Abstract
It is an important problem for users of wheelchair to achieve efficient driving of wheelchair. So as to solve this problem, an appropriate design method and the fitting procedure to individuals are required which can provide the wheelchair compatible with the user. In this paper, we propose a new method for finding efficient driving forms. The problem is formulated as an optimal trajectory planning so that the consumption energy of wheelchair propulsion is minimized. Modeling upper body by rigid links and measuring forces of driving on handrim of wheelchair allow us to calculate the optimal joint trajectory for minimizing the consumption energy. The comparison of the calculated optimal driving form with the experimental one shows significant improvement of the mechanical efficiency in the wheelchair propulsion.
