On the Development of a Multi-Modal Autonomous Wheelchair

The purpose of this chapter is twofold: on one hand, it aims at defining a clear framework for the design and implementation of autonomous wheelchairs, highlighting the main challenges; on the other hand, it presents a complete and working system of such type, called LURCH. This incorporates technology from autonomous robotics, and interacts with its user through a multi-modal user interface, including joystick, touch screen, electromyographic control, or brain-computer interface. If required, other input methods and controllers can be seamlessly integrated. The result is an autonomous wheelchair capable of supporting user mobility while adapting its level of autonomy both to the abilities and to the requirements of the user. Moreover, the capabilities of such a system (in terms of perception, data processing, user interface, communication) open the way to novel modes of interaction between environment and wheelchair users, really making the latter differently able, i.e., endowing them with abilities that walking people cannot access without special equipment.