Perception of motion-lag compared with actual phase-lag for a powered wheelchair system

As analogue powered wheelchair systems are digitized and sensors and other systems are added then a lag can be introduced into the control of the wheelchair. This paper discusses phase lag in a powered wheelchair system and when a wheelchair driver might begin to perceive a lag in the motion of the wheelchair. The reduction of any time lag is important for driving performance and ability. The threshold of allowable time lag for a wheelchair driver has not been explored and this work investigated the minimum time lag before a wheelchair driver perceived a lag.