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Loisel J, Rouvier T, Hybois S, Bascou J, Sauret C. Optimal Control Formulation for Manual Wheelchair Locomotion Simulations: Influence of Anteroposterior Stability. J Biomech Eng 2023; 145:111012. [PMID: 37646631 DOI: 10.1115/1.4063274] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/25/2023] [Accepted: 08/21/2023] [Indexed: 09/01/2023]
Abstract
Manual wheelchair (MWC) locomotion exposes the user's upper-body to large and repetitive loads, which can lead to upper limbs pain and injuries. A thinner understanding of the influence of MWC settings on propulsion biomechanics could allow for a better adaptation of MWC configuration to the user, thus limiting the risk of developing such injuries. Advantageously compared to experimental studies, simulation methods allow numerous configurations to be tested. Recent studies have developed predictive locomotion simulation using optimal control methods. However, those models do not consider MWC anteroposterior stability, potentially resulting in unreasonable propulsion strategies. To this extent, this study aimed at confirming if constraining MWC anteroposterior stability in the optimal control formulation could lead to a different simulated movement. For this purpose, a four-link rigid-body system was used in a forward dynamics optimization paired with an anteroposterior stability constraint to predict MWC locomotion dynamics of the upper limbs during both startup and steady-state propulsion. Simulation results indicated the occurrence of MWC tipping when stability was not constrained, and that the constrained optimal control algorithm predicted different propulsion strategies. Hence, further proceedings of MWC locomotion simulation and optimal control investigations should take the anteroposterior stability into account to achieve more realistic simulations. Additionally, the implementation of the anteroposterior stability constrains unexpectedly resulted in a reduction of the computational time.
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Affiliation(s)
- Jade Loisel
- Centre of Study and Research on Sevices for Disabled, Institution Nationale des Invalides, Paris 75007, France; Institute of Human Biomechanics Georges Charpak, Arts et Métiers Institute of Technology, Paris 75013, France
| | - Théo Rouvier
- Institute of Human Biomechanics Georges Charpak, Arts et Métiers Institute of Technology, Paris 75013, France
| | - Samuel Hybois
- The Innovation of Complexity in Motor and Sports Activities, Faculty of Sports Science, Université Paris-Saclay, Orsay 91190, France
| | - Joseph Bascou
- Centre of Study and Research on Devices for Disabled, Institution Nationale des Invalides, Paris 75007, France
| | - Christophe Sauret
- Centre of Study and Research on Sevices for Disabled, Institution Nationale des Invalides, Paris 75007, France; Institute of Human Biomechanics Georges Charpak, Arts et Métiers Institute of Technology, Paris 75013, France
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Haydon DS, Pinder RA, Grimshaw PN, Robertson WSP, Holdback CJM. Prediction of Propulsion Kinematics and Performance in Wheelchair Rugby. Front Sports Act Living 2022; 4:856934. [PMID: 35873211 PMCID: PMC9301377 DOI: 10.3389/fspor.2022.856934] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/17/2022] [Accepted: 06/15/2022] [Indexed: 11/13/2022] Open
Abstract
Prediction of propulsion kinematics and performance in wheelchair sports has the potential to improve capabilities of individual wheelchair prescription while minimizing testing requirements. While propulsion predictions have been developed for daily propulsion, these have not been extended for maximal effort in wheelchair sports. A two step-approach to predicting the effects of changing set-up in wheelchair rugby was developed, consisting of: (One) predicting propulsion kinematics during a 5 m sprint by adapting an existing linkage model; and (Two) applying partial least-squares regression to wheelchair set-up, propulsion kinematics, and performance. Eight elite wheelchair rugby players completed 5 m sprints in nine wheelchair set-ups while varying seat height, seat depth, seat angle, and tire pressure. Propulsion kinematics (contact and release angles) and performance (sprint time) were measured during each sprint and used for training and assessment for both models. Results were assessed through comparison of predicted and experimental propulsion kinematics (degree differences) for Step One and performance times (seconds differences) for Step Two. Kinematic measures, in particular contact angles, were identified with mean prediction errors less than 5 degrees for 43 of 48 predictions. Performance predictions were found to reflect on-court trends for some players, while others showed weaker prediction accuracy. More detailed modeling approaches that can account for individual athlete activity limitations would likely result in improved accuracy in propulsion and performance predictions across a range of wheelchair sports. Although this would come at an increased cost, developments would provide opportunities for more suitable set-ups earlier in an athlete's career, increasing performance and reducing injury risk.
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Affiliation(s)
- David S. Haydon
- South Australian Sports Institute, Kidman Park, SA, Australia
- Faculty of Sciences, Engineering, and Technology, University of Adelaide, Adelaide, SA, Australia
- *Correspondence: David S. Haydon
| | - Ross A. Pinder
- Faculty of Sciences, Engineering, and Technology, University of Adelaide, Adelaide, SA, Australia
- Paralympic Innovation, Paralympics Australia, Adelaide, SA, Australia
| | - Paul N. Grimshaw
- Faculty of Sciences, Engineering, and Technology, University of Adelaide, Adelaide, SA, Australia
- College of Health and Life Sciences, Hamad Bin Khalifa University, Doha, Qatar
| | - William S. P. Robertson
- Faculty of Sciences, Engineering, and Technology, University of Adelaide, Adelaide, SA, Australia
| | - Connor J. M. Holdback
- Faculty of Sciences, Engineering, and Technology, University of Adelaide, Adelaide, SA, Australia
- Paralympic Innovation, Paralympics Australia, Adelaide, SA, Australia
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Brown C, McPhee J. Predictive Forward Dynamic Simulation of Manual Wheelchair Propulsion on a Rolling Dynamometer. J Biomech Eng 2020; 142:071008. [PMID: 32050022 DOI: 10.1115/1.4046298] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/06/2018] [Indexed: 07/25/2024]
Abstract
Research studies to understand the biomechanics of manual wheelchair propulsion often incorporate experimental data and mathematical models. This project aimed to advance this field of study by developing a two-dimensional (2D) model to generate first of its kind forward dynamic fully predictive computer simulations of a wheelchair basketball athlete on a stationary ergometer. Subject-specific parameters and torque generator functions were implemented in the model from dual X-ray absorptiometry and human dynamometer measurements. A direct collocation optimization method was used in a wheelchair propulsion model for the first time to replicate the human muscle recruitment strategy. Simulations were generated for varying time constraints and seat positions. Similar magnitudes of kinematic and kinetic data were observed between simulation and experimental data of a first push. Furthermore, seat heights inferior to the neutral position were found to produce similar joint torques to those reported in previous studies. An anterior seat placement produced the quickest push time with the least amount of shoulder torque required. The work completed in this project demonstrates that fully predictive simulations of wheelchair propulsion have the potential of varying simulation parameters to draw meaningful conclusions.
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Affiliation(s)
- Colin Brown
- Department of System Design Engineering, University of Waterloo, 200 University Avenue West, Waterloo, ON N2 L 3G1, Canada
| | - John McPhee
- Department of System Design Engineering, University of Waterloo, 200 University Avenue West, Waterloo, ON N2 L 3G1, Canada
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Haydon DS, Pinder RA, Grimshaw PN, Robertson WSP. Wheelchair Rugby chair configurations: an individual, Robust design approach. Sports Biomech 2019; 21:104-119. [DOI: 10.1080/14763141.2019.1649451] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Indexed: 10/26/2022]
Affiliation(s)
- David S. Haydon
- School of Mechanical Engineering, Faculty of Engineering, Computer, and Mathematical Sciences, University of Adelaide, Adelaide, Australia
| | | | - Paul N. Grimshaw
- School of Mechanical Engineering, Faculty of Engineering, Computer, and Mathematical Sciences, University of Adelaide, Adelaide, Australia
| | - William S. P. Robertson
- School of Mechanical Engineering, Faculty of Engineering, Computer, and Mathematical Sciences, University of Adelaide, Adelaide, Australia
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Estimating the Maximum Isometric Force Generating Capacity of Wheelchair Racing Athletes for Simulation Purposes. J Appl Biomech 2019; 35:358–365. [PMID: 31141441 DOI: 10.1123/jab.2018-0078] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/18/2022]
Abstract
For the wheelchair racing population, it is uncertain whether musculoskeletal models using the maximum isometric force generating capacity of non-athletic, able-bodied individuals, are appropriate, as few anthropometric parameters for wheelchair athletes are reported in the literature. In this study, a sensitivity analysis was performed in OpenSim, whereby the maximum isometric force generating capacity of muscles was adjusted in 25% increments to literature defined values between scaling factors of 0.25x to 4.0x for two elite athletes, at three speeds representative of race conditions. Convergence of the solution was used to assess the results. Artificially weakening a model presented unrealistic values, and artificially strengthening a model excessively (4.0x) demonstrated physiologically invalid muscle force values. The ideal scaling factors were 1.5x and 1.75x for each of the athletes, respectively, as was assessed through convergence of the solution. This was similar to the relative difference in limb masses between dual energy X-Ray absorptiometry (DXA) data and anthropometric data in the literature (1.49x and 1.70x), suggesting that DXA may be used to estimate the required scaling factors. The reliability of simulations for elite wheelchair racing athletes can be improved by appropriately increasing the maximum isometric force generating capacity of muscles.
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Impact Responses and Parameters Sensitivity Analysis of Electric Wheelchairs. ELECTRONICS 2018. [DOI: 10.3390/electronics7060087] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
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Teran E, Ueda J. Influence of rolling resistance on manual wheelchair dynamics and mechanical efficiency. INTERNATIONAL JOURNAL OF INTELLIGENT ROBOTICS AND APPLICATIONS 2017. [DOI: 10.1007/s41315-016-0007-1] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/20/2022]
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Chien CS, Huang TY, Liao TY, Kuo TY, Lee TM. Design and development of solar power-assisted manual/electric wheelchair. JOURNAL OF REHABILITATION RESEARCH AND DEVELOPMENT 2014; 51:1411-25. [PMID: 25785910 DOI: 10.1682/jrrd.2013.11.0250] [Citation(s) in RCA: 13] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/23/2013] [Revised: 07/16/2014] [Indexed: 11/05/2022]
Abstract
Wheelchairs are an essential assistive device for many individuals with injury or disability. Manual wheelchairs provide a relatively low-cost solution to the mobility needs of such individuals. Furthermore, they provide an effective means of improving the user's cardiopulmonary function and upper-limb muscle strength. However, manual wheelchairs have a loss gross mechanical efficiency, and thus the risk of user fatigue and upper-limb injury is increased. Electric-powered wheelchairs reduce the risk of injury and provide a more convenient means of transportation. However, they have a large physical size and are relatively expensive. Accordingly, the present study utilizes a quality function deployment method to develop a wheelchair with a user-selectable manual/electric propulsion mode and an auxiliary solar power supply system. The auxiliary solar power supply increased the travel range of the wheelchair by approximately 26% compared with that of a wheelchair powered by battery alone. Moreover, the wheelchair has a modular design and can be disassembled and folded for ease of transportation or storage. Overall, the present results suggest that the proposed wheelchair provides an effective and convenient means of meeting the mobility needs of individuals with mobility difficulties.
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Affiliation(s)
- Chi-Sheng Chien
- Department of Orthopedics, Chimei Foundation Hospital, and Department of Electrical Engineering, Southern Taiwan University of Science and Technology, Tainan, Taiwan
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