One-handed propulsion control of power-assisted wheelchair with advanced turning mode

The wheelchair is an important device that offers a method of transport to mobility-impaired people. For people also with hemiplegia or a hand/arm injury, a wheelchair operable with one hand is necessary. However, it is impossible to control a standard manual wheelchair or power-assist wheelchair with only one hand. An one-handed propulsion control system for a power-assisted wheelchair was proposed previously. This system allows the user to go straight and do pure rotations, but does not allow to turn the wheelchair while moving. In this paper, an improved one-handed propulsion system that realizes turning motion is proposed. The proposed method is verified experimentally to assess the ability to turn while on the move.