Identification of the mechanical properties of tires for wheelchair simulation.

The development of high performance wheelchairs and wheelchair simulators requires dynamic models taking into account the properties of tires. In this paper the properties of two wheelchair tires are measured by means of a rotating disc testing machine and are compared with the properties of bicycle tires, which have similar dimensions and structure. Tests are carried out considering variations in speed, inflation pressure and load. The possibility of fitting experimental results with the Magic Formula, the Dugoff formula and a linear model is discussed. A dynamic model of a wheelchair is developed, which includes a linear tire model derived from experimental results. Steady turning and slalom manoeuvres are simulated. Numerical results show the effect of tire properties on the handling characteristics of the wheelchair.N/

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.MAS

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.MAS