Modular and adaptive wheelchair automation

Brenna Dee Argall*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapter

6 Scopus citations


We present in this paper a novel framework for the design of a modular and adaptive partial-autonomy wheelchair. Our design in particular aims to address hurdles to the adoption of partial-autonomy wheelchairs within general society. In this experimental work, a single assistance module (assisted doorway traversal) is evaluated, with arbitration between multiple goals (from multiple detected doors) and multiple control signals (from an autonomous path planner, and the human user). The experimental work provides the foundation and proof-of-concept for the technical components of our proposed modular and adaptive wheelchair robot. The system is evaluated within multiple environmental scenarios and shows good performance.

Original languageEnglish (US)
Title of host publicationSpringer Tracts in Advanced Robotics
PublisherSpringer Verlag
Number of pages14
StatePublished - 2016

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence


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