the kinematics and dynamics of two industrial cooperating robots are presented in this paper. the noc (natural orthogonal complement) method is used to derive the dynamical equations for the motion of two cooperating robots. the joint torques of the two robots are determined based on the optimization techniques in order to obtain unique solution for joint torques. to this end, minimizing the cr...

Lightweight (K4) and ultra-lightweight (K5) wheelchairs are commonly used as mobility devices by pediatric manual wheelchair users. In this study, instrumented pushrims and wireless motion tracking were used to measure energy cost and shoulder flexion during manual wheelchair propulsion. Eight pediatric (age=1218 yrs) manual wheelchair users propelled a K4 and K5 wheelchair across a level tiled...

Little is known about how dynamic acceleration affects wheelchair-rider comfort. The current study was to test both the operation of an instrumented wheelchair by a wheelchair user over a Simulated Road Course (SRC) and the operation of the same instrumented wheelchair during normal daily activities (a field test) by test subjects. Sixteen subjects participated in the protocol. A SRC allowed co...

BACKGROUND Comparative effectiveness research on wheelchairs available in low-resource areas is needed to enable effective use of limited funds. Mobility on commonly encountered rolling environments is a key aspect of function. High variation in capacity among wheelchair users can mask changes in mobility because of wheelchair design. A repeated measures protocol in which the participants use o...

The paper deals with engineering an electric wheelchair from a common wheelchair and the development of a BCI system (Brain-Computer Interface) between the electric wheelchair and the human brain. The target populations for the mind controlled wheelchair are the patients who are paralyzed below the neck and are unable to use conventional wheelchair interfaces. A portable EEG headset, MCU and fi...

Manual wheelchair users commonly experience pain in their hands and wrists associated with the repetitive stress of propulsion. The objective of this research was to examine the effect of an ergonomic wheelchair handrim as an intervention designed to reduce pain in the hands and wrists and improve functional outcomes for manual wheelchair users. Three studies were conducted to achieve this obje...

The battery performance of electric wheelchairs was measured under indoor and outdoor conditions, and simulated driving cycles for these two environments were derived from these tests. Driving cycles were used to bench-test deep discharge wet cell and gel cell lead-acid batteries, nickel-cadmium batteries, and experimental nickel-zinc batteries. Results of this study support the conclusion that...

Many people in wheelchairs are unable to control a powered wheelchair with the standard joystick interface. A robotic wheelchair can provide users with driving assistance, taking over low-level navigation to allow its user to travel efficiently and with greater ease. Our robotic wheelchair system, Wheelesley, consists of a standard powered wheelchair with an on-board computer, sensors and a gra...

4 Lightweight wheelchair stair-climbing attachments. Step stair-climbing mechanism targeted for wheelchair application is presented in Section 3. Finally a.This paper focuses on presenting the development of a stair-climbing wheelchair mechanism with high single-step capability. The mechanism is based on front.A stair climbing mechanism is a semi-automated vehicle, which has the. One is for mak...

OBJECTIVE To investigate the effects of low-intensity wheelchair training on wheelchair-specific fitness, wheelchair skill performance and physical activity levels in inactive people with long-term spinal cord injury. DESIGN Randomized controlled trial. PARTICIPANTS Inactive manual wheelchair users with spinal cord injury for at least 10 years (n = 29), allocated to exercise (n = 14) or no ...