Journal of Intelligent & Robotic Systems

, Volume 77, Issue 2, pp 299–312 | Cite as

Adapted Control Methods for Cerebral Palsy Users of an Intelligent Wheelchair

  • Brígida Mónica FariaEmail author
  • Luis Paulo Reis
  • Nuno Lau


The development of an intelligent wheel chair (IW) platform that may be easily adapted to any commercial electric powered wheelchair and aid any person with special mobility needs is the main objective of the IntellWheels project. To be able to achieve this main objective, three distinct control methods were implemented in the IW: manual, shared and automatic. Several algorithms were developed for each of these control methods. This paper presents three of the most significant of those algorithms with emphasis on the shared control method. Experiments were performed by users suffering from cerebral palsy, using a realistic simulator, in order to validate the approach. The experiments revealed the importance of using shared (aided) controls for users with severe disabilities. The patients still felt having complete control over the wheelchair movement when using a shared control at a 50 % level and thus this control type was very well accepted. Thus it may be used in intelligent wheelchairs since it is able to correct the direction in case of involuntary movements of the user but still gives him a sense of complete control over the IW movement.


Intelligent robotics Intelligent systems Intelligent wheelchair Shared control Cerebral palsy 


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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  • Brígida Mónica Faria
    • 1
    • 2
    • 3
    • 4
    Email author
  • Luis Paulo Reis
    • 1
    • 5
  • Nuno Lau
    • 2
    • 3
  1. 1.Laboratório de Inteligência Artificial e Ciência de Computadores (LIACC)PortoPortugal
  2. 2.Instituto de Engenharia, Electrónica e Telemática de Aveiro (IEETA)AveiroPortugal
  3. 3.Departamento de ElectrónicaTelecomunicações e Informática da Universidade de Aveiro (DETI/UA)AveiroPortugal
  4. 4.Escola Superior Tecnologia de Saúde do Porto/Instituto Politécnico do Porto (ESTSP/IPP)PortoPortugal
  5. 5.Departamento de Sistemas de InformaçãoEscola de Engenharia da Universidade do Minho (DSI/EEUM)GuimaraesPortugal

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