Purpose: The objective of the study is to build a mathematical model that will be used to determine the value of the propulsions torque required to drive a human-wheelchair system under varied conditions.
Materials and methods: To this end, the mechanics of the system's movement were described with equations taking into account forces acting on it. As a result forces acting on individual axles of the wheelchair's wheels were determined. This formed a basis for solving the developed model. In the next step experimental and literature based research was performed in order to determine values of the developed model's parameters. It was then introduced into the environment of numerical computation. As a result, we could carry out a number of simulations allowing us to trace propulsion torque curves for various driving conditions.
Results: This in turn was a basis on which a preliminary validation of the developed mathematical model was performed.
Conclusions: Presented the mathematical model can be applied during work related to the design of manually propelled wheelchairs. Implications for Rehabilitation Work related to development of innovative designs of manual wheelchairs is important because the physical activity associated with propelling is enriching the rehabilitation process. Wheelchairs equipped with electric drive do not have this advantage. The developed dependences and results of conducted work, described in this article, are an added value in the area of both, theoretical research and practical engineering design concerning wheelchairs and their drive systems. Therefore, they expand the design possibilities for better matching the wheelchair with the individual needs of the disabled people. The possibility of adjusting selected solutions to individual needs allows to increase the effectiveness of active rehabilitation, related for example, to the possibility of practicing sports and other physical activities.
Keywords: Wheelchair; manual propulsion; mathematical model; mechanics of wheelchair motion; propulsion torque.