Tire Deformation-Based Regulation of Braking Torque in Manual Wheelchairs Equipped with Reverse Locking Modules
Bartosz Wieczorek, Łukasz Warguła, Marcin Giedrowicz
TL;DR
This paper introduces a new method to regulate braking torque in wheelchairs using tire deformation instead of contact force, improving stability and reducing user strain.
Contribution
A novel regulation method for braking torque based on tire deformation measurements is proposed and validated experimentally.
Findings
Braking torque can be regulated using tire deformation with an error range of 3% to 7%.
Roller diameter and nominal contact force significantly impact braking torque.
User mass affects sliding force, increasing by 57% from 50 kg to 90 kg.
Abstract
Moving in a manual wheelchair involves overcoming various architectural and terrain barriers. One of the obstacles that most burdens the muscular system and generates a high risk of instability is the climb up a slope. This article presents a comprehensive regulation method that allows for achieving the desired braking torque of the locking module based solely on tire deformation measurements, rather than the previously used contact force. To address the research problem, a research method was developed, consisting of three experimental tests and one mathematical analysis. The experiments included the measurement of the sliding force moment (E1), braking torque (E2), and tire deformation (E3). Using these methods, a measurement procedure was formulated to allow the measurement of the braking torque generated by the reverse locking module through tire deformation. Research on braking…
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Taxonomy
TopicsSpinal Cord Injury Research · Cerebral Palsy and Movement Disorders · Prosthetics and Rehabilitation Robotics