S.-W. Hong, H. Seomoon (Korea), V. Patrangenaru, W. Singhose, and S. Sprigle (USA)
Extensor Thrust, Modeling, Human-Generated Force, Inverse Dynamic Approach, Mathematical Indeterminacy
Some wheelchair users with neuromuscular disorders experience involuntary extensor thrust. Thrusts may cause injuries via impact with the wheelchair and can also lead to the person sliding out of the seat. Extensor thrust forces can damage the wheelchair. These users are often highly constrained to limit motion and potential injury. Knowledge of the human-generated forces during extensor thrust events is of great importance in devising more comfortable and safer wheelchairs. This paper presents an efficient method to identify these human generated forces. An inverse dynamic approach is employed along with a three-link human body model and a system for measuring human body motion. An experimental system is described that obtains angular motions of each human body segment and forces at the foot rest. The force at the foot rest is measured to compensate for the mathematical indeterminacy of the problem. A rigorous scheme to validate the model is proposed and executed through extensor thrust experiments.
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