Omni-directional wheelchair in reality and virtuality

Abstract

This paper describes the design and development of an omni-directional wheelchair. A fully functional hardware system has been built with novel mechanical and electrical features. The omni-directional capability is provided by orienting the rear (driven) wheels. Suspension is incorporated to ensure all wheels keep good contact with the ground even outdoors. A defining feature of the electrical system is that it should use commercially available control electronics; this has posed notable design constraints. In parallel with the hardware system a virtual reality simulator has been programmed to aid in the development of the human/machine interface. Both systems have been evaluated by a potential user.