Development of a smart wheelchair for people with disabilities

The intelligent power wheelchair (iChair) is designed to assist people with mobility, sensory, and cognitive impairment lead a higher quality, more independent lifestyle. The iChair includes a power wheelchair (PW), laptop computer, laptop mount, multi-modal input platform, and a custom plastic enclosure for the environmental sensors, made with a 3D printer. We have developed the configuration of sensors to facilitate scientific observation, while maintaining the flexibility to mount the system on almost any power wheelchair, and remain easily removed for maintenance or travel. The first scientific observations have been used to compile ACCESS Reports that quantify a location or event's level of accessibility. If barriers exist we collect a 3D point cloud to be used as evidence and to make recommendations on how to remedy the problem. The iChair will serve a wide variety of disability types by incorporating several input methods, voice, touch, proximity switch, and head tracking camera. The HD camera and 3D scanner have been mounted in such a way as to provide reliable data with the precision necessary to detect obstacles, build 3D maps, follow guides, anticipate events, and provide navigational assistance. We evaluate the human factors in the current prototype to ensure that the technology will be accepted by those it is designed to serve, and propose a wheelchair skills test for future trial participants.