Evaluation on Implementing an Active Braking System in Wheelchair Rear-Mounted Power-Assisted Device

Power-Assisted Devices (PADs) for wheelchairs are becoming popular tools to enhance propulsion capabilities and to assist wheelchair users to perform daily activities. PADs include Pushrim Activated Power-Assisted Wheelchairs, joy-stick-driven wheels, front-end attachments, and rear-end attachments. Considering the latest, they are not equipped with any active braking system. This could affect the handling of the wheelchair and introduce safety concerns. The paper aims to assess the performance of a rear add-on during driving and braking conditions, and to investigate the implementation and effectiveness of a servo braking system. A dynamic multibody model of a wheelchair has been developed and the dynamic of the system has been analyzed. To enhance the braking effectiveness, an additional preload torque between the wheelchair and the device has been modelled. Simulations have been performed for different braking torques. The results show that the introduction of a mounting preload positively affects the braking effectiveness, and it assists the user to perform part of the braking action.