RobChair-a powered wheelchair using a behaviour-based navigation

摘要

This paper presents some of the current research work in the field of mobile robotics rehabilitation technology. Specifically, it reports some projects currently working toward "intelligent" powered wheelchair prototypes. All these projects aim to assist physically and mentally handicapped persons to steer and control powered wheelchairs. RobChair, a project running in our Institute, is also described. Mainly we describe the part of the project concerned with the integration of local obstacle avoidance strategies used to ensure the safety of the user and to improve the wheelchair mobility.