Wheelchair caster shimmy II: damping.

The theory of shimmy damping is investigated including tire friction, spindle bearing friction, and hydraulic damping. A new theoretical improvement in hydraulic damping is presented. Experimental results are presented along with a discussion concerning the limitations due to the approximations used in the theory. The basic theory of wheelchair caster shimmy was published by the authors in 1984, and an examination of the sources of shimmy damping is corrected and updated in this paper.

Wheelchair batteries. II: Capacity, sizing, and life.

The characteristics of lead-acid batteries for wheelchairs in terms of a new empirical equation for the capacity, application of the Palmgren-Miner Rule for sizing the battery, and the effect of depth of discharge on the life cycles is presented. A brief section about selecting an economical battery for an electric wheelchair is included.

Tests of two new polyurethane foam wheelchair tires.

The performance characteristics of four 24-inch wheelchair tires are considered; one pneumatic and three airless. Specifically, two new airless polyurethane foam tires (circular and tapered cross-section) were compared to both a molded polyisoprene tire and a rubber pneumatic tire. Rolling resistance, coefficient of static friction, spring rate, tire roll-off, impact absorption, wear resistance, and resistance to compression set were the characteristics considered for the basis of comparison. Although the pneumatic tire is preferred by many wheelchair users, the two new polyurethane foam tires were found to offer a performance similar to the high-pressure pneumatic tire. In addition, the foam tires are less expensive and lighter in weight than the other tires tested.

Directional instability of rear caster wheelchairs.

Although less common than conventional front caster wheelchairs, rear caster wheelchairs are still in use for several reasons. Many people find manual rear caster wheelchairs easier to maneuver indoors at slow speeds. This is especially true when the user attempts to maneuver the wheelchair very close to an object, such as a table. Electric wheelchairs often have rear casters to accommodate for front wheel drive. If the larger drive wheels are located at the front of the wheelchair, obstacles such as a curb can be negotiated much more easily. However, a major disadvantage of rear caster wheelchairs is that they are generally known to be directionally unstable, especially at high forward speeds. This paper presents the results of a study to determine specific measures that can be employed to improve the stability of this type of wheelchair. The instability of rear caster wheelchairs is due primarily to road forces that act on the tires when the wheelchair is displaced from its line of motion by a bump or other irregularity in the road surface. The paper discusses the experimental investigation of these road forces as well as a dynamic model used to study the instability problem. The results of a computer simulation program used to perform a parametric study of different design variables are discussed. Center of gravity position, caster trail distance, and caster pin friction are found to have a dominant influence on rear caster wheelchair directional control. Several simple but significant design recommendations are presented.

A theory of wheelchair wheelie performance.

The results of this analytical study of wheelchair wheelie performance can be summarized into two wheelchair design equations, or rules of thumb, as developed in the paper. The equation containing the significant parameters involved in popping a wheelie for curb climbing is: fh = 0.8 mg theta c.g. [A] where fh is handrim force, m is the mass of the wheelchair + user less rear wheels, g is acceleration of gravity (9.807 m/s2), and theta c.g. is "c.g. angle," i.e., the angle between the vertical through the rear axle and a line connecting the rear axle and the system center-of-gravity. Equation [A] shows that reducing the mass and/or the c.g. angle will make it easier to pop a wheelie. The c.g. angle is reduced by moving the rear axle position forward on the wheelchair. Wheelie balance is the other aspect of performance considered; where the user balances the wheelchair on the rear wheels for going down curbs or just for fun. The ease with which a system can be controlled (balanced) is related to the static stability of the system. The static stability is defined as: omega 2 = mgl/J [B] where J is the mass moment of inertia at the center of gravity of the system about the direction perpendicular to the sideframe. For better wheelchair control during wheelchair balance the static stability should be reduced. Measurements of the value for the polar mass moment of inertia for a typical wheelchair + user of m = 90 kg was found to be J = 8.7 kg-m2. In order to decrease the value of the static stability, Equation [B], one can increase J or decrease m and/or l, where l is the distance from the rear axle to the c.g. of the system. It is also shown that balancing a rod in the palm of the hand (inverted pendulum) is a mathematical problem similar to the wheelie balance problem, and a rod of length 1.56 meters is similar to a wheelchair + user system mass of 90 kg. However, balancing a rod is done primarily by using visual perception, whereas wheelie balance involves human joint proprioceptors and visual plus vestibular (inner ear) perception. Thus, a simple test of determining the shortest length of rod one can balance in the palm of the hand (plus measuring handrim force capability and simple reaction time) may indicate if a wheelchair user will find it easy to do a wheelie balance.

Wheelchair tire rolling resistance and fatigue.

The hysteresis loss theory of rolling resistance is developed for solid rubber wheelchair tires. The analysis is used to correlate test data for a clay-filled natural rubber and a polyurethane tire material. A discussion of tire rolling work, hysteresis loss factor measurement, and rolling loss measurement is presented. An example calculation of rolling resistance for a polyurethane tire is given in detail. The subject of solid rubber tire design is developed on the basis of recommended fatigue life theory and practice. It is shown that polyurethane tires have a useful fatigue life due to a high shear modulus at useful values of hardness. This characteristic of polyurethane, if exploited, is predicted to lead to a tire with a lower rolling resistance than other wheelchair tires available. The effect of surface roughness on rolling resistance is briefly discussed and some experimental results are listed. The purpose of this paper is to give the rehabilitation engineer the means for wheelchair tire rolling resistance and fatigue life design and the methods to assess the tire characteristics when a tire design is modified or a new tire material is contemplated. Other important design factors, such as wear and chemical degradation, are not discussed, but references are suggested for information on these topics. As in most research and development projects, this study raises problems which need further work. For example, the fatigue properties of the rubber compounds employed in this application are not completely understood; this subject is planned for future investigation.

Wheelchair caster shimmy and turning resistance.

The equations for wheelchair caster wheel shimmy are presented along with experimental data. The report includes the theory and performance of single wheel casters for a variety of tires, and a new design for wheelchair casters using a grooved dual-tread tire or co-rotating caster wheels. The dual-tread tire was found to significantly inhibit caster shimmy. The turning resistance due to a grooved caster wheel tire with a 1/2-inch groove was found to be 10 percent greater than for an ungrooved caster wheel tire. The analysis includes the methodology and the results of experiments developed to measure the sliding friction turning moment of the wheelchair caster wheel. A number of commercial wheelchair caster wheels were tested and the results for shimmy are presented.

Wheelchair batteries: driving cycles and testing.

The battery performance of electric wheelchairs was measured under indoor and outdoor conditions, and simulated driving cycles for these two environments were derived from these tests. Driving cycles were used to bench-test deep discharge wet cell and gel cell lead-acid batteries, nickel-cadmium batteries, and experimental nickel-zinc batteries. Results of this study support the conclusion that deep discharge wet cell lead-acid batteries satisfy wheelchair requirements and are the most economical choice. The effect of simulated wheelchair controller pulse width modulation on battery discharge compared to d.c. discharge was found to be negligible. A simple model analogous to Miner's Rule (3) plus results plotted on a Ragone chart of average power versus discharge time were found to correlate the effect of the highly variable actual power requirements of an electric wheelchair. Miner's Rule can predict battery performance for a given driving cycle.

Rehabilitation engineering education at the University of Virginia.

The graduate rehabilitation engineering program of study at the University of Virginia is the first program of its type in the United States. The first students were admitted to the program in the fall of 1979. The program is designed to train students with engineering and clinical science backgrounds in the field of rehabilitation engineering. Emphasis is placed on practical training through internship activities at the University of Virginia Rehabilitation Engineering Center and Medical School Department of Orthopedics and Rehabilitation. Field experience is received at the Woodrow Wilson Rehabilitation Center and the University of Virginia Children's Rehabilitation Center.

Load testing of geometric and polycentric total knee replacements.

Static loading of implanted geometric and polycentric knee replacements was conducted in order to define fixation characteristics and load capabilities of the prostheses and the bone prostheses interface. Failures occurred in some specimens at load levels normally encountered across the knee joint during ambulation. Disruption of the tibial bone-cement interface and crushing of the tibial plateau were the modes of failure. There was no failure on the femoral side of the joint. The major determinants of stress failure suggested by this study were: (1) the tibial bone strength, (2) the design of the geometric and polycentric tibial component, and (3) method of component implantation.

Mechanical performance of surgical sutures.

A comprehensive analysis of the mechanical performance of sutures has been made to provide information concerning the reliability and security of knotted sutures. The tests utilized in this analysis were designed to be easily reproduced by other investigators. The construction of the knot and the knot performance analysis were undertaken utilizing an Instron Tensile Tester. The mechanical reliability of each knotted suture was determined by measuring the number of throws to reach knot break, the expected slippage of the knot when it reaches knot break, and the maximal holding force at knot break. On the basis of these measurements, recommendations are made for the use of a suture at operation.