Architectural Concepts of a Semi-autonomous Wheelchair

Authors:
Ulrich Borgolte;Helmut Hoyer;Christian Bühler;Helmut Heck;Ralf Hoelper
Affiliations:
FernUniversität Hagen, Feithstr. 140, D-58084 Hagen, Germany;FernUniversität Hagen, Feithstr. 140, D-58084 Hagen, Germany;Forschungsinstitut Technologie-Behindertenhilfe der Evangelischen Stiftung Volmarstein, Grundschötteler Str. 40, D-58300 Wetter, Germany;Forschungsinstitut Technologie-Behindertenhilfe der Evangelischen Stiftung Volmarstein, Grundschötteler Str. 40, D-58300 Wetter, Germany;Mannesmann Dematic AG, Carl-Legien-Str. 15, D-63073 Offenbach, Germany
Venue:
Journal of Intelligent and Robotic Systems
Year:
1998

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Abstract

A new smart, sensor-assisted wheelchair system for the vocationalrehabilitation of people with severe and multiple handicap has beendeveloped in the research project OMNI within the CEC TIDE programme. Theproject finished in December 1996. The objective of the project was thedevelopment of an advanced wheelchair with omnidirectional manoeuvrabilityand navigational intelligence that is well suited for vocationalrehabilitation. It provides an opportunity of intuitive wheelchair controlto people with severe physical or multiple (incl. mental) handicap. Crampedoffices are made accessible by the small outline, high mobility andnavigational support of the chair. The user’s safety and drivingaccuracy are guaranteed by a novel sensor system and navigation modules. Awide range of control devices can be used with the adaptable human-machineinterface which also controls environmental devices. Within this project,the user focused principle has strongly been followed (this includes theinvolvement of users from the preparatory work to the evaluation of theresults).