Abstract
The objective of this study was to assess the effects of small, incremental additions to wheelchair frame mass (0 kg, +2 kg, and +4 kg) on the mechanical propulsion characteristics in both straight and curvilinear maneuvers. A robotic propulsion system was used to propel a manual wheelchair over a smooth tiled surface following rectilinear ("Straight") and curvilinear ("Slalom") trajectories. Three unique loading conditions were tested. Propulsion costs and system rolling resistance estimations were empirically collected using the robotic wheelchair tester. Propulsion cost values were equivalent across all loading conditions over the Slalom trajectory. In the Straight trajectory, adding 2 kg on the axle had equivalent propulsion cost to the unloaded configuration. Adding 4 kg on axle was comparable, but not equivalent, to the unloaded configuration with small (≤4.1%) increases in propulsion cost. This study demonstrates that small (0-4 kg) changes to the frame mass have no meaningful impacts on the propulsion characteristics of the manual wheelchair system. Differences in propulsion cost and rolling resistance were detectable but contextually insignificant.