Locomotion of wheelchair training system with force feedback in virtual cant

Abstract

Locomotion by the wheelchair in some situations requires training to handle wheelchair in felicity. The training for beginners brings on risk of injury by contact with passer and obstacle, and accident. Especially training in the open air. For example one is traverse on cant near carriageway, and another is to get out of passenger way. In this paper we describe concept of wheelchair training system with force feedback on cant and visualization of user's scope. We construct the virtual wheelchair in the computer as two-wheel model work with equations of motion. The virtual wheelchair require only torque from hand rims to move, and dates from this model can make the system to run with real-time force feed back and visual feed back. By using the application of wheelchair training system using virtual reality technology, we can train with small footprint and low-cost in safety on dangerous ground like these situations.