# 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 c c c c c} \hline \hline  & & \multicolumn{3}{c}{**ID1**} & \multicolumn{3}{c}{**ID3**} & \multicolumn{3}{c}{**ID5**} \\ \hline  & & \(s\)**[mm]** & \(\sigma s\)**[mm]** & \(\varphi\)**[°]** & \(\sigma\varphi\)**[°]** & \(s\)**[mm]** & \(\sigma s\)**[mm]** & \(\varphi\)**[°]** & \(\sigma\varphi\)**[°]** & \(s\)**[mm]** & \(\sigma s\)**[mm]** & \(\varphi\)**[°]** & \(\sigma\varphi\)**[°]** \\ \hline \multirow{4}{*}{**k1**} & **p1** & _push_ & 728.0 & 67.6 & 60.1 & 3.7 & 611.3 & 41.6 & 28.0 & 1.3 & 375.2 & 20.2 & 9.7 & 0.8 \\ \cline{2-13}  & _return_ & 658.9 & 25.6 & 68.4 & 0.6 & 533.2 & 40.8 & 23.8 & 1.8 & 261.4 & 11.7 & 6.1 & 0.2 \\ \cline{2-13}  & _push_ & 773.7 & 19.1 & 62.9 & 3.6 & 614.1 & 16.2 & 29.5 & 1.3 & 358.4 & 9.2 & 10.1 & 0.8 \\ \cline{2-13}  & _return_ & 707.6 & 59.7 & 69.6 & 3.6 & 564.4 & 73.0 & 26.4 & 1.5 & 327.3 & 64.9 & 9.0 & 0.5 \\ \cline{2-13}  & **p3** & _push_ & 630.8 & 8.2 & 48.0 & 2.5 & 503.0 & 15.2 & 24.7 & 1.1 & 408.0 & 21.6 & 12.9 & 1.5 \\ \cline{2-13}  & _return_ & 565.9 & 33.9 & 55.5 & 5.9 & 516.4 & 10.5 & 24.9 & 3.4 & 335.9 & 9.0 & 13.2 & 1.4 \\ \hline \multirow{4}{*}{**k2**} & **p1** & _push_ & 815.9 & 94.5 & 73.3 & 4.0 & 689.5 & 18.1 & 37.9 & 0.8 & 380.9 & 9.6 & 12.0 & 1.1 \\ \cline{2-13}  & _return_ & 787.2 & 24.3 & 70.3 & 2.1 & 646.7 & 18.9 & 27.9 & 1.8 & 340.3 & 35.3 & 14.4 & 1.5 \\ \cline{2-13}  & _push_ & 777.9 & 47.7 & 71.2 & 7.2 & 633.8 & 21.5 & 33.8 & 1.1 & 392.8 & 6.3 & 15.6 & 1.0 \\ \cline{2-13}  & **p2** & _return_ & 743.7 & 25.1 & 74.9 & 5.0 & 586.8 & 49.4 & 33.2 & 1.8 & 316.1 & 9.1 & 12.6 & 2.5 \\ \cline{2-13}  & **p3** & _push_ & 625.2 & 23.4 & 50.2 & 14.9 & 590.1 & 19.5 & 27.7 & 1.9 & 453.3 & 31.7 & 14.8 & 4.8 \\ \cline{2-13}  & **p3** & _return_ & 591.4 & 46.5 & 58.0 & 3.0 & 448.0 & 35.0 & 29.8 & 1.8 & 342.6 & 21.4 & 16.6 & 1.9 \\ \hline \multirow{4}{*}{**k3**} & **p1** & _push_ & 883.3 & 24.1 & 83.3 & 2.0 & 697.2 & 49.0 & 40.3 & 1.4 & 446.8 & 48.3 & 20.0 & 0.4 \\ \cline{2-13}  & _return_ & 903.2 & 24.8 & 82.0 & 3.6 & 756.6 & 18.5 & 35.9 & 2.9 & 369.0 & 20.2 & 16.1 & 1.6 \\ \cline{2-13}  & **p2** & _push_ & 816.3 & 8.6 & 78.4 & 1.8 & 667.1 & 43.5 & 36.6 & 1.4 & 401.5 & 10.8 & 17.1 & 0.9 \\ \cline{2-13}  & _return_ & 776.2 & 30.6 & 80.9 & 3.1 & 614.4 & 27.9 & 33.6 & 1.8 & 336.7 & 22.7 & 22.5 & 2.0 \\ \cline{2-13}  & **p3** & _push_ & 762.1 & 28.1 & 66.2 & 8.5 & 650.9 & 28.5 & 36.1 & 3.0 & 479.8 & 4.2 & 19.2 & 0.8 \\ \cline{2-13}  & _return_ & 726.8 & 69.8 & 69.6 & 4.4 & 618.9 & 68.7 & 32.6 & 4.8 & 358.8 & 70.3 & 16.3 & 0.5 \\ \hline \hline \end{tabular}
\end{table} 
Table 5: Mean values of the displacement \(s\) and the angle covered by individual markers \(\varphi\); \(\sigma s\)—standard deviation of the arithmetic mean of the marker’s displacement and \(\sigma\varphi\)—standard deviation of the arithmetic mean of the angle covered by the marker. increase in the gear ratio and with the increase in the wheelchair's angle of inclination, both the average value of the displacement and the average value of the angle covered by the marker (ID1) on the wrist of the examined person decreased. This was further confirmed by the analysis of the mean values of \(L\) and \(H\) as well as the mean value of the surface area \(A_{ID1}\)--as can be observed in Figure 14. A decreasing trend in the above-mentioned values could be observed with the change of the gear ratio (hence, the driving torque). The increase in the mean value of the surface area \(A_{ID1}\) as a function of the inclination angle can be explained by the change in orientation of the entire path traveled by the markers with respect to the stationary coordinate system, with the origin in the axis of rotation of the larger wheel. The lengths of \(L\) and \(H\) were always measured parallel, respectively, to the x and y axes which resulted in projecting their characteristic dimensions according to the principles of trigonometry.