Please use this identifier to cite or link to this item: https://repositorio.fei.edu.br/handle/FEI/3503
Title: EFFECTS OF A CLOSED-LOOP PARTIAL POWER ASSISTANCE ON MANUAL WHEELCHAIR LOCOMOTION
Authors: MARTINS, M. A. DE A.
Marko Ackermann
Fabrizio Leonardi
Issue Date: 12-Dec-2018
Abstract: In manual wheelchair locomotion, the large upper extremity loads and the repetitions of the propulsion movement increase the incidence of upper limbs injuries, pain and muscle fatigue. The main goal of this study was to investigate the influence of a closed-loop partial power assistance for manual wheelchairs through predictive simulations of a dynamic four-bar model. The applied control law applied can be seen as an impedance-like control, but it does not require force measurement. The simulation results indicate that this strategy can reduce joint torques without significantly altering the typical kinematic pattern of manual wheelchair locomotion.
Keywords: Closed loop control
Wheelchair locomotion
Optimal control
Biomechanics
Journal: IFAC-PAPERSONLINE
metadata.fei.scopus.citations: 1
Citation: MARTINS, M. A. DE A. ; ACKERMANN, M.; LEONARDI, F. Effects of a closed-loop partial power assistance on manual wheelchair locomotion. IFAC-PAPERSONLINE, v. 51, n. 27, p. 350-354, 2018.
Access Type: Acesso Aberto
DOI: 10.1016/j.ifacol.2018.11.615
Appears in Collections:Artigos

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