GB2580888A

GB2580888A - Wheelchair simulator

Info

Publication number: GB2580888A
Application number: GB1820559.1A
Authority: GB
Inventors: Thorn Roger; Thompson Luke; Richard Louttit Duncan
Original assignee: Pace Centre Ltd
Current assignee: Pace Centre Ltd
Priority date: 2018-12-17
Filing date: 2018-12-17
Publication date: 2020-08-05
Anticipated expiration: 2038-12-17
Also published as: GB201820559D0; GB2580888B

Abstract

A wheelchair simulator 1 comprising: a support 3 comprising one or more restraining elements for immobilising a wheelchair on the support and/or one or more engagement elements 4 for engaging and supporting a postural support chair on the support; first and second actuators for moving the support about respective first and second orthogonal axes, the first axis being normal to the support and the second axis being normal to a forwards or backwards motion to be simulated; and a controller having an input for receiving signals representing user input from one or more motion control devices for controlling the motion of a wheelchair and drive circuitry to control the first and second actuators in response to the user input. Various control modes may be implemented to cater to the needs of injured or disabled users. Safety features may be included such as a maximum tilt angle providing haptic or visual feedback, and centre of gravity detection to prevent tipping over. The simulator may be transported using removable handles 7 and wheel 6. The controller may send data to a virtual reality device.

Description

A WHEELCHAIR SIMULATOR

The invention relates to a wheelchair simulator.

Wheelchairs are commonly used to help people who are injured or have disabilities to move independently, travel and explore the world around them. Wheelchairs may be powered in order to help users travel further distances or to allow users to use a wheelchair if they are not able to power a wheelchair themselves. These powered wheelchairs are usually controlled by the user with an input device, which may be customised to a user's needs if the user is not able to use a standard input device. This customisation may be in the shape of the device, or how an input signal is processed. In addition to allowing a user to move independently, a wheelchair may also comprise a customised postural support chair or supportive seating system that helps to support a user's body, for example, to provide upper body support for a user with cerebral palsy. The customisation may include contouring a chair to a user's body or providing restraints to help hold a part or parts of a user's body in place. The postural support chair may be removably attached to a wheelchair chassis. Generally, for users with more limited motor functions, a wheelchair is likely to comprise at least a customised postural support chair and at least one customised input device for controlling the wheelchair.

A wheelchair that is customised to the needs of a user is usually expensive and it can take time for a user to master the controls of such a wheelchair, such that the user is safe and competent when using a wheelchair. Practice with the wheelchair can improve a user's control over the wheelchair, however spaces to safely practice are limited and users can be reluctant to risk damaging an expensive wheelchair which they rely on for movement and can take a substantial amount of time and/or money to replace. Additionally, if the user is being supervised or looked after by a carer when using a wheelchair, experience shows that the supervisor or carer tends to intervene at an early stage, preventing the user from learning in the most efficient manner and therefore taking longer to achieve independence.

It is known to use a control device for a wheelchair in combination with a light or a computer game, so that a user can practice using the control device; however, these devices are not dynamic enough to hold a child's attention. Additionally, for users with complex needs, these devices are not dynamic enough to help a user associate their input on a control device with a movement on a real wheelchair.

The problems discussed above can hinder a user's learning and can reduce the level of independence that they can achieve when using a wheelchair.

In accordance with a first aspect of the invention, there is provided a wheelchair simulator comprising: a support comprising one or more restraining elements for immobilising a wheelchair on the support and/or one or more engagement elements for engaging and supporting a postural support chair on the support; first and second actuators for moving the support about respective first and second orthogonal axes, the first axis being normal to the support and the second axis being normal to a forwards or backwards motion to be simulated; and a controller having an input for receiving signals representing user input from one or more motion control devices for controlling the motion of a wheelchair and drive circuitry to control the first and second actuators in response to the user input, whereby the drive circuitry controls the first actuator to move the support about the first axis in response to user input indicating a rotary motion of the wheelchair and controls the second actuator to move the support about the second axis in response to user input indicating a forwards or backwards motion of the wheelchair.

In one embodiment, the first axis is a vertical axis. In one embodiment, the second axis is a horizontal axis.

The wheelchair simulator allows a user to simulate using a real wheelchair; however, as users often will be using customised wheelchairs and/or postural support chairs (manufactures of such wheelchairs and/or postural support chairs include Leckey, JCM, Jenx and Whizzybug), it is not possible to simply provide a wheelchair simulator comprising a chair that is suitable for all users. Customised equipment enables better upper limb function and a chair that is familiar and comfortable to the user will aid with the success of interventions; however, if the wheelchair simulator itself was customised for each user, this would result in an expensive wheelchair simulator that would take a significant time to produce and would have limited reuse. In order to address these issues, the wheelchair simulator of this application allows either an entire wheelchair to be received by and used with the simulator or, alternatively, allows a postural support chair to be received by and used with the simulator. In some embodiments, a wheelchair can be moved onto the support and restrained in a manner discussed below. The wheelchair may comprise a postural support chair. In other embodiments, a postural support chair can be physically attached to the support with, for example, the same mechanism that is used to attach the support chair to a wheelchair. The support can be designed to receive different brands and/or types of postural support chair, such that the wheelchair simulator only needs a single support. Many support chairs have protrusions that are received in a corresponding recess when attached to a wheelchair. In some embodiments, the support may have recesses that allow these protrusions to be received. Multiple types of postural support chairs can be received by a single support by including the corresponding recesses and/or protrusions for different types of postural support chair on the single support.

In use, once the wheelchair or postural support chair is received by the support, a user will sit in the chair of the wheelchair immobilised on the support or the postural support chair engaged and supported on the support and use at least one motion control device (as described below) to provide an input indicating how they would like to move. This input is received by the controller of the wheelchair simulator. The controller comprises circuitry that takes the input signal and outputs a signal to drive the first and second actuators to move the support, and hence the wheelchair or postural support chair, in the direction indicated by the user, thereby simulating the user using a wheelchair. The motion control device may by a motion control device that is used with an existing wheelchair. The wheelchair simulator can also or alternatively have one or more dedicated motion control devices that are permanently connected to the wheelchair simulator. As motion control devices can be customised for individual users depending on their needs, it may be preferable to have a controller that is able to receive one or more existing motion control devices, for example through one or more 3.5 mm jack ports or by wireless means. The controller may have a different port for a user input in each direction, for example a first port for a forward user input signal, a second port for a backward user input signal, a third port for a rotate left user input signal and a fourth port for a rotate right user input signal. The control unit may have an additional port for sending data to an external computing device, which may be used to analyse user learning and/or which may be running VR software as described below and the data may be used as an input for the VR software.

The wheelchair simulator can simulate at least rotational movement and linear movement (i.e. backwards and forwards movement). Further types of movement to be simulated are contemplated and are discussed in more detail below. To simulate rotational movement, in use, the wheelchair simulator moves the support, and hence the attached postural support chair or wheelchair, about a vertical axis normal to the support. The support may rotate indefinitely, without reaching a limit. Alternatively the controller may stop driving the first actuator once the chair has moved through a fixed range of rotational motion, for example 180°. To simulate forwards or backwards movement, in use, the wheelchair simulator moves the support and hence the wheelchair or postural support chair about a horizontal axis parallel to the support. In use, this movement about the horizontal axis can be observed as the support, and hence the wheelchair or postural support chair, tilting forwards or backwards. By combining movement in both axes at the same time, the wheelchair simulator can simulate a wide range of motion. The speed of the simulated motion may be adjustable, so that a user can start at a slow speed that they are comfortable with and work up to a faster speed.

Any of the actuators used in the wheelchair simulator may take the form of a rotary motor, a wheel attached to a rotary motor, a linear actuator, a hydraulic cylinder, a comb drive, or any combination of the aforementioned.

One advantage of the wheelchair simulator is that it allows a user to learn transferrable skills and hence operate their own wheelchair for longer periods (and in the case of a child, without adult intervention), be able to access more areas and generally move independently in a more confident and capable manner.

In one embodiment, the wheelchair simulator further comprises a third actuator for moving the support about a third axis, the third axis orthogonal to the first axis and the second axis; and the drive circuity further controls the third actuator in response to the user input, whereby the drive circuitry controls the third actuator to move the support about the third axis in response to user input indicating a sideways or rotary motion of the wheelchair.

An advantage of introducing a third axis about which the wheelchair simulator can move is that a third direction of motion can be simulated, i.e. moving in a sideways direction. When simulating a sideways direction, the wheelchair simulator will tilt the support in a sideways (i.e. left and right, orthogonal to the forwards and backwards motion) manner, similar to when a forwards or backwards motion is being simulated.

In one embodiment, the wheelchair simulator further comprises a rotatable base, wherein the support is attached to the rotatable base and the controller drives the first actuator to rotate the rotatable base in response to user input indicating a rotary motion of the wheelchair.

An advantage of such an arrangement is that it allows for a simpler arrangement when considering the actuator that allows the support to rotate about the second axis and, optionally, the third axis. This is because the support and the first actuator can be placed on a rotatable base, which is attached to a static base by a bearing. The actuator that allows for rotational movement may comprise a wheel which, when driven, drives against the static base sited below the rotational base, thereby imparting rotational motion to the rotatable base.

The bearing may allow the support to rotate through a full 360° of motion.

In one embodiment, the wheelchair simulator further comprises a rotatable support, wherein the controller drives the first actuator to rotate the support is in response to user input indicating rotary motion of the wheelchair.

The support may comprise a member that extends from the support and is received by a bearing attached to the base of the wheelchair simulator.

In one embodiment, the wheelchair simulator further comprises a fourth actuator for moving the support along the first axis in response to user input indicating an upwards or downwards motion.

An advantage of introducing a fourth actuator for moving the support along the first axis is that it allows for the wheelchair simulator to simulate movement in an upwards and downwards manner. This might be relevant if a user had a wheelchair that allowed them to raise or lower their relative height, for example, when at a table.

In one embodiment, the controller further comprises a selectable direct mode, which when selected causes the controller to drive one or more of the actuators to move the support in the direction indicated by the user for the same amount of time as the direction is indicated via the one or more motion control devices or until a maximum range of motion is reached.

In one embodiment, the controller further comprises a selectable latched mode, which when selected causes the controller to drive one or more of the actuators to continuously move the support in the direction indicated by a first input signal and to stop moving the support when a second input signal is received by the controller.

In one embodiment, the controller further comprises a selectable timed mode, which when selected causes the controller to drive one or more of the actuators to continuously move the support in the direction indicated by the user for a selectable period of time.

An advantage of the selectable direct, latched and timed modes are that they allow the wheelchair simulator to simulate different control modes that are used with wheelchairs. This variety of modes allow users with different disabilities to control their wheelchair. For example, a user may not have enough strength or motor control to engage a motion control device for the entire time that they wish to move in a certain direction.

In one embodiment, the wheelchair simulator further comprises one or more vibration pads and/or lights to provide haptic and/or visual feedback when the support reaches a maximum position in at least one of the axes of movement.

An advantage of vibration pads and/or lights is that it provides feedback in a manner that helps to draw a user's attention to what is going on, i.e. that a maximum position has been reached. The vibration pads and/or lights also help to reinforce behavioural learning.

In one embodiment, the restraining elements are clamps for receiving the wheels of a wheelchair and the clamps immobilise the wheelchair by preventing the wheels of the wheelchair from rotating during use.

In one embodiment, the restraining elements comprise a ramp and a receiving portion for receiving the wheels of a wheelchair and the receiving portion immobilises the wheelchair by preventing the wheels of the wheelchair from moving during use.

An advantage of providing restraining elements that comprise a ramp and a receiving portion is that a wheelchair can be easily moved on and off the wheelchair simulator by moving the wheelchair up the ramp and into the receiving portion.

In one embodiment, the support is moveable to lift a wheelchair, such that when a wheelchair is received by the support the support can lift the wheels of the wheelchair off of the ground, and/or a base of the wheelchair simulator and/or the support in order to immobilise the wheelchair. This can be achieved by providing a support that can removably engage with the chassis of a wheelchair, for example by providing the support with one or more clamps and/or by one or more recesses that receive a portion of the wheelchair chassis. The support may be designed to receive a specific design of wheelchair chassis or may be designed to receive multiple wheelchair chassis designs through, for example, the location of the clamps and/or recesses on the support.

An advantage of lifting the wheelchair off of the ground, a base of the wheelchair simulator or the support is that a user does not have to wheel the wheelchair up a ramp in order to user the wheelchair simulator.

In one embodiment, one of the one or more motion control devices is one of a switch, a joystick, a voice activated switch, a breath activated switch, a buddy button, a proximity switch, a grasp switch, a wobble switch or a Moozi joystick. Generally, switches may be customised to a user's needs. For example, a switch may be calibrated to respond to an extremely light touch for users with limited movement. Any of the switches discussed may be operated by any part of a user's body, for example by a hand, foot, chin, or twitch of a cheek. The switch may be a finger button that is attached to a user's finger and is operable by a pressing on the switch with another finger. A voice activated switch may respond to sound over a certain loudness or may comprise a speech recognition system, allowing a user to give verbal commands. A breath activated switch may respond to a user's breaths. A buddy button is a controller comprising a switch with auditory and tactile feedback, which gives positive feedback that it has been pressed. A switch of this type may be activated when pressed and deactivated when released. A proximity switch may allow a user to activate the switch simply by moving in the direction of the switch or by covering the switch. Similarly, a proximity switch may be deactivated when a user moves away from the switch or stops covering the switch. A grasp switch is a switch that is held in the palm of a user's hand and may be activated by squeezing the switch. Likewise, a grasp switch is deactivated by releasing the switch. A wobble switch is a switch that comprises a spring and a lever. The switch may be activated by a fine movement or a gross movement by a user, thereby allowing a user who makes sweeping or erratic movements to provide user input. A moozi switch is a low profile switch comprising a non-slip base and a mushroom button or lever (tbar/cow horn). The switch can be placed on a flat surface, without the need for further attachment means. Although many examples of suitable switches are given, any motion controller known to the skilled person may communicate with the controller. More than one motion control device can be used with the wheelchair simulator. For example, a user may have a first device for indicating rotational movement and a second device for indicating forwards and backwards movement.

In one embodiment, the controller further comprises one or more physical ports for receiving the signal from the one or more motion control devices.

In one embodiment, the controller further comprises one or more wireless ports for receiving the signal from the one or more motion control devices.

In one embodiment, the wheelchair simulator further comprises an anti-tilt device for detecting if the centre of gravity of the wheelchair simulator has moved beyond a pre-set threshold, wherein the anti-tilt device is in communication with the controller, and wherein the controller will stop driving one or more of the actuators if the wheelchair simulator has moved beyond the pre-set threshold, thereby preventing the wheelchair simulator from tipping over.

The anti-tilt device may comprise an accelerometer attached to the support and configured to measure the gravitational pull in the direction of the first, vertical, axis. When the support is horizontal with respect to the ground, the gravitational pull is at a maximum. As the support is tilted or moved away from the horizontal, the gravitation pull on the accelerometer is reduced as the cosine of the tilt angle. The accelerometer outputs a signal that corresponds to the gravitational pull on the accelerometer. This signal can calibrated for the wheelchair simulator and can be used as a feedback signal to control how much the device tilts. For example, if the output signal indicates that the wheelchair simulator has tilted or moved past a critical angle, the controller can stop driving the actuator.

An advantage of providing a wheelchair simulator comprising an anti-tilt device is that it helps to prevent a user from being injured by preventing the wheelchair simulator from falling over. The anti-tilt device may also override the motion control device and instruct the controller to drive an actuator in the opposite direction in order to prevent the wheelchair simulator from tipping over in response to a signal from, for example, the accelerometer. Additionally, the wheelchair simulator may comprise an emergency cut off, either in the form of a button, a kill cord (if, for example, a user falls out of the wheelchair simulator or leaves the wheelchair simulator when the wheelchair simulator is in use) or a controller that can detect an unsafe set of conditions based on, for example, an input from the accelerometer. The emergency cut off stops the actuators from being driven when initiated.

In one embodiment, the wheelchair simulator further comprises a removable handle and one or more removable wheels to aid with moving the wheelchair simulator. The handle and the one or more removable wheels are preferably removed before the user uses the wheelchair simulator.

In some embodiments, this may comprise an arrangement similar to a wheelbarrow, wherein there are one or wheels located on an edge of the base and one or more handles located on the opposite side of the base to the wheels.

In one embodiment, the controller is configured to send data to a virtual reality (VR) device, such that the one or more motion control devices also controls the position of a user in a VR environment simulating a scenario, such as moving along a pavement or through a narrow gap, in a corresponding direction to the signal from the one or more motion control devices.

An advantage of a setup comprising a VR device is that a more realistic simulation can be provided, including simulating obstacles and narrow gaps for a user to navigate. The virtual reality device can be a standard computer/server/mobile device and either receive input directly from the motion control device or a standard controller (such as those used with a PlayStation®, an Xbox® or any handheld controller usually used with VR headsets) can be used.

In use, a user may also wear a virtual reality headset or a mixed reality headset (for example, a HoloLens®). Alternatively, a screen may be sited in front of a user, the screen for displaying the VR environment. In use, the user may experience haptic feedback from the wheelchair simulator and be provided with additional visual feedback from the VR device. Such a device would aid with learning and allow a user to practice certain scenarios as described above and become more proficient with using their wheelchair, without risking damage to their wheelchair.

In one embodiment, the controller further comprises a selectable VR mode, which when selected prevents the controller from driving the second actuator in response to a forwards signal and/or a backwards signal from the one or more motion control devices.

An advantage of this feature is that although tilting the postural support chair or wheelchair in use without a VR device is a good approximation of forwards or backwards movement, such a movement may be confusing to a user when used in combination with a VR device as in practice the motion is a linear motion, not a tilting motion. When turning off the tilt motion, a user can rely on their visual feedback to reinforce learning.

Embodiments of the invention will now be described with reference to the accompanying drawings, in which: Figure 1 shows a plan view of a wheelchair simulator. Figure 2 shows a profile view of a wheelchair simulator.

Figure 1 shows a wheelchair simulator 1. The wheelchair simulator 1 has a rotatable base 2, although in other embodiments the base may be static and the support itself may be rotatable.

The wheelchair simulator 1 further comprises a support 3 which can receive a wheelchair or postural support chair in use. The support 3 further comprises recesses 4 for receiving a postural support chair. These recesses 4 match corresponding protrusions on a postural support chair. Multiple arrangements of recesses 4 may be present on a single support 3 in order to receive more than one type and/or brand of postural support chair. Although not shown in Figure 1, the wheelchair simulator 1 may also, or alternatively, comprise one or more restraining elements for immobilising a wheelchair. The wheelchair simulator also comprises a first actuator and a controller, both of which are at sited within a container 5. In this embodiment, the first actuator comprises a motor connected to a wheel, as discussed in more detail with respect to figure 2. In use, the controller receives a signal indicating rotational motion from one or more motion control devices (not shown) and uses this signal to drive the motor of the first actuator. The motor is driven in a first direction for simulating a rotary motion in a first direction and is driven in a second direction for simulating an rotary motion in an opposite second direction. The wheelchair simulator also comprises a removable wheel 6 and two removable handles 7, which can be used to move the wheelchair simulator. The wheel 6 and handles 7 may be attached to any suitable part of the wheelchair simulator. When in use, the wheel 6 and handles 7 may be removed. In some embodiments, there may be one handle or more than two handles. There may be multiple points around the wheelchair simulator to which the wheel 6 and the handles 7 can be removeably attached.

Figure 2 shows a cross-section through the wheelchair simulator 1 of figure 1. The cross-sectional view shows the wheel 8 of the first actuator, which is mostly contained within the container 5. The bottom part of the wheel protrudes through the rotatable base 2 and is in contact with a static base 11. The wheel is driven by the motor of the first actuator and may comprise a rubber coating in order to increase grip on the static base 11. The rotatable base 2 is moveably attached to the static base 11 via a bearing 9. When the controller receives a signal representing user input in a rotational motion, the controller drives the motor of the first actuator, which causes the wheel 8 to rotate. As the rotational base 2 is attached to the static base 11 via the bearing 9, the movement of the wheel 8 causes the rotational base 2, and hence the attached support 3, to rotate about a vertical axis perpendicular to the rotatable base 2. There is also a second actuator 10 attached to the support 3. The second actuator 10 is also driven by the controller 5. In use, the actuator moves a part of the support 3 up and down, about an axis that is offset from the centre of the support 3. In use, this causes the support 3, and the attached postural support chair and/or wheelchair to tilt, thereby simulating motion in a forwards or backwards direction. In use, the controller receives a signal indicating forwards or backwards motion from one or more motion control devices (not shown) and uses this signal to drive the second actuator. The second actuator is driven in a first direction when simulating forwards motion and is driven in a second direction for simulating an opposite backwards motion. The first and second actuators may be driven at the same time such that the wheelchair simulator 1 rotates and tilts the support at the same time.

Although not shown, the wheelchair simulator may comprise one or more additional actuators to tilt the support about an axis that is orthogonal to the axis parallel to the base of the embodiment shown in figures 1 and 2. When the controller receives user input, the controller may drive the one or more additional actuators, in a similar way to the first and second actuators, and the one or more additional actuators may tilt the support to allow sideways (left or right) motion to be simulated in a similar way to the forwards and backwards motion. Again, any of the one or more additional actuators can be driven at the same time as the first and second actuators.

For a wheelchair simulator comprising a rotatable support, the support may comprise a member that extends from the base of the support and is received in a bearing attached to a static base.

The rotatable base 2 may not be used in such an embodiment. The first actuator may not comprise a wheel 8 and may directly drive the member extending from the support in order to simulate rotary motion.

In some embodiments, the wheelchair simulator may comprise one or more additional actuators for moving the support 3 along the first axis in a vertical manner (up and down). This may be performed in a similar way to the previously described embodiments. When the controller receives user input indicating upwards or downwards motion, the controller may drive the one or more additional actuators, in a similar way to the first and second actuators, and the one or more additional actuators may move the support along a vertical axis to allow vertical (up or down) motion to be simulated.

As previously discussed, the controller may comprise different modes such as a direct mode, a latched mode or a timed mode. These different modes may be selectable by a physical switch connected to the controller.

As previously discussed, the wheelchair simulator 1 may comprise an anti-tilt device, the anti-tilt device comprising an accelerometer. The anti-tilt device may be located on the bottom of the support 3. The anti-tilt device may be coupled to the controller in the housing 5 and may stop the controller from driving one or more of the actuators.

When using the wheelchair simulator with a VR device, as discussed above, simulated motion in a backwards and forwards direction may be disabled. This may be a setting selected through a physical switch connected to the controller, or alternatively through a software switch present on the VR device and connected to the controller. In either case, if such a setting is selected, the result is that the controller does not drive the actuator 10 when the user is using a VR device with the wheelchair simulator. In some embodiments, the VR device may comprise a headset that is coupled to a computing device such as a computer, mobile device or tablet, which may be located in the container 5.

Claims

CLAIMS1. A wheelchair simulator comprising: a support comprising one or more restraining elements for immobilising a wheelchair on the support and/or one or more engagement elements for engaging and supporting a postural support chair on the support; first and second actuators for moving the support about respective first and second orthogonal axes, the first axis being normal to the support and the second axis being normal to a forwards or backwards motion to be simulated; and a controller having an input for receiving signals representing user input from one or more motion control devices for controlling the motion of a wheelchair and drive circuitry to control the first and second actuators in response to the user input, whereby the drive circuitry controls the first actuator to move the support about the first axis in response to user input indicating a rotary motion of the wheelchair and controls the second actuator to move the support about the second axis in response to user input indicating a forwards or backwards motion of the wheelchair.
2. The wheelchair simulator of claim 1, wherein the first axis is a vertical axis.
3. The wheelchair simulator of any preceding claim, wherein the second axis is a horizontal axis.
4. The wheelchair simulator of any preceding claim, further comprising a third actuator for moving the support about a third axis, the third axis orthogonal to the first axis and the second axis; and the drive circuity further controls the third actuator in response to the user input, whereby the drive circuitry controls the third actuator to move the support about the third axis in response to user input indicating a sideways or rotary motion of the wheelchair.
5. The wheelchair simulator of any preceding claim, further comprising a rotatable base, wherein the support is attached to the rotatable base and the controller drives the first actuator to rotate the rotatable base in response to user input indicating a rotary motion of the wheelchair.
6. The wheelchair simulator of claims 1-4, further comprising a rotatable support, wherein the controller drives the first actuator to rotate the support is in response to user input indicating a rotary motion of the wheelchair.
7. The wheelchair simulator of any preceding claim, wherein the wheelchair simulator comprises a fourth actuator for moving the support along the first axis in response to user input indicating an upwards or downwards motion.
8. The wheelchair simulator of any preceding claim, wherein the controller comprises a selectable direct mode, which when selected causes the controller to drive one or more of the actuators to move the support in the direction indicated by the user for the same amount of time as the direction is indicated via the one or more motion control devices or until a maximum range of motion is reached.
9. The wheelchair simulator of any preceding claim, wherein the controller comprises a selectable latched mode, which when selected causes the controller to drive one or more of the actuators to continuously move the support in the direction indicated by a first input signal and to stop moving the support when a second input signal is received by the controller.
10. The wheelchair simulator of any preceding claim, wherein the controller comprises a selectable timed mode, which when selected causes the controller to drive one or more of the actuators to continuously move the support in the direction indicated by the user for a selectable period of time.
11. The wheelchair simulator of any preceding claim, further comprising one or more vibration pads and/or lights to provide haptic and/or visual feedback when the support reaches a maximum position in at least one of the axes of movement.
12. The wheelchair simulator of any preceding claim, wherein the restraining elements are clamps for receiving the wheels of a wheelchair and the clamps immobilise the wheelchair by preventing the wheels of the wheelchair from rotating during use.
13. The wheelchair simulator of any preceding claim, wherein the restraining elements comprise a ramp and a receiving portion for receiving the wheels of a wheelchair and the receiving portion immobilises the wheelchair by preventing the wheels of the wheelchair from moving in a linear direction during use.
14. The wheelchair simulator of any of claims 1-11, wherein the support is moveable to lift a wheelchair, such that when a wheelchair is received by the support the support can lift the wheels of the wheelchair off of the ground and/or the support in order to immobilise it.
15. The wheelchair simulator of any preceding claim, wherein one of the one or more motion control devices is one of a switch, a joystick, a voice activated switch, a breath activated switch, a buddy button, a proximity switch, a grasp switch, a wobble switch or a Moozi joystick.
16. The wheelchair simulator of any preceding claim, wherein the controller comprises one or more physical ports for receiving the signal from the one or more motion control devices.
17. The wheelchair simulator of any preceding claim, wherein the controller comprises one or more wireless ports for receiving the signal from the one or more motion control device.
18. The wheelchair simulator of any preceding claim, further comprising an anti-tilt device for detecting if the centre of gravity of the wheelchair simulator has moved beyond a pre-set threshold, wherein the anti-tilt device is in communication with the controller, and wherein the controller will stop driving one or more of the actuators if the wheelchair simulator has moved beyond the pre-set threshold, thereby preventing the wheelchair simulator from tipping over.
19. The wheelchair simulator of any preceding claim, further comprising a removable handle and one or more removable wheels to aid with moving the wheelchair simulator.
20. The wheelchair simulator of any preceding claim wherein the controller is configured to send data to a VR device, such that the one or more motion control devices also controls the position of a user in a VR environment in a corresponding direction to the signal from the one or more motion control devices.
21. The wheelchair simulator of claim 20, wherein the controller further comprises a selectable VR mode, which when selected prevents the controller from driving the second actuator in response to a forwards signal and/or a backwards signal from the one or more motion control devices.