1. Autonomous Wheelchair Rittika Shamsuddin '12 Melissa Frechette '11 Abigail Drury '10 Professor Audrey Lee St. John Dr. Dan Barry Dr. William Kennedy

2. Project Created by MobileRobots and Dr. Dan Barry Research team methodically tested and developed comprehensive documentation Clinical trials with Spaulding Rehabilitation Hospital in Boston

3. Motivations Giving patients with cerebral palsy the option for independent mobility and privacy www.spauldingrehab.org http://en.wikipedia.org/wiki/Cerebral_palsy

4. Working with the Wheelchair First semester with research assistants Objective was to determine optimal parameter lists Majority of work done through wireless connection between wheelchair and PC

5. Hardware Highlights Upper Sensor Lower Back Sensor Touch Screen Sensors: Three laser sensors One high, two low Sensors are used for localization and path planning User Interface: Currently uses a touch screen and keyboard/mouse as main I/O devices In future, it will also support other interfaces

6. Manual Drive Mode Smart Drive Mode Express Drive Mode Drive Modes

7. Manual Drive Mode Smart Drive Mode Express Drive Mode Drive Modes - Manual

8. Manual Drive Mode Smart Drive Mode Express Drive Mode Drive Modes - Smart

9. Manual Drive Mode Smart Drive Mode Express Drive Mode Drive Modes - Express

10. Express Drive Mode in Action

11. Goal Drive Mode and MobileEyes

12. Wheelchair Goal Path

13. Goal Drive Mode and MobileEyes Person

14. Selected Observations Difficulty starting too close to an obstacle Side padding can be a little scary for pedestrians Vertical blind spots: Objects shorter than 13 cm Objects only present between 13 cm and 1.7 m Inability to see black objects

15. When Express Drive Mode Goes Wrong

16. Conclusions and Future Work The wheelchair is in good shape, but it needs work to improve safety Continued exchange between the research group and Spaulding Further documentation needs to be developed

17. Thank You! A special thank you to Dr. Dan Barry, Dr. William Kennedy, and MobileRobots Questions?