轮椅.doc

1. Introduction According to the studies held by the EC, there isa great need of‘ more easy ’ wheelchair mobility asa result of longer life expectancy. A conservative estimate indicates that over 2 million people with severe special needs within the munity could benefit from an individually configurable intelligent wheelchair. Although there are important steps forwards in the development of powered wheelchairs in the last years (especially in their control), navigation munication systems donot match the needs of all potential users. Most wheelchairs are still not well suited for people with severe handicap. The use of powered wheelchairs with high manoeuvrability and navigational intelligence isone of the great steps towards the integration of severely physically 234 U. BORGOLTE ET AL. and mentally disabled people, enabling them to the self-controlled mobility without external help. However, many of them, especially those with restricted psychomental capabilities, are hardly able to operate conventional wheelchairs. There are two reasons why those systems cannot address these people: their limited mobility and restricted functionality. Normal domestic environments (., bathrooms) are often plex structure and therefore require high manoeuvrability. Because of their kinematic constraints, conventional wheelchairs are hardly suitable to move within packed rooms. An increase in