IntellWheels: Modular development platform for intelligent wheelchairs

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IntellWheels Modular development platform for
intelligent wheelchairs

• Rodrigo A. M. Braga, PhD Marcelo Petry, BEng
  Luis Paulo Reis, PhD António Paulo Moreira, PhD

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• Study Aim
• Describe concept and design of IntellWheels, a
  modular platform to facilitate development of
  intelligent wheelchairs (IWs) through multiagent
  system paradigm.
• Relevance
• IWs may be solution to challenge of assisting
  individuals with disabilities who cannot perform
  daily activities using classic powered
  wheelchairs.

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Methods

• Created platform to develop IWs
• Multiagent system that will easily integrate
  distinct sensors, actuators, user input devices,
  navigation methodologies, intelligent planning
  techniques, and cooperation methodologies.

IntellWheels software architecture. ACL agent
communication language, USB universal serial
bus.
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Results

• IntellWheels hardware framework compatible with
  common powered wheelchairs.
• Visual characteristics and ergonomics of
  wheelchair not affected by assemblage of hardware
  devices.
• Low cost (2,400 for the powered wheelchair,
  1,500 for sensors and other hardware devices).

• Multimodal interface allows user to control
  wheelchair through sequences and combinations of
  inputs (e.g., buttons, voice commands, facial
  expressions, stick direction) from same or
  different input devices.
• Simulator could simulate environments and
  wheelchairs and create scenario enabling
  interaction between real and virtual objects.

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Conclusions

• Experimental results demonstrate successful
  integration of all modules in platform, providing
  safe motion to IW.
• Results achieved with prototype in autonomous
  mode in simulated and mixed-reality environments
  demonstrate potential of our approach.
• Preliminary tests have shown that IntellWheels
  will effectively reduce users limitations,
  offering more independence.