Development of Modular Framework for the Semi-Autonomous RISE Wheelchair with Multiple User Interfaces Using Robot Operating System

Abstract

Electric wheelchairs are widely used by individuals with various forms of physical disabilities. Typically, these wheelchairs are controlled using a steering device (e.g., joysticks). However, for people with limited physical mobility, the incorporation of semi-autonomous navigation and control within electric wheelchairs can considerably improve their mobility and quality of life. In this paper, we present the development of a re-configurable framework and user interfaces for RISE wheelchair, which provide flexibility and customizability depending on the nature of the disability of the users. At the same time, effective navigation and obstacle avoidance capabilities are incorporated using Simultaneous Localization and Mapping (SLAM) that allow the RISE wheelchair to navigate in different environments. A goal estimation algorithm has also developed in order to travel from the current location to the destination with minimal guidance from the user. In this paper, the various aspects of the RISE wheelchair will be discussed, ranging from architectural development, simulation, and practical experimentation to evaluation of the functionality and feasibility of the various modules.