspall, J.; & Sprigle, S. (2014). "Design of a Robotic System to Measure Propulsion Work of Over-Ground Wheelchair Maneuvers". IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 23, no.6, pp. 983-991, 2014. en_US
dc.identifier.issn 1534-4320
dc.identifier.uri http://hdl.handle.net/1853/54233
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.subject Anatomical en_US
dc.subject Inertia en_US
dc.subject Mechanical design en_US
dc.subject Mechanical torque en_US
dc.subject Model en_US
dc.subject Power en_US
dc.subject Propulsion en_US
dc.subject Repeatability en_US
dc.subject Resistive loss en_US
dc.subject Robotic en_US
dc.subject Wheelchair en_US
dc.title Design of a Robotic System to Measure Propulsion Work of Over-ground Wheelchair Maneuvers en_US
dc.type Text
dc.type.genre Article
dspace.entity.type Publication
local.contributor.author Sprigle, Stephen
local.contributor.corporatename School of Industrial Design
local.contributor.corporatename Rehabilitation Engineering and Applied Research Lab (REAR Lab)
relation.isAuthorOfPublication d74ba5ce-5e7a-4b90-bbf0-b710c37b0941
relation.isOrgUnitOfPublication ba047493-307f-4cec-b428-7d2ac38da373
relation.isOrgUnitOfPublication 498b90db-cb00-4199-82f8-1b2727c1de18
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