Benjamin Salatin

Real-time model based electrical powered wheelchair control ☆

The purpose of this study was to evaluate the effects of three different control methods on driving speed variation and wheel slip of an electric-powered wheelchair (EPW). A kinematic model as well as 3D dynamic model was developed to control the velocity and traction of the wheelchair. A smart wheelchair platform was designed and built with a computerized controller and encoders to record wheel speeds and to detect the slip. A model based, a proportional-integral-derivative (PID) and an open-loop controller were applied with the EPW driving on four different surfaces at three specified speeds. The speed errors, variation, rise time, settling time and slip coefficient were calculated and compared for a speed step-response input. Experimental results showed that model based control performed best on all surfaces across the speeds.

Evaluation of aluminum ultralight rigid wheelchairs versus other ultralight wheelchairs using ANSI/RESNA standards.

Previous studies found that select titanium ultralight rigid wheelchairs (TURWs) had fewer equivalent cycles and less value than select aluminum ultralight folding wheelchairs (AUFWs). The causes of premature failure of TURWs were not clear because the TURWs had different frame material and design than the AUFWs. We tested 12 aluminum ultralight rigid wheelchairs (AURWs) with similar frame designs and dimensions as the TURWs using the American National Standards Institute/Rehabilitation Engineering and Assistive Technology Society of North America and International Organization for Standardization wheelchair standards and hypothesized that the AURWs would be more durable than the TURWs. Across wheelchair models, no significant differences were found in the test results between the AURWs and TURWs, except in their overall length. Tire pressure, tube-wall thickness, and tube manufacturing were proposed to be the factors affecting wheelchair durability through comparison of the failure modes, frames, and components. The frame material did not directly affect the performance of AURWs and TURWs, but proper wheelchair manufacture and design based on mechanical properties are important.

Personal Mobility and Manipulation Appliance—Design, Development, and Initial Testing

The ability to perform activities of daily living and mobility-related activities of daily living are substantial indicators of ones ability to live at home and to participate in ones community. Technologies to assist with mobility and manipulation are among the most important tools that clinicians can provide to people with disabilities to promote independence and community participation. For people with severe disabilities involving both the upper and lower extremities, there are few systems that provide practical and coordinated assistance with mobility and manipulation tasks. The personal mobility and manipulation appliance (PerMMA) was created in response to goals set forth by a team of clinicians and people with disabilities.

Design and Development of the Personal Mobility and Manipulation Appliance

For people with significant mobility impairments who also have both lower and upper limb disability, there are few technology solutions. The aim of this article is to describe the design and development of the Personal Mobility and Manipulation Appliance, a device that provides coordinated mobility and bimanual manipulation for people with both lower and upper limb impairment. The Personal Mobility and Manipulation Appliance is integrated from several commercial products and custom technologies, including two robotic arms mounted on a mobile robotic base. It has three primary operating modes: local user, remote user, and autonomous. It also has a cooperative control mode where two or more of the primary modes can be used simultaneously. The device was evaluated in a kitchen and was able to perform several complex tasks. Future work should focus on interface improvements and evaluations by end users.

Innovations With 3-Dimensional Printing in Physical Medicine and Rehabilitation: A Review of the Literature

Created more than 30 years ago, 3‐dimensional printing (3DP) has recently seen a meteoric rise in interest within medicine, and the field of Physical Medicine and Rehabilitation is no exception. Also called additive manufacturing (AM), the recent increase in the use of 3DP is likely due to lower‐cost printers as well as breakthroughs in techniques and processing. This thematic narrative review serves to introduce the rehabilitation professional to 3DP technology and how it is being applied to orthoses, prostheses, and assistive technology (AT). The basics of the technology, as well as the benefits and challenges of using it within the rehabilitation framework, are described. Proponents of the technology suggest that 3DP offers not only a better way to make devices, but a better way to make improved devices. However, the strength of this claim has not been properly tested by the current literature. This narrative review evaluates the evidence and provides a discussion of possible implications for the rehabilitation professional.

Participatory design and validation of mobility enhancement robotic wheelchair

The design of the mobility enhancement robotic wheelchair (MEBot) was based on input from electric powered wheelchair (EPW) users regarding the conditions they encounter when driving in both indoor and outdoor environments that may affect their safety and result in them becoming immobilized, tipping over, or falling out of their wheelchair. Phase I involved conducting a participatory design study to understand the conditions and barriers EPW users found to be difficult to drive in/over. Phase II consisted of creating a computer-aided design (CAD) prototype EPW to provide indoor and outdoor mobility that addressed these conditions with advanced applications. Phase III involved demonstrating the advanced applications and gathering feedback from end users about the likelihood they would use the advanced applications. The CAD prototype incorporated advanced applications, including self-leveling, curb climbing, and traction control, that addressed the challenging conditions and barriers discussed with EPW users (n = 31) during the participatory design study. Feedback of the CAD design and applications in phase III from end users (n = 12) showed a majority would use self-leveling (83%), traction control (83%), and curb climbing (75%). The overall design of MEBot received positive feedback from EPW users. However, these opinions will need to be reevaluated through user trials as the design advances.

Design and Development of a Lightweight, Durable, Adjustable Composite Backrest Mounting

ABSTRACT Rigid backrest systems for wheelchairs provide a stable and comfortable base of support to help users maintain good posture while propelling and sitting static. Unfortunately, these backrest systems lack the adjustability necessary to allow users to comfortably perform some tasks, such as dressing; consequently, many users retain their sling-style backrests. We developed a lightweight, durable, adjustable composite (LWDAC) backrest mounting system to address these shortcomings and performed engineering and human subjects testing to evaluate the feasibility of the device. The LWDAC prototype passed the static engineering evaluation, as well as nearly all of the fatigue testing prior to failure of the device. Clinicians (n = 9) and users (n = 8) who evaluated the device in a focus group forum had an overall positive response. The participants agreed the backrest mounting can be operated with one hand and felt comfortable when participants were seated. Wheelchair users were interested in purchasing the backrest, and clinicians indicated they would recommend the LDWAC.