1B13 Fundamental study of motion generation method for lever-propelled wheelchair propulsion

Abstract

This research was conduced to generate the propulsion motion of lever-propelled wheelchair using forward dynamics simulation. This study used a neural model that consists of a rhythm generation system, a sensory feedback system, and a human-body model for the calculation of propulsion motion. The neural model parameters were optimized using a genetic algorithm. Results demonstrated that the proposed method can generate basic lever propulsion tasks such as pushing and pulling the lever.