## 2 Related Work
### VR-Based Training and Rehabilitation Systems  
[PERSON] et al. [7] explored the use of a VR-based wheelchair simulator for assessing and improving driving performance. Their research highlighted the potential of VR simulators to provide a safe, controlled environment where users can practice and refine their driving skills. The simulator's ability to replicate real-world conditions ensures that skills learned in the virtual environment can be effectively transferred to real-life scenarios. [PERSON] [8] reviewed various smart wheelchair systems, emphasizing the importance of user-centered design in developing effective assistive technologies. His review covered a range of systems that incorporate different types of feedback and control mechanisms to aid wheelchair users. The findings underscored the potential of integrating advanced sensoryfeedback systems to improve user experience and functionality. [PERSON] et al. [9] conducted a study on the use of VR for recreational rehabilitation, utilizing a sailing simulator to engage users in an immersive training environment. The study found that VR could effectively enhance the rehabilitation process by providing engaging and realistic training scenarios, thereby improving users' physical and cognitive skills. Further advancements in VR for wheelchair users have been driven by the development of more sophisticated haptic devices. For instance, the work by [PERSON] et al. [10] on VR-based wheelchair simulators highlighted the benefits of using haptic feedback to simulate different surface textures and resistance levels. Their scoping review identified several VR systems that successfully integrated haptic feedback, enhancing the realism and training effectiveness of the simulations. Recent advancements in wheelchair ergometry have led to the development of novel systems like the servo-driven dual-roller hand-rim wheelchair ergometer, as described by [PERSON] et al. [11]. This ergometer facilitates standardized and comparable lab-based measurements, which is crucial for research, clinical settings, and adapted sports. It integrates dual servomotors to simulate translational inertia and resistive forces encountered during wheelchair propulsion, thereby allowing for detailed performance analysis and capacity assessment. In the broader context of VR and disability, [PERSON] et al. [12] discussed the potential of VR in the education and training of people with learning disabilities. Their work emphasized the importance of creating inclusive VR environments that cater to the specific needs of different user groups, including those with physical disabilities. [PERSON] et al. [13] present a cost-effective VR application for wheelchair maneuvers using consumer-level hardware, deployable at home or in assessment centers. Initial validation with 33 non-disabled volunteers showed significant improvement in driving skills, though cybersickness remains a concern. Also, [PERSON] et al. [14] explored how virtual embodiment in a wheelchair affects implicit bias towards wheelchair users with a VR wheelchair locomotion system, and [PERSON] et al. [15] demonstrated in a VR laboratory that redirected walking techniques can be applied to transportation devices, such as electric wheelchairs, combining real walking's advantages in confined spaces with vehicle-based self-motion for longer distances. The integration of haptic feedback in VR systems has also been explored by [PERSON] [16], who conducted a meta-analysis on the effectiveness of VR in rehabilitation programs. The analysis concluded that VR, especially when combined with haptic feedback, could significantly enhance rehabilitation outcomes by providing immersive and engaging training environments. In addition to these academic contributions, commercial advancements have also played a significant role in the development of VR systems for wheelchair users, like NaviBoard [17].