Suzuki, T;
Boampong, D;
Utsuno, H;
Papadosifos, N;
Holloway, C;
Tyler, N;
(2021)
Powered attendant-propelled wheelchair with assist-as-needed control based on individual physical capabilities.
Journal of Biomechanical Science and Engineering
, 16
(4)
pp. 20-00474.
10.1299/jbse.20-00474.
Preview |
Text
16_20-00474.pdf - Published Version Download (1MB) | Preview |
Abstract
This paper discussed if a powered attendant propelled wheelchairs (PAPW) with assist-as-needed control reduces energy consumption and maximise attendant's physical activity in powered system use. This study introduced a PAPW with force velocity assist control (FVAC) based on individual capability of pushing force velocity relationship. This PAPW assists attendant pushing when more pushing force is needed over usual range of individual physical capabilities of pushing. With the PAPW, we investigated the performance of the FVAC and compared it with proportional assist control (PAC) on a flat level surface and a longitudinal slope (6.5%) with three participants. The experimental results showed that the PAPW with the FVAC reduced 50% of pushing force on the slope and this was similar performance of the PAC in terms of assisting. The FVAC also reduced 79% of mean mechanical assisting power on the flat against the PAC. These results support that the PAPW with the FVAC has flexibilities to adapt to individual physical capabilities and provides certain level of physical activities with sufficient assisting when needed, and low energy consumption for long time and distance operations for attendants.
| Type: | Article |
|---|---|
| Title: | Powered attendant-propelled wheelchair with assist-as-needed control based on individual physical capabilities |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1299/jbse.20-00474 |
| Publisher version: | https://doi.org/10.1299/jbse.20-00474 |
| Language: | English |
| Additional information: | © 2021 by The Japan Society of Mechanical Engineers. This article is licensed under a Creative Commons [Attribution 4.0 International] license. https://creativecommons.org/licenses/by/4.0/ |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Civil, Environ and Geomatic Eng UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10139845 |
Archive Staff Only
 |
View Item |
