Mechanical performance characterization of manual wheelchairs using robotic wheelchair operator with intermittent torque-based propulsion

Misch, Jacob P.

Title:

Mechanical performance characterization of manual wheelchairs using robotic wheelchair operator with intermittent torque-based propulsion

dc.contributor.advisor	Sprigle, Stephen
dc.contributor.author	Misch, Jacob P.
dc.contributor.committeeMember	Sonenblum, Sharon
dc.contributor.committeeMember	Ferri, Aldo
dc.contributor.committeeMember	Hammond, Frank
dc.contributor.committeeMember	Rambhatla, Ramakant
dc.contributor.department	Mechanical Engineering
dc.date.accessioned	2021-01-11T17:12:31Z
dc.date.available	2021-01-11T17:12:31Z
dc.date.created	2020-12
dc.date.issued	2020-12-06
dc.date.submitted	December 2020
dc.date.updated	2021-01-11T17:12:31Z
dc.description	This item is related to: http://hdl.handle.net/1853/63781. Visit the link for video demonstrations of the maneuvers used for data collection.
dc.description.abstract	The current manual wheelchair design process lacks consistent and objective connection to performance-based metrics. The goal of this research was to empirically assess over-ground manual wheelchair performances and identify important design trade-offs through the use of a robotic apparatus with a novel cyclic propulsion control method. This research had four specific aims: 1) to design, implement, and validate torque-based propulsion to emulate the intermittent human propulsion cycle with an existing robotic wheelchair tester, 2) to investigate the influence of incremental mass additions to the wheelchair frame on over-ground propulsion characteristics, 3) to demonstrably improve the performance of a representative high-strength lightweight wheelchair by leveraging existing component-level test results, and 4) to characterize the mechanical performances of representative folding and rigid ultra-lightweight wheelchair frames. The outcomes of this research include an objective, repeatable, and validated test method to assess over-ground performances of manual wheelchairs in realistic contexts of use, as well as insight on the mechanics of the system that were previously under-studied or confounded by variabilities within human subject testing. Controlled propulsion tests are used to identify differences between wheelchair configurations. The outcome variable of propulsion cost represents the energetic requirements of propelling each chair a given distance and has direct relevance to manufacturers, clinicians, and wheelchair users alike. Ultimately, these outcomes will inform clinicians and manufacturers about how configuration choices influence propulsive efforts, which can be used in turn to improve their classification techniques and existing design processes. This knowledge will additionally empower wheelchair users to make informed choices during the wheelchair selection process based on objective mechanical performance metrics.
dc.description.degree	Ph.D.
dc.format.mimetype	application/pdf
dc.identifier.uri	http://hdl.handle.net/1853/64159
dc.language.iso	en_US
dc.publisher	Georgia Institute of Technology
dc.relation	http://hdl.handle.net/1853/63781
dc.subject	Manual wheelchair
dc.subject	Rehabilitation engineering
dc.subject	Robotics
dc.subject	Mechatronics
dc.subject	Propulsion cost
dc.subject	Energy loss
dc.subject	Rolling resistance
dc.title	Mechanical performance characterization of manual wheelchairs using robotic wheelchair operator with intermittent torque-based propulsion
dc.type	Text
dc.type.genre	Dissertation
dspace.entity.type	Publication
local.contributor.advisor	Sprigle, Stephen
local.contributor.author	Misch, Jacob
local.contributor.corporatename	George W. Woodruff School of Mechanical Engineering
local.contributor.corporatename	College of Engineering
local.contributor.corporatename	Rehabilitation Engineering and Applied Research Lab (REAR Lab)
local.relation.ispartofseries	Doctor of Philosophy with a Major in Bioengineering
relation.isAdvisorOfPublication	d74ba5ce-5e7a-4b90-bbf0-b710c37b0941
relation.isAuthorOfPublication	5492f682-0b13-4543-a681-c30dcf02c0b3
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relation.isSeriesOfPublication	5db25cda-aa52-48d2-8f63-c551ef2c92f4
thesis.degree.level	Doctoral