Cadeira de Rodas. Cap. 8 de Cooper et al. (2006) An Introduction to Rehabilitation Engineering. EN2313 Engenharia de Reabilitação

EN2313 – Engenharia de Reabilitação

Cadeira de Rodas

Cap. 8 de Cooper et al. (2006) An Introduction to Rehabilitation

Engineering

História da Cadeira de Rodas

Tipos de Cadeira de Rodas

Universal Design Cap. 3 of Cooper et al. (2006) An Introduction to Rehabilitation Engineering

Operador

operado pelo ocupante

operado pelo assistente

Estrutura

rígida

dobrável

Ambiente

interno

externo

banho

banheiro

subida de degraus

aeronave

Propulsão

manual

acionada por aro de

propulsão

de empurrar/transporte

acionada por alavanca

manual, eletroassistida

alimentada eletricamente

alimentada por

Cadeira manual

Utilizadas por indivíduos que têm força e funções da parte superior do

corpo necessárias para a propulsão no dia a dia.

São utilizadas frequentemente por indivíduos com

•

Lesão medular na primeira vértebra torácica ou mais baixa

Espinha bífida

•

Estágios iniciais de Esclerose Múltipla.

Amputações de membro inferior.

•

Síndrome pós-polio afetando apenas membros inferiores.

Artrite

•

AVC

Idosos

Componentes básicos

• Estrutura

• Altura do assento

• Profundidade do assento

• Apoios de braços e pés

• Localização do eixo

• Rodas e pneus

Componentes básicos

• Cambagem

• Largura do assento:

• Aro de propulsão

Componentes básicos

• Ângulos do assento e encosto

Tilt

Recline

Ângulo do encosto

Ângulo do assento

Componentes básicos

https://www.youtube.com/watch?v=Xc1aDJgdzzk&index=

1&list=PLwMObYmlSHaM3ILerLzVBh5T11XygRVnS

Propulsão da Cadeira

Os diferentes componentes da cadeira podem afetar a

maneira do ocupante realizar a propulsão da cadeira.

Muitos pesquisadores investigam maneiras ótimas de

padrões de propulsão da cadeira e criam novos critérios de

projeto para desenvolvimentso futuros de cadeiras de rodas.

Cadeira de rodas motorizadas

As primeiras cadeiras motorizadas foram desenvolvidas no

começo do século 20.

Apenas no fim dos anos 70 que as cadeiras motorizadas se

tornaram confiáveis como forma de mobilidade de pessoas

com deficiências.

Nos anos 80, microprocessadores se difundiram e passaram

a ser utilizados para controlar a cadeira motorizada.

Cadeira de rodas motorizadas

The theoretical range (R km) of an EPW can be calculated

by knowing the battery capacity (C ampere-hours), and the

amount of depletion of the battery (E ampere-hours) while

traveling a known distance (D km) with the following

formula:

R=

CD

Controle da Cadeira de rodas

motorizada

Cadeiras eletroassistidas

https://youtu.be/SGPMELUicG4?t=62

Power-assist devices include stand-alone powered units that are external to the

wheelchair, and the wheelchair user holds onto it, power add-on devices that attach to

the wheelchair and have a steering mechanism or input device for controlling the

wheelchair, or a pushrim-activated system (PAS) with motors in the wheelchair hubs.

PASs offer an alternative between manual wheelchair mobility and EPW driving. A PAS

operates much like a manual wheelchair but with less effort. This may make PAS

suitable for people with or at risk for upper-extremity joint degeneration, reduced

exercise capacity, and low upper-extremity strength or endurance.

Controle PAS

u=k τ

,

_|

τ

(

t)

|

⩾ϵ

e v (t)⩽v

u=0

,

_|

τ

(

t )

|

< ϵ

e (t

−

mt )⩽0 e v (t)⩽v

u=τ

(

t

)(

t

−

mt ),

|

τ

(

t )

|

< ϵ

e (t

−

mt)>0 e v (t )⩽v

u=(F

+ τ

)

, v (t)>v

τ

(

t )=

{

τ

(

t)+ τ

(

t)

2

,

|

τ

(

t )−τ

(

t)

|

<Δ τ

max τ

(

t), τ

(

t),

|

τ

(

t)− τ

(

t)

|

<Δ τ

Controle PAS

u=k τ

,

_|

τ

(

t)

|

⩾ϵ

e v (t)⩽v

u=0

,

_|

τ

(

t )

|

< ϵ

e (t

−

mt )⩽0 e v (t)⩽v

u=τ

(

t

)(

t

−

mt ),

|

τ

(

t )

|

< ϵ

e (t

−

mt)>0 e v (t )⩽v

u=(F

+ τ

)

, v (t)>v

τ

(

t )=

{

τ

(

t)+ τ

(

t)

2

,

|

τ

(

t )−τ

(

t)

|

<Δ τ

max τ

(

t), τ

(

t),

|

τ

(

t)− τ

(

t)

|

<Δ τ

Controle PAS

u=k τ

,

_|

τ

(

t)

|

⩾ϵ

e v (t)⩽v

u=0

,

_|

τ

(

t )

|

< ϵ

e (t

−

mt )⩽0 e v (t)⩽v

u=τ

(

t

)(

t

−

mt ),

|

τ

(

t )

|

< ϵ

e (t

−

mt)>0 e v (t )⩽v

u=(F

+ τ

)

, v (t)>v

τ

(

t )=

{

τ

(

t)+ τ

(

t)

2

,

|

τ

(

t )−τ

(

t)

|

<Δ τ

max τ

(

t), τ

(

t),

|

τ

(

t)− τ

(

t)

|

<Δ τ

Controle PAS

u=k τ

,

_|

τ

(

t)

|

⩾ϵ

e v (t)⩽v

u=0

,

_|

τ

(

t )

|

< ϵ

e (t

−

mt )⩽0 e v (t)⩽v

u=τ

(

t

)(

t

−

mt ),

|

τ

(

t )

|

< ϵ

e (t

−

mt)>0 e v (t )⩽v

u=−(F

+

k

v (t)), v (t)>v

τ

(

t )=

{

τ

(

t)+ τ

(

t)

2

,

|

τ

(

t )−τ

(

t)

|

<Δ τ

max τ

(

t), τ

(

t),

|

τ

(

t)− τ

(

t)

|

<Δ τ

Controle PAS

u=k τ

,

_|

τ

(

t)

|

⩾ϵ

e v (t)⩽v

u=0

,

_|

τ

(

t )

|

< ϵ

e (t

−

mt )⩽0 e v (t)⩽v

u=τ

(

t

)(

t

−

mt ),

|

τ

(

t )

|

< ϵ

e (t

−

mt)>0 e v (t )⩽v

u=−(F

+

k

v (t)), v (t)>v

τ

(

t )=

{

τ

(

t )+ τ

(

t )

2

,

|

τ

(

t )− τ

(

t)

|

<Δ τ

τ

(

t)

,

|

τ

(

t)−τ

(

t )

|

< Δ τ

Cadeiras Multifunção

Cadeiras multifunção são cadeiras capazes de mudar sua configuração para se adaptar a mudanças e desafios dos ambientes.

https://www.youtube.com/watch?v=Z_1Pic9mj3g https://www.youtube.com/watch?v=xK5uAeEV7tI

Normas de Cadeira de rodas

+ 200000 ciclos com pesos de 25, 50, 75 ou 100 kg:

https://www.youtube.com/watch?v=IIGTLYeXqzE

+ 6666 quedas de 5 cm de altura

https://www.youtube.com/watch?v=lQ1ZG4DDimc

Total de ciclos = Ciclos no tambor + 30.(número de quedas)

+ Força estática

Normas de Cadeira de rodas

Wheelchair 1 (WC1), $350. A depot style wheelchair, encountered a high-risk failure at 114,000 cycles on the double-drum. Because it did not meet the required

200,000cycles, it was not tested on the curb-drop machine.

Wheelchair 2 (WC2), $ 3200. An ultralight style wheelchair, encountered one low-risk failure

at 157,000 cycles but completed the 200,000 cycles. The wheelchair moved on to the curb-drop machine, where it completed the required number of drops with

additional failure. For a more accurate cost analysis, the testing was continued,

alternating between the double-drum test for 200,000 cycles and proceeding to the curb-drop tester for 6666 cycles. The wheelchair completed three rounds of testing on the drum and curb-drop machines. On the fourth round on the double-drum, the wheelchair encountered a high-risk failure at 122,300 cycles.

Normas de Cadeira de rodas

Wheelchair 1 (WC1), $350. A depot style wheelchair, encountered a high-risk failure at 114,000 cycles on the double-drum. Because it did not meet the required

200,000cycles, it was not tested on the curb-drop machine.

Wheelchair 2 (WC2), $ 1300. An ultralight style wheelchair, encountered one low-risk failure

at 157,000 cycles but completed the 200,000 cycles. The wheelchair moved on to the curb-drop machine, where it completed the required number of drops with

additional failure. For a more accurate cost analysis, the testing was continued,

alternating between the double-drum test for 200,000 cycles and proceeding to the curb-drop tester for 6666 cycles. The wheelchair completed three rounds of testing on the drum and curb-drop machines. On the fourth round on the double-drum, the wheelchair encountered a high-risk failure at 122,300 cycles.