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Three-Dimensional Dynamic Analysis Of Wheelchair Propulsion, Mary M. Rodgers, Srinivas Tummarakota, Junghsen Lieh

Mechanical and Materials Engineering Faculty Publications

A three-dimensional (3-D) inverse dynamic model of wheelchair propulsion was developed using the Newton-Euler method based on body coordinate systems. With this model, the arm was assumed to be three rigid segments (hand, forearm, and upper arm) connected by the wrist, elbow, and shoulder joints. A symbolic method was adopted to generate the equations of motion. The model was used to compute the joint forces and moments based on the inputs obtained from a 3-D motion analysis system, which included an instrumented wheelchair, video cameras, and a data acquisition system. The linear displacements of markers placed on the joints were …