Evaluation of the Maneuvering Assistance Effectiveness of Two Wheelchair Powered Assistance Devices

While manual wheelchairs are crucial for individuals with reduced mobility, many users encounter challenges due to physical limitations. To address these challenges, various power assistive devices, including rear add-ons, have been developed. However, concerns persist among users regarding safety and control methods, especially during turning and manoeuvring. This study explores the effectiveness of two types of commercial rear add-on power assistive devices in aiding manual wheelchair users during turning manoeuvres. A 3D multibody model was developed to assess the influence of these devices on wheelchair dynamics. The model includes a wheelchair multibody model and two rear add-ons: a drive caster wheel that passively reorients, and a drive omniwheel. The impact of these devices on wheelchair dynamics during turning manoeuvres was evaluated. Results indicate that both devices exert pushing forces opposing the user’s action during turning. The drive caster wheel provides a positive torque to assist the user in the curve, although it is delayed. Conversely, the drive omniwheel offers slight opposing turning torque but do not assist user in performing the manoeuvre.