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Determining and Controlling External Power Output During Regular Handrim Wheelchair Propulsion
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User evaluation of a collaborative wheelchair system.

Qiang Zeng1, Etienne Burdet, Chee Leong Teo

  • 1Department of Mechanical Engineering, National University of Singapore, Singapore. zengqiang@nus.edu.sg

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
|January 24, 2009
PubMed
Summary

The collaborative wheelchair assistant (CWA) robot enhances user control by integrating human commands with machine-guided navigation. This robotic wheelchair system ensures safe motion and simplifies control for users with mobility impairments.

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Area of Science:

  • Rehabilitation Engineering
  • Human-Robot Interaction
  • Assistive Technology

Background:

  • Robotic wheelchairs offer potential for enhanced mobility and independence.
  • Integrating user control with automated navigation presents unique challenges.
  • Previous evaluations have focused on able-bodied users.

Purpose of the Study:

  • To evaluate the performance and user interaction of the collaborative wheelchair assistant (CWA) system.
  • To assess the CWA's effectiveness with users with cerebral palsy (CP) and traumatic brain injury (TBI).
  • To compare the CWA's performance in individuals with CP and TBI against able-bodied subjects.

Main Methods:

  • Experimental evaluation of the CWA system with human subjects.
  • Inclusion of participants with cerebral palsy (CP) and traumatic brain injury (TBI).

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Last Updated: Jun 26, 2026

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  • Assessment of system performance, user interaction, and motion efficiency.
  • Comparison with previously collected data from able-bodied users.

    • Main Results:

    • The CWA system demonstrated safe motion during navigation tasks.
    • The system significantly simplified control for users.
    • Navigation performance was not compromised by the CWA system.
    • Comparable performance was observed between users with CP/TBI and able-bodied subjects.

    Conclusions:

    • The collaborative wheelchair assistant (CWA) effectively integrates user high-level commands with machine-controlled low-level navigation.
    • The CWA provides a safe and simplified control experience for users with mobility impairments.
    • The system maintains navigation efficiency, offering a viable assistive solution.