Rory A. Cooper

Wheelchair pushrim kinetics: Body weight and median nerve function

OBJECTIVES Individuals who use manual wheelchairs are at high risk for median nerve injury and subsequent carpal tunnel syndrome (CTS). To gain a better understanding of the mechanism behind CTS in manual wheelchair users, this study examined the relation between (1) pushrim biomechanics and function of the median nerve, (2) pushrim biomechanics and subject characteristics, and (3) median nerve function and subject characteristics. DESIGN Case series. SETTING Biomechanics laboratory and an electromyography laboratory. PARTICIPANTS Thirty-four randomly recruited individuals with paraplegia who use a manual wheelchair for mobility. INTERVENTION Subjects propelled their own wheelchair on a dynamometer at 0.9m/sec and 1.8m/sec. Bilateral biomechanical data were obtained using a force- and moment-sensing pushrim and a motion analysis system. Bilateral nerve conduction studies focusing on the median nerve were also completed. MAIN OUTCOME MEASURES Pearsons correlation coefficients between subject characteristics, median nerve conduction studies, and propulsion biomechanics; a regression model of nerve conduction studies incorporating subject characteristics and pushrim biomechanics. RESULTS Subject weight was significantly related to median nerve latency (r = .36, p = .03) and median sensory amplitude (r = -.43, p = .01). Height was also significantly related to median sensory amplitude (r = -.58, p = .01). Subject weight was significantly related to the peak resultant force applied to the pushrim (r = .59, p < .001). Height, weight, and weight-normalized pushrim forces were successfully incorporated into a linear regression model predicting median sensory amplitude (r = .63, p < .05) and mean median latency (r = .54, p < .05). CONCLUSION This study found subject weight to be related to pushrim forces and median nerve function. Independent of subject weight, pushrim biomechanics were also related to median nerve function. Through weight loss and changes in pushrim biomechanics, it may be possible to prevent median nerve injury in manual wheelchair users.

Manual wheelchair pushrim biomechanics and axle position

OBJECTIVE The biomechanics of wheelchair propulsion have been linked to upper extremity injury. Specifically, prior studies have correlated increased median nerve dysfunction with increasing propulsion frequency and a higher rate of rise of the resultant, or total, pushrim force. Despite this link, there is little research on the effect of wheelchair setup on propulsion biomechanics. The objective of this study was to determine the effect of rear axle position relative to the shoulder on pushrim biomechanics. DESIGN Case series. SETTING Biomechanics laboratory. PARTICIPANTS Forty individuals with paraplegia who use manual wheelchairs for mobility. INTERVENTION Subjects propelled their own wheelchairs on a dynamometer at two different steady-state speeds and going from a dead stop to maximum speed. Bilateral biomechanical data were obtained using a force- and moment-sensing pushrim and a motion analysis system. MAIN OUTCOME MEASURES Position of the axle relative to the shoulder at rest both horizontal (XPOS) and vertical (YPOS), and pushrim biomechanical variables including frequency of propulsion, peak and rate of rise of the resultant force, planar moment, and push angle. Partial correlation coefficients between relative axle position and propulsion biomechanics variables were calculated. RESULTS After controlling for subject characteristics, XPOS was significantly correlated with the frequency of propulsion (p < .01) and the rate of rise of the resultant force (p < .05). In addition, both XPOS and YPOS were significantly correlated with the push angle at multiple speeds (p < .05). CONCLUSION Specific biomechanical parameters known to correlate with median nerve injuries were found to be related to axle position relative to the shoulder. Providing wheelchair users with adjustable axle position and then fitting the user to the wheelchair can improve propulsion biomechanics and likely reduce the risk of injury.

Electric powered wheelchairs

The purpose of this review is to convey the depth and breadth of the research conducted on electric-powered wheelchair (EPW) control technology as well as provide insights into future directions. We review the concepts and previous work on velocity control, traction control, suspension control, stability control, stair-climbing wheelchairs, and wheelchair navigation. The information gathered in this study is intended to promote awareness of the status of contemporary powered wheelchair control technology and increase the functional mobility of people who use EPWs.

Assessing mobility characteristics and activity levels of manual wheelchair users

Although engaging in an active lifestyle is beneficial for maintaining quality of life, a majority of wheelchair users are inactive. This study investigated the mobility characteristics and activity levels of manual wheelchair users in the residential setting and at the National Veterans Wheelchair Games (NVWG). Demographic factors that may have influenced activity in the home environment were also identified. Fifty-two manual wheelchair users completed a brief survey, and their activity was monitored with a custom data logger over a period of 13 or 20 days. We found that they traveled a mean +/- standard deviation of 2,457.0 +/- 1,195.7 m/d at a speed of 0.79 +/- 0.19 m/s for 8.3 +/- 3.3 h/d while using their primary wheelchair in the home environment. No significant differences in mobility characteristics or activity levels were found for level of spinal cord injury or disability. We also found that subjects traveled significantly farther and faster and were active for more hours during an average day at the NVWG than in the home environment (p < 0.001). We found that manual wheelchair users who were employed covered more distance, accumulated more minutes, and traveled a greater average maximum distance between consecutive stops than those who were unemployed. Results from this study provide a better understanding of the activity levels achieved by manual wheelchair users and insight into factors that may influence this activity.

Pushrim Forces and Joint Kinetics During Wheelchair Propulsion

OBJECTIVE To investigate pushrim forces and joint kinetics during wheelchair propulsion and to discuss the differences between inexperienced and experienced wheelchair users. DESIGN Cohort study. SETTING Human engineering laboratory at a state university. SUBJECTS Four men who use manual wheelchairs for mobility and four nondisabled men who did not have extensive experience pushing a wheelchair; all subjects were asymptomatic for upper extremity pain or injury. METHODS Subjects pushed a commonly used wheelchair fitted with a force-sensing pushrim on a stationary wheelchair dynamometer. Video and force data were collected for 5 strokes at one speed of propulsion. Pushrim forces and net joint forces and moments were analyzed. MAIN OUTCOME MEASURES Pushrim forces, radial (Fr) and tangential (Ft), were analyzed and compared for both groups in relation to peak values and time to peak values and as ratios of overall forces generated. Net joint forces and moments were analyzed in a similar fashion. RESULTS Pushrim forces and joint moments were similar to those previously reported, with radial forces averaging between 34 and 39N and tangential forces ranging on average between 66 and 95N. Tangential forces were higher than radial forces, and mean ratios of tangential forces to the resultant force were approximately 75%, whereas mean radial force ratios were approximately 22%. All subjects showed higher joint moments at the shoulder than at the elbow or wrist. A large component of vertical reaction force was seen at the shoulder. Significant differences (p < .05) were found between groups for peak tangential force and time to peak tangential and peak vertical forces, with wheelchair users having lower values and longer times to reach the peak values. CONCLUSIONS Discrete variables from the force-time curves can be used to distinguish between wheelchair users and nonusers. The experienced users tended to push longer, used forces with lower peaks, and took longer time to reach peak values. This propulsive pattern may have been developed to reduce the chance of injury by minimizing the forces at the joints, as a means of maximizing efficiency or as a combination of these factors. More work investigating 3-dimensional forces and the influence of seating position and various conditions of propulsion such as speed changes, ramps, and directional changes on injury mechanisms needs to be completed.

Pushrim biomechanics and injury prevention in spinal cord injury: Recommendations based on CULP-SCI investigations

Over 50 percent of manual wheelchair users with spinal cord injury (SCI) are likely to develop upper-limb pain and injury. The majority of studies related to pain have implicated wheelchair propulsion as a cause. This paper draws from a large multisite trial and a long-standing research program to make specific recommendations related to wheelchair propulsion that may decrease the risk of upper-limb injury. The studies include over 60 subjects over 1 yr after a traumatic SCI below the second thoracic level. Specific aspects of the propulsive stroke that may relate to injury include cadence, magnitude of force, and the pattern of the hand during the nonpropulsive part of the stroke. Lower peak forces, slower cadence, and a circular propulsive stroke in which the hand falls below the pushrim during recovery may help prevent injury. In addition, wheelchair users should use the lightest weight adjustable wheelchair possible. Future work should include interventional trials and larger studies that allow for more complex statistical models that can further detail the relationship between wheelchair propulsion, user characteristics, and upper-limb injuries.

How many people would benefit from a smart wheelchair

Independent mobility is important, but some wheelchair users find operating existing manual or powered wheelchairs difficult or impossible. Challenges to safe, independent wheelchair use can result from various overlapping physical, perceptual, or cognitive symptoms of diagnoses such as spinal cord injury, cerebrovascular accident, multiple sclerosis, amyotrophic lateral sclerosis, and cerebral palsy. Persons with different symptom combinations can benefit from different types of assistance from a smart wheelchair and different wheelchair form factors. The sizes of these user populations have been estimated based on published estimates of the number of individuals with each of several diseases who (1) also need a wheeled mobility device and (2) have specific symptoms that could interfere with mobility device use.

Intelligent walkers for the elderly: performance and safety testing of VA-PAMAID robotic walker.

A walker that could help navigate and avoid collisions with obstacles could help reduce health costs and increase the quality of care and independence of thousands of people. This study evaluated the safety and performance of the Veterans Affairs Personal Adaptive Mobility Aid (VA-PAMAID). We performed engineering tests on the VA-PAMAID to determine safety factors, including stability, energy consumption, fatigue life, and sensor and control malfunctions. The VA-PAMAID traveled 10.9 km on a full charge and avoided obstacles while traveling at a speed of up to 1.2 m/s. No failures occurred during static stability, climatic, or fatigue testing. Some problems were encountered during obstacle climbing and sensor and control testing. The VA-PAMAID has good range, has adequate reaction time, and is structurally sound. Clinical trials are planned to compare the device to other low-technical adaptive mobility devices.

Sensor technology for smart homes

A smart home is a residence equipped with technology that observes the residents and provides proactive services. Most recently, it has been introduced as a potential solution to support independent living of people with disabilities and older adults, as well as to relieve the workload from family caregivers and health providers. One of the key supporting features of a smart home is its ability to monitor the activities of daily living and safety of residents, and in detecting changes in their daily routines. With the availability of inexpensive low-power sensors, radios, and embedded processors, current smart homes are typically equipped with a large amount of networked sensors which collaboratively process and make deductions from the acquired data on the state of the home as well as the activities and behaviors of its residents. This article reviews sensor technology used in smart homes with a focus on direct environment sensing and infrastructure mediated sensing. The article also points out the strengths and limitations of different sensor technologies, as well as discusses challenges and opportunities from clinical, technical, and ethical perspectives. It is recommended that sensor technologies for smart homes address actual needs of all stake holders including end users, their family members and caregivers, and their doctors and therapists. More evidence on the appropriateness, usefulness, and cost benefits analysis of sensor technologies for smart homes is necessary before these sensors should be widely deployed into real-world residential settings and successfully integrated into everyday life and health care services.

Performance assessment of a pushrim-activated power-assisted wheelchair control system

Wheelchairs are an important form of mobility for people with disabilities. For many years, there have only been three wheelchair varieties: electric-powered wheelchairs, scooters and manual wheelchairs. Recently, wheelchairs have been developed that use a combination of human power and electric power. The human power is delivered by the arms through the pushrims while the electric power is delivered by a battery through two electric motors. The shared control system for a pushrim-activated power-assisted wheelchair (PAPAW) must account for the human behavior and the interaction with the device. The PAPAW uses a form of gain scheduling based upon events recorded from the pushrim torque. The control system significantly altered (p<0.05) selected variables from pushrim torque curves for manual wheelchair propulsion and PAPAW operation as desired. The peak torque was reduced by over 50%, and the time on the rim was nearly doubled with the PAPAW. The PAPAW provided intuitive control and was capable of significantly reducing the strain on the upper extremities commonly associated with secondary disabling conditions among manual wheelchair users.