Permobil Design Sprint
Introduction
Design Motivation
Motorized wheelchairs are a necessity for individuals with mobility impairments. Current wheelchairs on the market generally do not have autonomous functionality. Wheelchair users are then forced to manually perform precise maneuvers such as ascend a ramp or exit a bathroom, the difficulty of which is exacerbated by castor dynamics which are currently unaccounted for in controllers. Imprecision or error in control may lead to running into obstacles and at worst, death.
Project Goals
We set out on this project with the goal of creating a wheelchair model that has obstacle detection functionality as well as implements control for castor dynamics. Additionally, we hoped to implement path planning to be able to autonomously drive up van ramps. Van ramps are only a few inches wider than the wheelchairs which leaves little room for error. Furthermore, error can lead to death at the hands of one of these 450 lb machines falling on top of you.
