Modeling and optimal control formulation for manual wheelchair locomotion: The influence of mass and slope on performance

dc.contributor.authorMarko Ackermann
dc.contributor.authorFabrizio Leonardi
dc.contributor.authorCOSTA, H. R.
dc.contributor.authorFLEURY, A. T.
dc.contributor.authorOrcidhttps://orcid.org/0000-0002-0252-5228
dc.contributor.authorOrcidhttps://orcid.org/0000-0001-8056-7645
dc.date.accessioned2022-01-12T22:00:35Z
dc.date.available2022-01-12T22:00:35Z
dc.date.issued2014-08-15
dc.description.abstractA framework to generate predictive simulations is proposed to investigate the influence of system's mass on manual wheelchair locomotion. The approach is based on a model of wheelchair propulsion dynamics and an optimal control formulation. In this study, predictive simulations of steady-state wheelchair locomotion are generated for different combinations of model mass and uphill slope inclination angle. The results show that the influence of system's mass is negligible in level surfaces in steady-state, a finding which agrees with experimental observations in the literature. On the other hand, the results show that the influence of mass on slopes is critical, with large increases in propulsion effort with system's mass, even for slight inclination angles. This shows the importance of reducing wheelchair mass for improving locomotion performance, particularly in overcoming obstacles and ramps. Decreasing the wheelchair's mass may not be sufficient. Therefore, and on the light of these findings, we propose the reduction of system's apparent mass through the implementation of an impedance control scheme in powerassisted wheelchairs.
dc.description.firstpage1079
dc.description.lastpage1084
dc.identifier.citationACKERMANN, M.; LEONARDI, F.; COSTA, H. R.;FLEURY, A. T. Modeling and optimal control formulation for manual wheelchair locomotion: The influence of mass and slope on performance. Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, 2014.
dc.identifier.doi10.1109/biorob.2014.6913924
dc.identifier.issn2155-1774
dc.identifier.urihttps://repositorio.fei.edu.br/handle/FEI/4009
dc.relation.ispartofProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
dc.rightsAcesso Restrito
dc.titleModeling and optimal control formulation for manual wheelchair locomotion: The influence of mass and slope on performance
dc.typeArtigo de evento
fei.scopus.citations8
fei.scopus.eid2-s2.0-84918506922
fei.scopus.subjectImpedance control
fei.scopus.subjectInclination angles
fei.scopus.subjectManual wheelchair
fei.scopus.subjectOvercoming obstacles
fei.scopus.subjectPower-assisted wheelchair
fei.scopus.subjectPredictive simulations
fei.scopus.subjectSlope inclination
fei.scopus.subjectWheelchair propulsion
fei.scopus.updated2024-05-01
fei.scopus.urlhttps://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84918506922&origin=inward
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