Ergonomic Characterization of a Multi-Articulated Electric Wheelchair

Abstract

Imagine waking each day knowing that even the simple act of standing or reaching for a cup can feel out of reach. For millions with limited mobility, this is reality—and it inspired us to rethink the traditional wheelchair. What if your chair could gently lift you into a standing posture, glide you forward to fetch a book from the shelf, then smoothly recline you for a moment of rest—all without a jolt or a strain? In this work, we bring that vision to life through a multi-articulated electric wheelchair that learns to move with you, not just for you. Using high-fidelity simulations, we walked our virtual user through every twist and tilt—measuring joint angles, tracking head accelerations, and even calculating the subtle forces on the spine. Each test revealed the precise speed and motion “sweet spots” that keep transitions safe and comfortable. From the gentle lean of the seat to the arm-lifting exoskeleton that hands you an object, every degree of freedom is orchestrated under strict ergonomic rules. The result? A blueprint for a wheelchair that feels less like a machine and more like an extension of your own body—opening the door to greater independence and confidence in daily life.