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Low-cost low-tech obstacle pushing/gliding wheelchair accessory

Jalal Abdullah S, Shaikh Mohammed J

Disabil Rehabil Assist Technol, 2019 11;14(8):849-858.
PMID: 30556753 DOI: 10.1080/17483107.2018.1539130

Purpose: Some wheelchair users continue to struggle in maneuvering a wheelchair and navigating through manual doors. Several smart wheelchairs and robotic manipulators were developed to minimize such challenges facing disabled people. Disappointingly, a majority of these high-tech solutions are restricted to laboratories and are not extensively available as commercial products. Previously, a low-tech wheelchair accessory (arc-shaped with many wheels) for pushing doors was modelled and simulated. This work demonstrates the fabrication and testing of the first-generation prototype of the accessory.Materials and methods: The accessory has side portions with a straight arrangement of wheels and a front portion with a straight-arc-straight arrangement of wheels. The accessory was fabricated using conventional manufacturing, off-the-shelf components, and 3D printed ABS fasteners. Stress analysis simulations were done for the fasteners that attach the front accessory to the wheelchair frame. The proof-of-concept of the prototype installed onto a powered wheelchair was tested with a door and an obstacle, each with ∼50 N resistance force.Results: Prototype tests demonstrate the ability of the accessory along with the mechanical robustness of the 3D printed fasteners to push open doors allowing easy navigation through doors and to push/glide against obstacles. The accessory is foldable and detachable.Conclusion: The low-cost of the accessory makes it affordable to many users intending to improve their quality of life. The current study provides an engineering perspective of the accessory, and a clinical perspective is crucial. Other potential applications of the wheelchair accessory include use with scooters, walkers and stretchers.Implications for rehabilitationLow-cost, low-tech accessory is foldable and detachable.Accessory is effective for pushing doors and pushing/gliding against obstacles.Protective nature of the front accessory could prove highly beneficial to some wheelchair users.
Modeling and Simulation of Two Wheelchair Accessories for Pushing Doors

Abdullah SJ, Shaikh Mohammed J

Assist Technol, 2018;30(4):165-175.
PMID: 28346064 DOI: 10.1080/10400435.2017.1293193

Independent mobility is vital to individuals of all ages, and wheelchairs have proven to be great personal mobility devices. The tasks of opening and navigating through a door are trivial for healthy people, while the same tasks could be difficult for some wheelchair users. A wide range of intelligent wheelchair controllers and systems, robotic arms, or manipulator attachments integrated with wheelchairs have been developed for various applications, including manipulating door knobs. Unfortunately, the intelligent wheelchairs and robotic attachments are not widely available as commercial products. Therefore, the current manuscript presents the modeling and simulation of a novel but simple technology in the form of a passive wheelchair accessory (straight, arm-like with a single wheel, and arc-shaped with multiple wheels) for pushing doors open from a wheelchair. From the simulations using different wheel shapes and sizes, it was found that the arc-shaped accessory could push open the doors faster and with almost half the required force as compared to the arm-like accessory. Also, smaller spherical wheels were found to be best in terms of reaction forces on the wheels. Prototypes based on the arc-shaped accessory design will be manufactured and evaluated for pushing doors open and dodging or gliding other obstacles.
3D-printed design iteration of a low-tech positive obstacle pushing/gliding wheelchair accessory

Abdullah SJ, Shaikh Mohammed J

Disabil Rehabil Assist Technol, 2023 Oct 25.
PMID: 37880957 DOI: 10.1080/17483107.2023.2272861

PURPOSE: Steering a wheelchair while navigating through manual doors or against obstacles is challenging for some users. Previously, a low-cost, low-tech accessory made using off-the-shelf components, conventional manufacturing, and 3D-printed fasteners demonstrated the proof-of-concept for uncrossable positive obstacle pushing or gliding. Current work presents the fabrication and testing of an entirely 3D-printed prototype of the accessory.
METHODS: The accessory was 3D-printed using ABS (10% fill density) in sections. A finite element stress analysis simulation was performed for the entire accessory. Prototype tests were done with the accessory installed on an unoccupied powered wheelchair against a door and an obstacle with ∼25 N and ∼50 N resistance forces, respectively.
RESULTS: The maximum stresses in none of the crucial components exceeded the break strength of ABS. Test results demonstrate the ability and mechanical robustness of the fully 3D-printed accessory to push open manual doors, allowing easy navigation through doors, and to push or glide against obstacles. The current prototype improves over the previous prototype in terms of manufacturability, weight, design, and safety.
CONCLUSIONS: To the best of our knowledge, this is the first demonstration of an entirely 3D-printed wheelchair accessory that pushes or glides against uncrossable positive obstacles. Future studies would involve end-user satisfaction assessment and functionality evaluation in different scenarios under clinical supervision. The pushing or gliding ability of the accessory could be beneficial to wheelchair users with neuromuscular disorders or paraplegia.
Bioinspired dynamic microcapsules

AlDala'een NFD, Mohamad WNKW, Alias N, Ali AM, Shaikh Mohammed J

Soft Matter, 2017 Dec 20;14(1):124-131.
PMID: 29215674 DOI: 10.1039/c7sm01682d

There is an increasing interest in bioinspired dynamic materials. Abundant illustrations of protein domains exist in nature, with remarkable ligand binding characteristics and structures that undergo conformational changes. For example, calmodulin (CaM) can have three conformational states, which are the unstructured Apo-state, Ca2+-bound ligand-exposed binding state, and compact ligand-bound state. CaM's mechanical response to biological cues is highly suitable for engineering dynamic materials. The distance between CaM globular terminals in the Ca2+-bound state is 5 nm and in the ligand-bound state is 1.5 nm. CaM's nanoscale conformational changes have been used to develop dynamic hydrogel microspheres that undergo reversible volume changes. The current work presents the fabrication and preliminary results of layer-by-layer (LbL) self-assembled Dynamic MicroCapsules (DynaMicCaps) whose multilayered shell walls are composed of polyelectrolytes and CaM. Quasi-dynamic perfusion results show that the DynaMicCaps undergo drastic volume changes, with up to ∼1500% increase, when exposed to a biochemical ligand trifluoperazine (TFP) at pH 6.3. Under similar test conditions, microcapsules without CaM also underwent volume changes, with only up to ∼290% increase, indicating that CaM's bio-responsiveness was retained within the shell walls of the DynaMicCaps. Furthermore, DynaMicCaps exposed to 0.1 M NaOH underwent volume changes, with only up to ∼580% volume increase. Therefore, DynaMicCaps represent a new class of polyelectrolyte multilayer (PEM) capsules that can potentially be used to release their payload at near physiological pH. With over 200 proteins that undergo marked, well-characterized conformational changes in response to specific biochemical triggers, several other versions of DynaMicCaps can potentially be developed.