Wheelchair pushing poles

I did spent some time using wheelchair but I have recovered enough from spinal injury so I no longer use a wheelchair. I have been told that if you spent years using a wheelchair your shoulder joints may develop problems because of the way the rims are pushed kind of forward. Not very natural movement for human body. What if the people using wheelchairs were using something similar to Nordic walking poles to propel the chair like cross country skiing? I used my crutches for the pushing but having purpose made poles would be a good idea. Also those poles would be more hygienic than pushing on the rims or occasionally on tyres. This may not suit tetraplegigs but paraplegigs should be fine using the technique?