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Updated: Jul 26, 2025
Determining and Controlling External Power Output During Regular Handrim Wheelchair Propulsion
Published on: February 5, 2020
Evaluation of Power Wheelchair Dynamic Suspensions for Tip Prevention in Non-ADA Compliant Surfaces
Jorge L Candiotti1, Sivashankar Sivakanthan2, Josh Kanode2
1Veterans Affairs Pittsburgh Healthcare System and Human Engineering Research Laboratories, Pittsburgh, PA; Department of Bioengineering, School Swanson of Engineering, University of Pittsburgh, Pittsburgh, PA.
Objective:
To evaluate the driving performance and usability of a mobility enhancement robot (MEBot) wheelchair with 2 innovative dynamic suspensions compared with commercial electric powered wheelchair (EPW) suspensions on non-American with Disabilities Act (ADA) compliant surfaces. The 2 dynamic suspensions used pneumatic actuators (PA) and electro-hydraulic with springs in series electrohydraulic and spring in series (EHAS).
Design:
Within-subjects cross-sectional study. Driving performance and usability were evaluated using quantitative measures and standardized tools, respectively.
Setting:
Laboratory settings that simulated common EPW outdoor driving tasks.
Participants:
10 EPW users (5 women, 5 men) with an average age of 53.9±11.5 years and 21.2±16.3 years of EPW driving experience (N=10).
Intervention:
Not applicable.
Main Outcome Measure(S):
Seat angle peaks (stability), number of completed trials (effectiveness), Quebec User Evaluation of Satisfaction with Assistive Technology (QUEST), and systemic usability scale (SUS).
Results:
MEBot with dynamic suspensions demonstrated significantly better stability (all P<.001) than EPW passive suspensions on non-ADA-compliant surfaces by reducing seat angle changes (safety). Also, MEBot with EHAS suspension significantly completed more trials over potholes compared with MEBot with PA suspension (P<.001) and EPW suspensions (P<.001). MEBot with EHAS had significantly better scores in terms of ease of adjustment (P=.016), durability (P=.031), and usability (P=.032) compared with MEBot with PA suspension on all surfaces. Physical assistance was required to navigate over potholes using MEBot with PA suspension and EPW suspensions. Also, participants reported similar responses regarding ease of use and satisfaction toward MEBot with EHAS suspension and EPW suspensions.
Conclusions:
MEBot with dynamic suspensions improve safety and stability when navigating non-ADA-compliant surfaces compared with commercial EPW passive suspensions. Findings indicate MEBot readiness for further evaluation in real-world environments.
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