{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,29]],"date-time":"2026-06-29T23:09:18Z","timestamp":1782774558044,"version":"3.54.5"},"reference-count":26,"publisher":"MDPI AG","issue":"19","license":[{"start":{"date-parts":[[2024,9,29]],"date-time":"2024-09-29T00:00:00Z","timestamp":1727568000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"NSERC (Natural Science &amp; Engineering Council of Canada)","award":["RGPIN\/4824-2018"],"award-info":[{"award-number":["RGPIN\/4824-2018"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Manual wheelchair propulsion represents a repetitive and constraining task, which leads mainly to the development of joint injury in spinal cord-injured people. One of the main reasons is the load sustained by the shoulder joint during the propulsion cycle. Moreover, the load at the shoulder joint is highly correlated with the force and moment acting at the handrim level. The main objective of this study is related to the estimation of handrim reactions forces and moments during wheelchair propulsion using only a single inertial measurement unit per hand. Two approaches are proposed here: Firstly, a method of identification of a non-linear transfer function based on the Hammerstein\u2013Wiener (HW) modeling approach was used. The latter represents a typical multi-input single output in a system engineering modeling approach. Secondly, a specific variant of recurrent neural network called BiLSTM is proposed to predict the time-series data of force and moments at the handrim level. Eleven subjects participated in this study in a linear propulsion protocol, while the forces and moments were measured by a dynamic platform. The two input signals were the linear acceleration as well the angular velocity of the wrist joint. The horizontal, vertical and sagittal moments were estimated by the two approaches. The mean average error (MAE) shows a value of 6.10 N and 4.30 N for the horizontal force for BiLSTM and HW, respectively. The results for the vertical direction show a MAE of 5.91 N and 7.59 N for BiLSTM and HW, respectively. Finally, the MAE for the sagittal moment varies from 0.96 Nm (BiLSTM) to 1.09 Nm for the HW model. The approaches seem similar with respect to the MAE and can be considered accurate knowing that the order of magnitude of the uncertainties of the dynamic platform was reported to be 2.2 N for the horizontal and vertical forces and 2.24 Nm for the sagittal moments. However, it should be noted that HW necessitates the knowledge of the average force and patterns of each subject, whereas the BiLSTM method do not involve the average patterns, which shows its superiority for time-series data prediction. The results provided in this study show the possibility of measuring dynamic forces acting at the handrim level during wheelchair manual propulsion in ecological environments.<\/jats:p>","DOI":"10.3390\/s24196307","type":"journal-article","created":{"date-parts":[[2024,9,30]],"date-time":"2024-09-30T07:19:37Z","timestamp":1727680777000},"page":"6307","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Handrim Reaction Force and Moment Assessment Using a Minimal IMU Configuration and Non-Linear Modeling Approach during Manual Wheelchair Propulsion"],"prefix":"10.3390","volume":"24","author":[{"given":"Rachid","family":"Aissaoui","sequence":"first","affiliation":[{"name":"Laboratoire de Recherche en Innovation Ouverte en Technologie de la Sant\u00e9, Centre de Recherche CRCHUM, Montreal, QC H2X 0A9, Canada"},{"name":"D\u00e9partement de G\u00e9nie des Syst\u00e8mes, \u00c9cole de Technologie Sup\u00e9rieure, Montr\u00e9al, QC H3C 1K3, Canada"},{"name":"Centre de Recherche Interdisciplinaire de R\u00e9adaptation de Montr\u00e9al, Montreal, QC H3S 1M9, Canada"},{"name":"Regroupement Scientifique INTER, Technologies Interactives En R\u00e9adaptation, Sherbrooke, QC J1K 0A5, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Amaury","family":"De Lutiis","sequence":"additional","affiliation":[{"name":"Laboratoire de Recherche en Innovation Ouverte en Technologie de la Sant\u00e9, Centre de Recherche CRCHUM, Montreal, QC H2X 0A9, Canada"},{"name":"D\u00e9partement de G\u00e9nie des Syst\u00e8mes, \u00c9cole de Technologie Sup\u00e9rieure, Montr\u00e9al, QC H3C 1K3, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-5380-1213","authenticated-orcid":false,"given":"Aiman","family":"Feghoul","sequence":"additional","affiliation":[{"name":"Laboratoire de Recherche en Innovation Ouverte en Technologie de la Sant\u00e9, Centre de Recherche CRCHUM, Montreal, QC H2X 0A9, Canada"},{"name":"D\u00e9partement de G\u00e9nie des Syst\u00e8mes, \u00c9cole de Technologie Sup\u00e9rieure, Montr\u00e9al, QC H3C 1K3, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"F\u00e9lix","family":"Ch\u00e9nier","sequence":"additional","affiliation":[{"name":"Centre de Recherche Interdisciplinaire de R\u00e9adaptation de Montr\u00e9al, Montreal, QC H3S 1M9, Canada"},{"name":"Regroupement Scientifique INTER, Technologies Interactives En R\u00e9adaptation, Sherbrooke, QC J1K 0A5, Canada"},{"name":"D\u00e9partement des Sciences de l\u2019activit\u00e9 Physique, Universit\u00e9 du Qu\u00e9bec \u00e0 Montr\u00e9al, Montr\u00e9al, QC H2X 1Y4, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,9,29]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"288","DOI":"10.1179\/2045772313Y.0000000168","article-title":"Trajectories of musculoskeletal shoulder pain after spinal cord injury: Identification and predictors","volume":"37","author":"Hoekstra","year":"2014","journal-title":"J. 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