The purpose of this study was to design and validate a new bilateral instrumented wheel system (IWS) to measure triaxial handrim forces and torques simultaneously during the wheelchair propulsion. The designed and implemented system measures the force applied to the handrims on both sides of a manual wheelchair using 6-axis force/torque sensors. In addition, a user interface receives the measurements from the left and right IWSs. To verify the accuracy of the wheel system, we evaluate force and torque measurements during the static and dynamic tests. The maximum error in static measurements of force and torque are 4.29% and 1.95%, respectively. Likewise, dynamic tests using planar forces and axle torques provide low errors and measurements that are highly correlated with the expected values ([Formula: see text]). The results revealed that the proposed IWS can be used to measure bilateral 3D handrim reaction forces with acceptable accuracy.

中文翻译：

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用于在手动轮椅推进过程中测量手部力的双边仪表轮系统

本研究的目的是设计和验证一种新的双边仪表轮系统 (IWS)，以在轮椅推进过程中同时测量三轴手柄力和扭矩。设计和实施的系统使用 6 轴力/扭矩传感器测量施加在手动轮椅两侧手轮上的力。此外，用户界面接收来自左右 IWS 的测量值。为了验证车轮系统的准确性，我们在静态和动态测试期间评估力和扭矩测量。力和扭矩静态测量的最大误差分别为 4.29% 和 1.95%。同样，使用平面力和轴扭矩的动态测试提供了与预期值高度相关的低误差和测量值（[公式：参见文本]）。