Motion analysis of wheelchair considering the pectoral girdle mechanism

Shingo Hasegawa, Nobuto Matsuhira, Kunihiro Ogata, Eiichi Ono, Tsuyoshi Nakayama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


The body type of persons using wheelchairs tend to be different from those of persons without disabilities, i.e., the former have limited clothes that suit them. Therefore, we have developed a robot arm simulated human body and motion to evaluate the comfort of clothes for persons using wheelchairs. We will promote the dissemination of fashionable adaptive clothing for wheelchair users, to encourage persons with spinal cord injuries. Having a pectoral girdle mechanism, the robot arm can retarget a motion similar to that of a human. Motion analysis with a near-human model is important for retargeting human motion with the robot arm. We have used attitude sensors to measure the motion of five male participants without disabilities and five participants (three males and two females) with spinal cord injuries. We have analyzed the measured motion using a human model that includes a pectoral girdle mechanism. In this study, we have described the analysis of the human motion of propelling a wheelchair and the usefulness of the pectoral girdle for this motion. We have divided the motion pattern into two groups according to the trunk posture. We confirm that the pectoral girdle is useful for expanding the movable arm region.

Original languageEnglish
Title of host publicationSII 2016 - 2016 IEEE/SICE International Symposium on System Integration
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781509033294
Publication statusPublished - 2017 Feb 6
Event2016 IEEE/SICE International Symposium on System Integration, SII 2016 - Sapporo, Japan
Duration: 2016 Dec 132016 Dec 15


Other2016 IEEE/SICE International Symposium on System Integration, SII 2016

ASJC Scopus subject areas

  • Biomedical Engineering
  • Control and Systems Engineering
  • Mechanical Engineering
  • Artificial Intelligence
  • Hardware and Architecture
  • Control and Optimization

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