EFFECTS OF A CLOSED-LOOP PARTIAL POWER ASSISTANCE ON MANUAL WHEELCHAIR LOCOMOTION

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Citações na Scopus
1
Tipo de produção
Artigo
Data
2018-12-12
Autores
MARTINS, M. A. DE A.
Marko Ackermann
Fabrizio Leonardi
Orientador
Periódico
IFAC-PAPERSONLINE
Título da Revista
ISSN da Revista
Título de Volume
Citação
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.
Texto completo (DOI)
Palavras-chave
Closed loop control,Wheelchair locomotion,Optimal control,Biomechanics
Resumo
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.

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