Pressure-sensitive steering for hands-free operation of an omnidirectional wheelchair

Presenter Information

Ashley Mingrino, Biomedical Engineering Department, Duquesne University, Pittsburgh; Rory Cooper, Human Engineering Research Laboratories, Department of Veteran Affairs, Pittsburgh, PA; Jorge Candiotti, Department of Veteran Affairs, Pittsburgh, PA, Department of Physical Medicine & Rehabilitation, University of Pittsburgh

Abstract

Individuals who rely on wheelchairs for mobility encounter challenging environments, such as laboratories, classrooms, and office spaces, that demand frequent repositioning, precision movement, and simultaneous task execution. Conventional wheelchair interfaces often require continuous manual input, which can interrupt workflow, increase fatigue, and limit the ability to perform hands-on, bimanual tasks. To address these limitations, this study presents the design and feasibility evaluation of a hands-free steering interface integrated into an omnidirectional wheelchair to support multitasking and functional independence for users with preserved trunk control. A pressure-sensitive seating platform was developed to translate natural trunk leaning into wheelchair motion. Four load cells embedded beneath the seat detected changes in pressure as the user shifted upper body posture, and these signals were processed to estimate trunk position and generate directional movement commands. Controlled leaning trials showed accurate weight estimation and reliable detection of small body leans that matched intended movement directions, demonstrating that upper-body posture can be translated into wheelchair steering and support hands-free mobility for everyday tasks.

School

Nasuti College of Osteopathic Medicine

Submission Type

Paper

Repository Citation

Mingrino, A., Cooper, R., & Candiotti, J. (2026). Pressure-sensitive steering for hands-free operation of an omnidirectional wheelchair. Retrieved from https://dsc.duq.edu/duqcom-2026/4