A large number of people in the world need to use a wheelchair because of different disabilities. Driving a wheelchair requires complex physical and cognitive abilities which need to be trained. Virtual training helps users acquire driving skills in a safe environment. The aim of this paper is to describe and technically validate simulation models for both manual (MW) and powered wheelchairs (PW) based on immersive virtual reality CAVE (VR). As VR system, the Gait Real-time Analysis Interactive Lab (GRAIL) was used, a CAVE equipped with a motion platform with two degrees of freedom and an optoelectronic motion capture system. A real wheelchair was positioned onto the motion platform with rear wheels free to turn in MW modality, and a commercial joystick was installed on an armrest to simulate the PW modality. Passive markers were used to track the wheel rotation, the joystick and the user hand motion. Custom D-flow applications were developed to manage virtual scene response to user actions. Overground tests, based on single wheel rotation, were performed to verify the simulation model reliability. Quantitative results demonstrated that the MW simulator kinematics was consistent with a real wheelchair overground in the absence of wheel slip and inertia (median error for MW 0.40 °, no systematic bias p = 0.943, high correlation rho > 0.999, p < 0.01). The proposed solution is flexible and adaptable to different wheelchairs, joysticks and optoelectronic systems. The main limitation is the absence of force feedback. Nevertheless, it is a reliable prototype that can be used to validate new virtual scenarios as well as for wheelchair training. The next steps include the system validation with real end users and assessment of the simulator effectiveness as a training tool.

由于不同的残疾，世界上有大量的人需要使用轮椅。驾驶轮椅需要复杂的身体和认知能力，需要进行训练。虚拟培训可帮助用户在安全的环境中获得驾驶技能。本文的目的是描述和技术验证基于沉浸式虚拟现实 CAVE (VR) 的手动 (MW) 和电动轮椅 (PW) 的仿真模型。VR系统采用步态实时分析交互实验室（GRAIL），配备二自由度运动平台和光电运动捕捉系统的CAVE。一个真正的轮椅被放置在运动平台上，后轮可以在 MW 模式下自由转动，一个商业操纵杆安装在扶手上以模拟 PW 模式。被动标记用于跟踪车轮旋转、操纵杆和用户手部运动。开发了自定义 D-flow 应用程序来管理对用户操作的虚拟场景响应。进行了基于单轮旋转的地上试验，以验证仿真模型的可靠性。定量结果表明，在没有车轮滑移和惯性的情况下，MW 模拟器运动学与真实的轮椅地面一致（MW 的中值误差为 0.40°，没有系统偏差）p  = 0.943，高相关性 rho > 0.999，p  < 0.01)。所提出的解决方案灵活且适用于不同的轮椅、操纵杆和光电系统。主要限制是没有力反馈。尽管如此，它还是一个可靠的原型，可用于验证新的虚拟场景以及轮椅训练。接下来的步骤包括与真实最终用户进行系统验证以及评估模拟器作为培训工具的有效性。