Three-Dimensional Dynamic Analysis of Wheelchair Propulsion

Abstract

A three-dimensional (3-D) inverse dynamic model of wheelchair propulsion was developed using the Newton-Euler method based on body coordinate systems. With this model, the arm was assumed to be three rigid segments (hand, forearm, and upper arm) connected by the wrist, elbow, and shoulder joints. A symbolic method was adopted to generate the equations of motion. The model was used to compute the joint forces and moments based on the inputs obtained from a 3-D motion analysis system, which included an instrumented wheelchair, video cameras, and a data acquisition system. The linear displacements of markers placed on the joints were measured and differentiated to obtain their velocities and accelerations. Three-dimensional contact forces and moments from hand to handrim were measured and used to calculate joint forces and moments of the segments.

Energy Expenditure of Two Types of Manual Wheelchair Propulsion

“…They also reported the largest torques around the shoulder joint, but predominantly as a shoulder flexion torque [24]. A large shoulder flexion torque of approximately 30 Nm and elbow extension torque of approximately 10 Nm were also calculated in other study [25]. These data showed the inadaptability and unsuitability of the classical wheelchair propulsion technique for the physiological and biomechanical aspects of the upper extremities of the paraplegic subject.…”

Análise da força articular resultante entre diferentes movimentos do ombro com e sem carga: estudo preliminar

“…A maior parte da literatura apresenta dados referentes a gestos esportivos como arremessos (5,7,8) , AVDs (13) ou propulsão de cadeiras de rodas (17,23,26) . Não encontramos nenhum estudo voltado para atividades comumente realizadas no treinamento de força, ou exercícios de reabilitação.…”

“…Modelos biomecânicos têm sido comummente utilizados com o objectivo de estimar as forças de reacção proximal (FRP) e momento proximal (MP) tanto durante actividades esportivas como durante actividades de vida diária (AVDs) (5,7,8,17,26,28,29) . A estrutura dos modelos pode variar, conforme o objectivo do estudo.…”

“…Nos últimos anos, alguns estudos voltaram-se para análise do efeito de uma carga externa sobre o ritmo escapuloumeral durante a elevação do braço (4,10,11,14,20) . Outros, voltaram-se para a análise de gestos esportivos (5,7,8) , da propulsão de cadeiras de rodas (17,(23)(24)(25)(26)29) e de actividades de vida diária (9,13,28) . Ainda, durante o 5 th Meeting of the International Shoulder Group foram apresentados dados comparando o número de publicações referentes ao membro superior e membro inferior.…”

Study on Characteristics of the Wheelchair-User Combination

“…Richter built a "Quasi-static wheelchair propulsion model" and defined the relationship among upper limbs, forelimbs (including hands), drive wheels and drive handles [28]. Likewise, in 1998, Rodgers et al built a "Global and local coordinate systems for the wheelchair propulsion model", developed a set of measurement system to catch posture via marked points, cameras, and so on, and then used this system to conduct three-dimensional dynamic analysis on the propulsion process of WUs [29]. Furthermore, Kotajarvi et al used ten cameras motion capture system (Expert vision System) of Motion Analysis Corporation to collect the postures of wheelchair propulsion action [30].…”