Table 1.
Anthropometric details of participants (mean ± standard deviation).
Fig 1.
(A) Electric stair-climbing wheelchair used in the test. (B) Simulated slope and stairs. (C) Field test environment diagram. (D) VICON infrared motion-capture equipment and surface EMG equipment.
Fig 2.
T1: flat ground environment, T2: slope environment, T3: stair environment.
Fig 3.
Musculoskeletal models of a subject using the wheelchair in the three test environments.
Table 2.
Mean and standard deviation (mean ± SD) of the maximum joint force of the hip, knee, and ankle in three environments.
Units: N/BW.
Table 3.
Mean and standard deviation (mean ± SD) of the maximum joint moment of the hip, knee, and ankle in three environments.
Units: Nm/BW.
Table 4.
Mean and standard deviation (mean ± SD) of the maximum of lower limb muscle strength in three environments.
Units: N/BW.
Fig 4.
Equivalent stress distribution of the hip bone, lumbar spine, and femur in the stair-climbing wheelchair.
The warmer the color, the greater the stress. The red arrow indicates the maximum stress.
Fig 5.
Change in mean values of maximum equivalent stress of hip, lumbar, and femur stress in three environments (flat ground in blue; slope in purple; and stairs in pink).
Fig 6.
Resultant displacement distributions of the hip bone, lumbar spine, and femur in the stair-climbing wheelchair.
The red arrow indicates the maximum displacement position.
Fig 7.
Changes in mean values of maximum resultant displacement in stair-climbing wheelchair in three environments (flat ground in blue; slope in purple; and stairs in pink).