Cadeira de Rodas Cap. 8 de Cooper et al. (2006) An Introduction to Rehabilitation Engineering EN2313 Engenharia de Reabilitação
História da Cadeira de Rodas https://www.timetoast.com/timelines/evolution-of-a-wheelchair
Tipos de Cadeira de Rodas 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 combustão Universal Design Cap. 3 of Cooper et al. (2006) An Introduction to Rehabilitation Engineering
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 Doenças cardiopulmonares
Componentes básicos Empunhadura Estrutura Altura do assento Profundidade do assento Apoios de braços e pés Localização do eixo Rodas e pneus Altura do encosto Altura do assento profundidade do assento Distância do apoio de pé ao assento Localização do eixo Roda de Cáster
Componentes básicos Largura do assento Aro de propulsão Cambagem gw?t=19 Largura do assento: Aro de propulsão https://youtu.be/ijc6qvgyq Cambagem
Componentes básicos Ângulos do assento e encosto Ângulo do encosto Ângulo do assento Tilt Recline
Componentes básicos https://www.youtube.com/watch?v=xc1adjgdzzk&index= 1&list=PLwMObYmlSHaM3ILerLzVBh5T11XygRVnS https://www.gogrit.us/
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. https://www.youtube.com/watch?v=d1cdynntinq
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 E
Controle da Cadeira de rodas motorizada
Cadeiras eletroassistidas 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. https://www.youtube.com/watch?v=8fn26j59wj4 https://youtu.be/sgpmeluicg4?t=62
Controle PAS u=k τ p, τ p (t) ϵ e v(t) v thres u=0, τ p (t ) <ϵ e (t c mt ) 0 e v(t) v thres u=τ p (t r )(t c mt ), τ p (t ) <ϵ e (t c mt)>0 e v(t ) v thres u=(f f +τ b ), v(t)>v thres τ p (t )={ τ pl (t)+ τ pr (t) 2, τ pl (t ) τ pr (t) <Δ τ p max τ pl (t), τ pr (t), τ pl (t) τ pr (t) <Δ τ p
Controle PAS u=k τ p, τ p (t) ϵ e v(t) v thres u=0, τ p (t ) <ϵ e (t c mt ) 0 e v(t) v thres u=τ p (t r )(t c mt ), τ p (t ) <ϵ e (t c mt)>0 e v(t ) v thres u=(f f +τ b ), v(t)>v thres τ p (t )={ τ pl (t)+ τ pr (t) 2, τ pl (t ) τ pr (t) <Δ τ p max τ pl (t), τ pr (t), τ pl (t) τ pr (t) <Δ τ p
Controle PAS u=k τ p, τ p (t) ϵ e v(t) v thres u=0, τ p (t ) <ϵ e (t c mt ) 0 e v(t) v thres u=τ p (t r )(t c mt ), τ p (t ) <ϵ e (t c mt)>0 e v(t ) v thres u=(f f +τ b ), v(t)>v thres τ p (t )={ τ pl (t)+ τ pr (t) 2, τ pl (t ) τ pr (t) <Δ τ p max τ pl (t), τ pr (t), τ pl (t) τ pr (t) <Δ τ p
Controle PAS u=k τ p, τ p (t) ϵ e v(t) v thres u=0, τ p (t ) <ϵ e (t c mt ) 0 e v(t) v thres u=τ p (t r )(t c mt ), τ p (t ) <ϵ e (t c mt)>0 e v(t ) v thres u= (F f +k b v(t)), v(t)>v thres τ p (t )={ τ pl (t)+ τ pr (t) 2, τ pl (t ) τ pr (t) <Δ τ p max τ pl (t), τ pr (t), τ pl (t) τ pr (t) <Δ τ p
Controle PAS u=k τ p, τ p (t) ϵ e v(t) v thres u=0, τ p (t ) <ϵ e (t c mt ) 0 e v(t) v thres u=τ p (t r )(t c mt ), τ p (t ) <ϵ e (t c mt)>0 e v(t ) v thres u= (F f +k b v(t)), v(t)>v thres τ pl (t )+ τ pr (t ) τ p (t, τ 2 )={ pl (t ) τ pr (t) <Δ τ p τ p (t), τ pl (t) τ pr (t ) <Δ τ p
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 https://youtu.be/wmuj4n0qku8?t=150
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 + Estabilidade 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 lowrisk 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 double-drum and curb-drop machines. On the fourth round on the doubledrum, 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 lowrisk 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 double-drum and curb-drop machines. On the fourth round on the doubledrum, the wheelchair encountered a high-risk failure at 122,300 cycles. https://www.ortoponto.com.br/cadeiras-de-rodas