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A Comparison Between Conventional and Terrain-Specific Adaptive Pushrim-Activated Power-Assisted Wheelchairs.

M Khalili, G Kryt, H F M Van der Loos

    IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society
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    Summary

    Adaptive controllers for pushrim-activated power-assisted wheels (PAPAWs) reduce wheelchair user effort on varied terrains. This technology improves outdoor accessibility and may prevent upper extremity joint issues.

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    Area of Science:

    • Assistive Technology
    • Robotics
    • Biomechanics

    Background:

    • Pushrim-activated power-assisted wheels (PAPAWs) offer on-demand propulsion assistance for wheelchair users.
    • Existing PAPAWs may not optimally adapt to diverse environmental conditions, impacting user experience and effort.
    • Developing adaptive control strategies is crucial for enhancing wheelchair mobility and user well-being.

    Purpose of the Study:

    • To develop and implement an adaptive PAPAW controller capable of responding to different terrains.
    • To create a terrain classification framework using kinematic data for real-time PAPAW adjustments.
    • To evaluate the effectiveness of the adaptive controller in reducing user propulsion effort and improving subjective workload.

    Main Methods:

    • Collected wheelchair motion kinematics using an inertial measurement unit (IMU) across various indoor and outdoor terrains.
    • Developed a terrain classification framework utilizing statistical characteristics of kinematic data and random forest algorithms.
    • Integrated and tested the computationally efficient terrain classification framework in a laboratory-developed PAPAW system for real-time control.

    Main Results:

    • The adaptive PAPAW controller successfully classified different terrains in real-time.
    • Power-assist ratios were dynamically adjusted based on identified terrain types, providing more assistance on outdoor surfaces.
    • Propulsion effort, measured by peak input torque on asphalt, was significantly reduced compared to conventional PAPAW controllers.
    • Participants reported lower physical and cognitive workload when using the adaptive PAPAW controllers.

    Conclusions:

    • An adaptive PAPAW controller with a real-time terrain classification framework is feasible and effective.
    • This technology significantly reduces wheelchair user propulsion effort and perceived workload, particularly on challenging terrains.
    • Adaptive PAPAW controllers hold potential for improving outdoor terrain accessibility and mitigating upper extremity joint degeneration or pain in wheelchair users.