Fig. 3From: A novel push–pull central-lever mechanism reduces peak forces and energy-cost compared to hand-rim wheelchair propulsion during a controlled lab-based experimentA typical example of the unilateral effective force patterns as measured in the force sensor of the RoChair (left panel) and the SmartWheel (right panel). Some key definitions in the data analysis are shown: push and pull phases for the lever propulsion cycle and the active push and non-active recovery phase of the full hand-rim propulsion cycleBack to article page