{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T02:28:02Z","timestamp":1760236082495,"version":"build-2065373602"},"reference-count":34,"publisher":"MDPI AG","issue":"21","license":[{"start":{"date-parts":[[2021,10,22]],"date-time":"2021-10-22T00:00:00Z","timestamp":1634860800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000038","name":"Natural Sciences and Engineering Research Council","doi-asserted-by":"publisher","award":["RGPIN-2019-05458"],"award-info":[{"award-number":["RGPIN-2019-05458"]}],"id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001804","name":"Canada Research Chairs","doi-asserted-by":"publisher","award":["Canada Research Chair in Rehabilitation Engineering Design"],"award-info":[{"award-number":["Canada Research Chair in Rehabilitation Engineering Design"]}],"id":[{"id":"10.13039\/501100001804","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Pushrim-activated power-assisted wheels (PAPAWs) are assistive technologies that use force sensor data to provide on-demand propulsion assistance to manual wheelchair users. However, available data about kinetic and kinematic of PAPAW use are mainly limited to experiments performed on a treadmill or using a dynamometer. In this work, we performed experiments to gather kinetics of wheelchair propulsion and kinematics of wheelchair motion for a variety of over-ground wheelchair maneuvers with a manual wheelchair with and without PAPAWs. Our findings revealed that using PAPAWs can significantly reduce the propulsion effort and push frequency. Both linear and angular velocities of the wheelchair were significantly increased when using PAPAWs. Less force and push frequency could potentially reduce risk of chronic upper limb injury. Higher linear velocity could be desirable for various daily life activities; however; the increase in the angular velocity could lead to unintended deviations from a desired path. Future research could investigate PAPAW controllers that amplify the desired intentions of users while mitigating any unwanted behaviours.<\/jats:p>","DOI":"10.3390\/s21217008","type":"journal-article","created":{"date-parts":[[2021,10,24]],"date-time":"2021-10-24T22:07:11Z","timestamp":1635113231000},"page":"7008","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Comparison of Manual Wheelchair and Pushrim-Activated Power-Assisted Wheelchair Propulsion Characteristics during Common Over-Ground Maneuvers"],"prefix":"10.3390","volume":"21","author":[{"given":"Mahsa","family":"Khalili","sequence":"first","affiliation":[{"name":"School of Biomedical Engineering, University of British Columbia, 2222 Health Sciences Mall, Vancouver, BC V6T 1Z3, Canada"}]},{"given":"Garrett","family":"Kryt","sequence":"additional","affiliation":[{"name":"Centre for Applied Research and Innovation, British Columbia Institute of Technology, 3700 Willingdon Avenue, Burnaby, BC V5G 3H2, Canada"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0183-6163","authenticated-orcid":false,"given":"W. Ben","family":"Mortenson","sequence":"additional","affiliation":[{"name":"Department of Occupational Science and Occupational Therapy, University of British Columbia, 2211 Wesbrook Mall, Vancouver, BC V6T 2B5, Canada"},{"name":"International Collaboration on Repair Discoveries, Blusson Spinal Cord Centre, 818 West 10th Avenue, Vancouver, BC V5Z 1M9, Canada"},{"name":"Rehabilitation Research Program, G.F. Strong Rehabilitation Centre, 4255 Laurel Street, Vancouver, BC V5Z 2G9, Canada"}]},{"given":"Hendrik F. Machiel","family":"Van der Loos","sequence":"additional","affiliation":[{"name":"School of Biomedical Engineering, University of British Columbia, 2222 Health Sciences Mall, Vancouver, BC V6T 1Z3, Canada"},{"name":"Department of Mechanical Engineering, University of British Columbia, 6250 Applied Science Lane, Vancouver, BC V6T 1Z4, Canada"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9672-8367","authenticated-orcid":false,"given":"Jaimie","family":"Borisoff","sequence":"additional","affiliation":[{"name":"Centre for Applied Research and Innovation, British Columbia Institute of Technology, 3700 Willingdon Avenue, Burnaby, BC V5G 3H2, Canada"},{"name":"International Collaboration on Repair Discoveries, Blusson Spinal Cord Centre, 818 West 10th Avenue, Vancouver, BC V5Z 1M9, Canada"}]}],"member":"1968","published-online":{"date-parts":[[2021,10,22]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"177","DOI":"10.3109\/17483107.2015.1099747","article-title":"A review of manual wheelchairs","volume":"11","author":"Flemmer","year":"2016","journal-title":"Disabil. 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