## 3 Results
\begin{table}
\begin{tabular}{c c c c c c c} \hline \hline
**w** & **Kinematic Parameters** & **Subject 1** & **Subject 2** & **Subject 3** & **Average** & **SD** \\ \hline \multirow{6}{*}{0\%} & CC & \(19\pm 1\) & \(22\pm 1\) & \(19\pm 0\) & \(19\) & \(1\) \\  & CH & \(12\pm 1\) & \(15\pm 0\) & \(12\pm 0\) & \(12\) & \(1\) \\ \cline{1-1}  & M v _[km/h]_ & \(2.03\) & \(1.31\) & \(1.51\) & \(1.85\) & \(0.26\) \\ \cline{1-1}  & \(\Delta v\)_[km/h]_ & \(1.70\) & \(1.95\) & \(1.87\) & \(1.76\) & \(0.14\) \\ \cline{1-1}  & M a _[m/s2]_ & \(-0.004\) & \(-0.005\) & \(-0.003\) & \(-0.004\) & \(0.006\) \\ \hline \multirow{6}{*}{25\%} & CC & \(16\pm 1\) & \(22\pm 2\) & \(18\pm 1\) & \(17\) & \(1\) \\ \cline{1-1}  & CH & \(11\pm 0\) & \(14\pm 0\) & \(11\pm 0\) & \(11\) & \(0\) \\ \cline{1-1} \cline{1-1}  & M v _[km/h]_ & \(2.34\) & \(2.25\) & \(2.32\) & \(2.33\) & \(0.10\) \\ \cline{1-1}  & \(\Delta v\)_[km/h]_ & \(0.81\) & \(0.88\) & \(0.86\) & \(0.83\) & \(0.08\) \\ \cline{1-1}  & M a _[m/s2]_ & \(-0.010\) & \(0.009\) & \(0.008\) & \(-0.004\) & \(0.012\) \\ \hline \hline \end{tabular}
\end{table} 
Table 3: List of average values of the analyzed kinematic parameters for the hill-climbing assistance mode (t3). Figure 7: Speed waveforms of a wheelchair for the Torque Amplification Mode (t4) with the amplification coefficient \(w\) = 50% for subject 1 (a), subject 2 (b) and subject 3 (c). \begin{table}
\begin{tabular}{c c c c c c c} \hline \hline
**w** & **Kinematic Parameters** & **Subject 1** & **Subject 2** & **Subject 3** & **Average** & **SD** \\ \hline  & CC & \(19\pm 1\) & \(22\pm 1\) & \(19\pm 1\) & 20 & 2 \\  & CH & \(12\pm 1\) & \(15\pm 1\) & \(12\pm 0\) & 13 & 1 \\
0\% & M v _[km/h]_ & 2.01 & 1.31 & 1.51 & 1.61 & 0.31 \\  & \(\Delta\)v _[km/h]_ & 1.70 & 1.95 & 1.87 & 1.84 & 0.18 \\  & M a _[m/s\({}^{2}\)]_ & \(-0.006\) & \(-0.005\) & \(-0.003\) & \(-0.005\) & 0.008 \\ \hline  & CC & \(19\pm 2\) & \(17\pm 0\) & \(18\pm 0\) & 18 & 1 \\  & CH & \(12\pm 1\) & \(12\pm 0\) & \(12\pm 1\) & 12 & 1 \\
25\% & M v _[km/h]_ & 1.66 & 1.41 & 1.63 & 1.57 & 0.19 \\  & \(\Delta\)v _[km/h]_ & 1.61 & 1.95 & 1.84 & 1.80 & 0.21 \\  & M a _[m/s\({}^{2}\)]_ & \(-0.007\) & 0.006 & \(-0.005\) & \(-0.002\) & 0.024 \\ \hline  & CC & \(10\pm 1\) & \(10\pm 1\) & \(8\pm 1\) & 9 & 1 \\  & CH & \(5\pm 0\) & \(6\pm 0\) & \(6\pm 1\) & 6 & 1 \\
50\% & M v _[km/h]_ & 2.28 & 1.98 & 2.14 & 2.13 & 0.15 \\  & \(\Delta\)v _[km/h]_ & 2.08 & 2.91 & 2.29 & 2.43 & 0.45 \\  & M a _[m/s\({}^{2}\)]_ & \(-0.043\) & \(-0.017\) & 0.011 & \(-0.017\) & 0.025 \\ \hline  & CC & \(5\pm 1\) & \(5\pm 0\) & \(6\pm 1\) & 5 & 1 \\  & CH & \(2\pm 0\) & \(3\pm 0\) & \(4\pm 1\) & 3 & 1 \\
75\% & M v _[km/h]_ & 3.02 & 2.07 & 2.62 & 2.57 & 0.49 \\  & \(\Delta\)v _[km/h]_ & 2.81 & 4.28 & 3.15 & 3.41 & 0.79 \\  & M a _[m/s\({}^{2}\)]_ & 0.014 & \(-0.120\) & 0.017 & \(-0.030\) & 0.071 \\ \hline  & CC & \(4\pm 0\) & n/a & \(4\pm 1\) & 4 & 1 \\  & CH & \(2\pm 0\) & n/a & \(2\pm 0\) & 2 & 0 \\
100\% & M v _[km/h]_ & 3.13 & n/a & 3.37 & 3.25 & 0.16 \\  & \(\Delta\)v _[km/h]_ & 3.83 & n/a & 4.23 & 4.03 & 0.30 \\  & M a _[m/s\({}^{2}\)]_ & 0.023 & n/a & 0.121 & 0.072 & 0.093 \\ \hline \hline \end{tabular}
\end{table} 
Table 4: Average values of analyzed kinematic parameters for amplification of the driving torque mode (t4). \begin{table}
\begin{tabular}{c c c c c c c} \hline \hline
**w** & **Kinematic Parameters** & **Subject 1** & **Subject 2** & **Subject 3** & **Average** & **SD** \\ \hline  & CC & \(14\pm 1\) & \(20\pm 1\) & \(17\pm 2\) & 15 & 2 \\  & CH & \(10\pm 1\) & \(12\pm 1\) & \(11\pm 0\) & 10 & 1 \\
50\% & M v _[km/h]_ & 2.77 & 2.56 & 2.64 & 2.73 & 0.08 \\  & \(\Delta\)v _[km/h]_ & 0.70 & 0.71 & 0.88 & 0.76 & 0.16 \\  & M a _[m/s\({}^{2}\)]_ & \(-0.008\) & \(-0.004\) & \(-0.003\) & \(-0.006\) & 0.010 \\ \hline  & CC & \(13\pm 0\) & \(18\pm 0\) & \(16\pm 0\) & 14 & 1 \\  & CH & \(9\pm 1\) & \(9\pm 1\) & \(10 According to the adopted research methodology, each subject had to fill out a questionnaire after finishing one mode of the test trial.