# Manual Wheelchair Equipped with a Planetary Gear-Research Methodology and Preliminary Results
## 3 Results and Discussion
### Results of Motion Capture Measurements  
Figure 11 shows selected measurement results for the gear ratio variant p1 for the angles from k1 to k3. It presents a compilation of three distances travelled by the markers  
\begin{table}
\begin{tabular}{c c c c c c c c c c c c c} \hline  & & & **s1 A** & & & **s1 B** & & & **s1 C** & & & **s1 D** & \\ \hline \multirow{4}{*}{**k1**} & & **p1** & **p2** & **p3** & **p1** & **p2** & **p3** & **p1** & **p2** & **p3** & **p1** & **p2** & **p3** \\ \cline{2-13}  & \(\overline{x}\) [\%] & 25.39 & 24.00 & 23.48 & 39.12 & 37.31 & 36.73 & 31.23 & 24.50 & 23.27 & 11.56 & 6.27 & 4.42 \\ \cline{2-13}  & \(\sigma\) [\%] & 2.50 & 2.28 & 2.02 & 3.12 & 4.01 & 2.69 & 1.33 & 3.02 & 2.61 & 1.20 & 0.88 & 0.23 \\ \hline \multirow{4}{*}{**k2**} & \(\overline{x}\) [\%] & 30.03 & 26.41 & 26.48 & 42.60 & 41.79 & 39.19 & 37.67 & 27.87 & 23.41 & 19.50 & 10.24 & 4.54 \\ \cline{2-13}  & \(\sigma\) [\%] & 2.81 & 2.01 & 1.70 & 4.98 & 2.52 & 4.39 & 5.31 & 2.89 & 3.11 & 2.48 & 1.58 & 0.54 \\ \hline \multirow{4}{*}{**k3**} & \(\overline{x}\) [\%] & 45.34 & 33.31 & 29.15 & 82.80 & 47.13 & 46.68 & 68.56 & 52.00 & 35.79 & 31.26 & 10.92 & 8.19 \\ \cline{2-13}  & \(\sigma\) [\%] & 3.23 & 2.05 & 2.73 & 14.97 & 5.32 & 5.42 & 8.01 & 8.53 & 3.15 & 4.17 & 1.20 & 1.06 \\ \hline \multicolumn{13}{c}{**s2 A**} & & **s2 B** & & **s2 C** & & & **s2 D** & \\ \hline \multirow{4}{*}{**k1**} & & **p1** & **p2** & **p3** & **p1** & **p2** & **p3** & **p1** & **p2** & **p3** & **p1** & **p2** & **p3** \\ \cline{2-13}  & \(\overline{x}\) [\%] & 45.06 & 22.39 & 21.59 & 41.07 & 39.85 & 35.12 & 29.58 & 23.18 & 21.21 & 16.48 & 6.27 & 4.93 \\ \cline{2-13}  & \(\sigma\) [\%] & 5.96 & 1.68 & 1.68 & 3.68 & 2.73 & 2.39 & 2.00 & 2.83 & 2.27 & 1.84 & 0.67 & 0.61 \\ \hline \multirow{4}{*}{**k2**} & \(\overline{x}\) [\%] & 47.47 & 25.40 & 24.98 & 71.93 & 41.01 & 38.39 & 66.46 & 24.93 & 24.00 & 17.75 & 6.90 & 5.21 \\ \cline{2-13}  & \(\sigma\) [\%] & 3.54 & 1.77 & 1.58 & 9.72 & 3.52 & 1.77 & 8.72 & 2.51 & 1.81 & 2.61 & 0.51 & 0.48 \\ \hline \multirow{4}{*}{**k3**} & [\%] & 57.45 & 33.05 & 31.73 & 104.24 & 56.48 & 50.49 & 106.33 & 57.24 & 41.03 & 19.40 & 11.57 & 9.09 \\ \cline{2-13}  & \(\sigma\) [\%] & 5.29 & 3.30 & 3.25 & 9.45 & 7.23 & 5.30 & 16.12 & 6.73 & 4.48 & 1.95 & 1.23 & 1.64 \\ \hline \multicolumn{13}{c}{**s3 A**} & & **s3 B** & & **s3 C** & & & **s3 D** & & & & & & \\ \hline \multirow{4}{*}{**k1**} & & **p1** & **p2** & **p3** & **p1** & **p2** & **p3** & **p1** & **p2** & **p3** & **p1** & **p2** & **p3** \\ \cline{2-13}  & \(\overline{x}\) [\%] & 29.77 & 26.13 & 24.13 & 44.96 & 43.42 & 42.16 & 37.77 & 29.80 & 25.23 & 10.87 & 7.98 & 5.87 \\ \cline{2-13}  & [\%] & 2.59 & 2.56 & 2.08 & 3.97 & 4.23 & 3.32 & 2.39 & 2.93 & 2.76 & 1.62 & 0.83 & 0.86 \\ \hline \multirow{4}{*}{**k2**} & \(\overline{x}\) [\%] & 46.94 & 37.62 & 25.02 & 84.05 & 59.66 & 45.80 & 80.83 & 40.38 & 28.50 & 15.92 & 12.79 & 5.99 \\ \cline{2-13}  & \(\sigma\) [\%] & 5.09 & 3.21 & 2.42 & 10.83 & 5.97 & 3.85 & 10.10 & 5.25 & 2.78 & 2.64 & 3.18 & 0.83 \\ \hline \multirow{4}{*}{**k3**} & \(\overline{x}\) [\%] & 63.40 & 39.89 & 51.92 & 119.42 & 76.89 & 62.19 & 121.10 & 66.31 & 61.20 & 20.61 & 15.13 & 15.03 \\ \cline{2-13}  & \(\sigma\) [\%] & 5.52 & 3.88 & 3.68 & 13.28 & 8.12 & 6.03 & 15.66 & 7.93 & 3.71 & 2.15 & 1.44 & 1.65 \\ \hline \end{tabduring the propulsion phases. Markers were placed on the joints of the forearm and upper arm. The analyzed trajectories were located on a plane parallel to the sagittal plane in the coordinate system with the origin in the axis of rotation of the wheelchair's drive wheel. Figure 12 shows the measurement of the upper limb trajectory for the variant of the inclination angle k1 and the gear ratios from p1 to p3. The analysis of the presented graphs allows for identification of significant differences caused by the change of the wheelchair's inclination angle and the change of its drive system gear ratio.