# Manual Wheelchair Equipped with a Planetary Gear-Research Methodology and Preliminary Results
## 3 Results and Discussion
### Results of Motion Capture Measurements
\begin{table}
\begin{tabular}{c c c c c c c c} \hline \hline  & & \multicolumn{6}{c}{**Wrist ID1**} \\ \hline  & & **L [mm]** & **H [mm]** & **\(\mathbf{A_{ID}}\) [m\({}^{2}\)]** & **\(\sigma\)L [mm]** & **\(\sigma\)H [mm]** & **\(\sigma\)A\({}_{ID}\) [m\({}^{2}\)]** \\ \hline \multirow{3}{*}{**k1**} & p1 & 585.26 & 213.09 & 0.0208 & 20.75 & 12.66 & 0.0007 \\ \cline{2-7}  & p2 & 623.55 & 199.97 & 0.0266 & 22.21 & 17.96 & 0.0007 \\ \cline{2-7}  & p3 & 536.18 & 194.33 & 0.0197 & 83.63 & 19.62 & 0.0051 \\ \hline \multirow{3}{*}{**k2**} & p1 & 703.92 & 195.65 & 0.0324 & 21.11 & 1.68 & 0.0023 \\ \cline{2-7}  & p2 & 659.20 & 191.64 & 0.0309 & 22.72 & 19.66 & 0.0054 \\ \cline{2-7}  & p3 & 517.41 & 120.85 & 0.0204 & 19.63 & 6.44 & 0.0027 \\ \hline \multirow{3}{*}{**k3**} & p1 & 696.84 & 162.23 & 0.0314 & 8.50 & 12.30 & 0.0105 \\ \cline{2-7}  & p2 & 632.86 & 141.42 & 0.0240 & 34.15 & 14.40 & 0.0027 \\ \cline{2-7}  & p3 & 640.89 & 149.32 & 0.0225 & 31.33 & 10.92 & 0.0025 \\ \hline \multirow{3}{*}{**k1**} & p1 & 528.47 & 253.25 & 0.0453 & 34.31 & 14.23 & 0.0052 \\ \cline{2-7}  & p2 & 514.40 & 240.35 & 0.0548 & 18.83 & 20.26 & 0.0020 \\ \cline{2-7}  & p3 & 473.46 & 222.66 & 0.0329 & 35.18 & 10.87 & 0.0083 \\ \hline \multirow{3}{*}{**k2**} & p1 & 503.50 & 215.90 & 0.0486 & 17.82 & 2.24 & 0.0021 \\ \cline{2-7}  & p2 & 488.91 & 208.72 & 0.0410 & 28.93 & 17.87 & 0.0049 \\ \cline{2-7}  & p3 & 408.18 & 152.26 & 0.0378 & 63.07 & 8.39 & 0.0036 \\ \hline \multirow{3}{*}{**k3**} & p1 & 530.65 & 180.27 & 0.0504 & 9.48 & 6.90 & 0.0066 \\ \cline{2-7}  & p2 & 488.51 & 171.92 & 0.0444 & 38.86 & 6.59 & 0.0081 \\ \cline{2-7}  & p3 & 520.38 & 163.77 & 0.0457 & 31.95 & 6.52 & 0.0040 \\ \hline \multirow{3}{*}{**k1**} & p1 & 214.30 & 137.46 & 0.0139 & 26.78 & 14.56 & 0.0023 \\ \cline{2-7}  & p2 & 169.96 & 131.14 & 0.0117 & 20.64 & 11.22 & 0.0010 \\ \cline{2-7}  & p3 & 263.54 & 142.30 & 0.0148 & 22.77 & 5.56 & 0.0007 \\ \hline \multirow{3}{*}{**k2**} & p1 & 248.72 & 136.57 & 0.0175 & 4.55 & 2.53 & 0.0001 \\ \cline{2-7}  & p2 & 236.59 & 139.18 & 0.0120 & 43.65 & 13.84 & 0.0045 \\ \cline{2-7}  & p3 & 268.57 & 100.06 & 0.0170 & 16.76 & 12.11 & 0.0022 \\ \hline \multirow{3}{*}{**k3**} & p1 & 267.42 & 121.34 & 0.0177 & 47.39 & 16.21 & 0.0045 \\ \cline{2-7}  & p2 & 216.70 & 102.97 & 0.0151 & 26.04 & 12.55 & 0.0024 \\ \cline{2-7}  & p3 & 237.46 & 105.86 & 0.0174 & 9.12 & 4.94 & 0.0011 \\ \hline \hline \end{tabular}
\end{table} 
Table 6: Mean values of surface areas \(A_{ID}\) and corresponding lengths \(L\) and widths \(H\) of the designated shapes for all of the markers; \(\sigma\)L—standard deviation of length, \(\sigma\)H—standard deviation of the height and \(\sigma A_{ID}\)—standard deviation of surface area. affect the propulsion pattern of the upper limb [51; 52], but also the distribution of muscle strength into the tangential (driving) and centripetal force [53]. [PERSON] et al., In 2021, noted that the fatigue of a wheelchair user, e.g., by climbing uphill, against the wind or on terrain with a high rolling resistance coefficient, affects the directional stability of the wheelchair and the user. Difficulties in moving often cause greater deviations of the measured parameters and there is also a change in the position of the center of gravity, which, according to [PERSON] et al. in 2021, significantly affects the stability of movement in a wheelchair [54]. [PERSON] and [PERSON] in 1991 also observed the dependence of the stability of the movements in steering a wheelchair and the position of the center of gravity. It was noted that the additional resistance also influenced the frequency of movements and their stability. The conclusions of these authors are consistent with the research presented in this paper [55]. The limitation of the design of wheelchairs using gears is an increased resistance to motion, as demonstrated by [PERSON] et al. 2021 [56]; however, advanced gear shifting systems in the transmission can compensate for these losses and represent a new trend in wheelchair gear applications [57].