An analytical model of the demand for propulsion torque during manual wheelchair propelling.

Presented the mathematical model can be applied during work related to the design of manually propelled wheelchairs. Implications for Rehabilitation Work related to development of innovative designs of manual wheelchairs is important because the physical activity associated with propelling is enriching the rehabilitation process. Wheelchairs equipped with electric drive do not have this advantage. The developed dependences and results of conducted work, described in this article, are an added value in the area of both, theoretical research and practical engineering design concerning wheelchairs and their drive systems. Therefore, they expand the design possibilities for better matching the wheelchair with the individual needs of the disabled people. The possibility of adjusting selected solutions to individual needs allows to increase the effectiveness of active rehabilitation, related for example, to the possibility of practicing sports and other physical activities.