Presented by, ANU MARIA PAUL S7 BME NO: 3

• Mobility is more of a functional limitation than a disability related condition. • Mobility among people with disabilities varies.Wheelchair • wheelchairs were designed to provide the veteran some mobility within the hospital and home. • There are two basic classes of wheelchairs: 1. manually powered 2. externally powered .

It may be best to suggest a power wheelchair for longer excursions. rear-wheel drive (RWD) 2.Powered Wheelchairs • • A power wheelchair may provide greater mobility. front-wheel drive (FWD) . • Powered wheelchair bases can be classified as 1. mid-wheel drive (MWD) 3.

RWD systems are the traditional design. Advantage: RWD systems is its predictable drive characteristic and stability. . the drive wheels are behind the user’s center of gravity and the casters are in the front.RWD In RWD power bases. Drawback: RWD system is its maneuverability in tight areas because of a larger turning radius.


the drive wheels are directly below the user’s CoG and generally have a set of casters or antitippers in front and rear of the drive wheels.MWD In MWD power bases. Disadvantage: has a tendency to rock or pitch forward. especially with sudden stops or fast turns. Advantage :MWD system is of smaller turning radius to maneuver in tight spaces. .

Advantage: may climb obstacles or curbs more easily as the large front wheels hit the obstacle first. Disadvantage : has more rearward CoG. therefore. and it tends to be quite stable and provides a tight turning radius. . especially on uneven surfaces.FWD A FWD power base has the drive wheels in front of the user’s CoG. the system may tend to fishtail and be difficult to drive in a straight line.

Parts Of Powered wheelchair • • • • • Power Wheelchair Interfaces Proportional Position-Sensing Joystick Switched Inputs Force-Sensing Control Voice Control .

These people use different types of control interfaces to operate powered wheelchairs. • The joystick is the primary control interface.Power Wheelchair Interfaces • Individuals with many types of disabilities use electric powered wheelchairs for mobility. • choosing a control interface and a control site is based on disabilities. .

which is a proportional input device that controls the chair speed and direction according to the extent of joystick displacement .Proportional Position-Sensing Joystick The most common commercially available joystick in use today is a position-sensing joystick (PSJ).

Switched Inputs • Durability is a primary consideration when choosing a control interface for a person with this disability. . head. and chin. • Typically yields much lower performance than other proportional joysticks. • Switch array can be mounted on the wheelchair tray and accessed by the hand.

Force-Sensing Control .

the shaft and handle are permanently fixed in a vertical position. The isometric was superior to the positionsensing joystick for driving straight and for driving in a circle. The force vector exerted by the operator’s hand becomes the magnitude and direction of input. .CONTD… An isometric Joystick does not use spherical or orthogonal pivots on the base of the stick.

These commands serve as the basis for comparison with the user’s command during use of the wheelchair.Voice Control The voice control wheelchair system requires a voice processor that converts a preselected set of sounds spoken by the user into corresponding signals a computer can recognize. . The sounds of commands are preprogrammed into the computer during a training session.

Powered wheelchair velocity control scheme. .

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