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IntellWheels: Modular development platform for intelligent wheelchairs

IntellWheels: Modular development platform for intelligent wheelchairs. Rodrigo A. M. Braga, PhD; Marcelo Petry, BEng; Luis Paulo Reis, PhD; António Paulo Moreira, PhD. Study Aim

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IntellWheels: Modular development platform for intelligent wheelchairs

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  1. IntellWheels: Modular development platform for intelligent wheelchairs Rodrigo A. M. Braga, PhD; Marcelo Petry, BEng; Luis Paulo Reis, PhD; António Paulo Moreira, PhD

  2. 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.

  3. 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.

  4. 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.

  5. 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.

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