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This paper presents a systems model for racing wheelchair propulsion. Recently, an interest has developed in computer and mathematical models of racing wheelchair propulsion with the goal of improving performance and efficiency. The model in this paper is first presented in block diagram form and later described in greater detail. Equations are presented that describe the motion of a racing wheelchair on the road/track and an inertial roller system, as well as kinematic equations describing the stroke biomechanics. Because the model is used to describe a human/machine system, it is nonlinear. Some thoughts on methods of developing a model of the physiology of racing wheelchair propulsion are also presented.

A systems approach to the modeling of racing wheelchair propulsion