Abstract
With the global trend of aging, there has been a growing demand for human-friendly wheelchairs as mobility aids. In addition to the enhanced mobility and more comfortable use, people also expect a wheelchair to be the center of everyday living and health care. This paper describes the development of an intelligent robotic wheelchair (iRW) which integrates with advanced robotic and telehealth solutions. While most technologies required are readily available, the emphasis in this research is to properly adapt and integrate these technologies into the iRW to make it human desirable and business viable. Following the requests of senior users and professional caregivers, the design needs of the iRW were defined. Various technologies were reviewed for the possibility of meeting those needs. The iRW is composed of a moving vehicle, the sensing/control module and the information/communication module to provide mobility aids and supports for everyday living and healthcare. Integrated with Mecanum wheels, the sensing/control module and a simplified indoor navigation system, the senior user can freely control the wheelchair in all directions or let the wheelchair move from site to site automatically. Besides, the Stewart platform with reduced degree-of-freedom and the ergonomically designed seat integrated with pressure sensors enable relaxed sitting with dynamic postures, as well as lifting and transfer assistance. Moreover, the telehealth system in the form of a digital photo frame serves as the platform of health care management and the information channel between the wheelchair user and the family or caregivers. By carefully adapting the robotic and telehealth solutions, the iRW realizes enhanced mobility, improved safety and comfort, better environmental control, enriched information exchange, and stronger interpersonal communication. The iRW has good potential to help the senior user interact with the home environment more effectively and actively, while improving the quality of life of the elderly people.