EVALUATION OF JOINT LOADS IN PUSHING / PULLING ATTENDANT-PROPELLED WHEELCHAIRS DURING FORWARD WALKING ON UPWARD AND DOWNWARD SLOPES

Tatsuto Suzuki, Maizuru National College of Technology, JapanHironobu Uchiyama, Kansai University, JapanCatherine Holloway, University College London, UKNick Tyler, University College London, UK

Background

The pushing and pulling cart are well met tasks in daily life.

Typical pushing and pulling wheel carts- Attendant propelled wheelchair (80kg)- Shopping cart (30kg)- Baby pushchair (25kg)- Medical stretcher (140kg)- Trolley aboard aircraft (85kg)- Industrial cart (up to 400kg)

Workload factors

Attendant - Push/pull performance - Age - Gender

Wheelchair - Weight - Rolling resistance - Dimensions

Environment - longitudinal and cross slopes - Kerbs - Gaps - Roughness of road surfaces

Provided capability by person

Required capability by wheelchair and environments

Problems1. Pushing/pulling is very hard task

2. Pushing/pulling is a known risk factor for musculoskeletal disorders

(Back pain, joint strain, sprains)

3. Cause of musculoskeletal disorders- Peak and cumulative forces- duration and repetition,- Continuous tense non-neutral posture

Objectives1. How hard are pushing/pulling tasks?-> How large is the required capability in power?

2. How to adapt push/pull style against the increase of load?

-> How to change push/pull posture?

3. How hard are shoulder and elbow?-> How large are the joint torque in shoulder

and elbow?

Methodology1. Change slope angles Longitudinal slope angle:+00, +6.5%, +9%, and 12%

2. Change the weight of a wheelchair Wheelchair weight: 36Kg + 00, 20, 40, and 60kg

3. Subjects Ablebodied five patiripants Average age: 33years old

Longitudinal slopesUCL Pamela platform - Each plate size: 1200 x 1200mm - Maximum height difference: 300mm - Slope conditions: 0%, 6.5%, 9.0%, 12%

9.0% 6.5%12%

0%

Attendant propelled wheelchairForce measurement: 6-axis load cell at both gripsVelocity measurement: Rotary encoder at both wheelsMain specifications Wheelchair weight: 36kg Grip height: 0.95m Additional weight: +00, +20, +40, +60kg

Joint position measurementTwo dimensional measurement - One camera and reflective markers - Marker tracking software

Joint torque calculation

Figure 1 (a) Experimental system with seven link model to analyse joint torques. (b) Each link difinition in multibody dynamics

Joint torque calculation

System mass matrix: Mi = diag [mi, mi, μi ]System state vector: qi = [xi, yi, ϕi ]External force vector: gi = [ge

xi, geyi - mig, ge

ni ]Jacobian matrix: Φqi = [1 0; 0 1; -(yPa-yi) (xPa - xi ) ]Reaction force vector by constraint: λi = [λxi, λyi ]The external force vector gi was described next equation.

gexi = fxi - λx(i-1)

geyi = fyi - λy(i-1) (2)

geni = τa – τb + (rPb - ri ) x [gxi, gyi ]T

where, the subscript i of each variables is link number.

Change of push/pull force and velocity

Figure 2 Averaged propelling forces and wheelchair velocities in ascending and descending under four weight and slope conditions.

Change of push/pull force and velocity

Figure 2 Averaged propelling forces and wheelchair velocities in ascending and descending under four weight and slope conditions.

Light load

Heavy load

Heavy load

Push/pull power

Push/pull power

Light load

Heavy load

Heavy load

Posture in push/pull

(a) (b) (c)

Figure 3 The difference of propelling postures during stance phase.(participant one) (a) Propelling at a level. (b) Ascend propelling at +9.0%. (c) Descent propelling at -9.0%. Each first frame is the beginning of the stance phase, and last frame is the end of the phase. The time interval between two frames is 25% of the phase. All weight conditions are W = 60kg.

Posture in push/pull

(a) (b) (c)

Figure 3 The difference of propelling postures during stance phase.(participant one) (a) Propelling at a level. (b) Ascend propelling at +9.0%. (c) Descent propelling at -9.0%. Each first frame is the beginning of the stance phase, and last frame is the end of the phase. The time interval between two frames is 25% of the phase. All weight conditions are W = 60kg.

Heavy pushLight push Heavy pull

Lean forward Lean Backward

Joint angle in shoulder and elbow

Figure 4 Averaged shoulder and elbow angle during stance phase. The joint angles were measured based on the medical definition.

Joint angle in shoulder and elbow

Figure 4 Averaged shoulder and elbow angle during stance phase. The joint angles were measured based on the medical definition.

Extensionwith the increase of load

Flexionwith the increase of load

Joint torque in shoulder and elbow

Figure 5 Averaged shoulder and elbow torque during stance phase. The calculation was carried out with the model in Figure 1.

Joint torque in shoulder and elbow

Figure 5 Averaged shoulder and elbow torque during stance phase. The calculation was carried out with the model in Figure 1.

Push: Shoulder torque increased

Elbow torque increased

Push: Low shoulder torque

Large pull torque

Discussions1. Maximum workload at push/pull

around 60W

- The same as electric bulbs! - Over 60W in required capability is quite hard to push/pull

Discussions2. Posture Change with the increase of load - lean forward (Push) - lean backward (Pull) - Need to keep balance to apply push/pull force

3. Joint torque in shoulder and elbow - Shoulder in push is harder than in pull - Elbow in pull is harder than in push - Elbow in pull on 12% slope is quite hard

Future works1. Calculate joint power2. Assisting system for attendants!