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Development of a Comprehensive Mathematical Model and Physical Interface for Manual Wheelchair Simulation

The aim of this project is to provide a manual wheelchair simulator for advanced wheelchair research within Toronto Rehabilitation Institute‘s Challenging Environment Assessment Laboratory (CEAL). To achieve this, a comprehensive mathematical model of the wheelchair/user system and a fully adjustable physical interface (which mimics various wheelchair configurations) have been developed. The mathematical model is unique in its ability to predict complex motions such as wheelies, and is able to update the wheelchair‘s position in a
virtual environment, and calculate the force-feedback required for simulating various slopes and surfaces. The physical interface is used to measure the inputs required by the mathematical model (hand-rim input torques, hand and torso positions, and user centre-of-mass position), and utilizes servo motors to provide force-feedback at the wheelchair‘s hand-rims. Preliminary
results comparing real-world wheelchair motion data to the mathematical model‘s predictions are presented, along with the physical interface design and mathematical model development.

Identiferoai:union.ndltd.org:TORONTO/oai:tspace.library.utoronto.ca:1807/30565
Date06 December 2011
CreatorsCrichlow, Larry Russell
ContributorsFernie, Geoff
Source SetsUniversity of Toronto
Languageen_ca
Detected LanguageEnglish
TypeThesis

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