Virtual Reality Simulator for Electric Powered Wheelchairs Using a Joystick

For some people with severe physical impairments, the main assistive device to improve their independence in activities of daily living and to enhance overall well-being is an electric powered wheelchair (EPW). However, a large number of wheelchair users find nearly impossible to drive with conventional EPW interfaces, so there is a necessity to offer users EPW training. In this work the SimCadRoM is presented. It is a virtual reality simulator for EPW safe driving learning purposes, testing of driving skills and performance, and testing of input interfaces. At this research stage, some tests were conducted to validate this version of the SimCadRoM as a reliable simulator capable of providing a training experience close to reality. The SimCadRoM was, in general, well accepted by the volunteers and proved to be a system that simulates, very realistically, the usability, kinematics, and dynamics of an EPW in a virtual environment (VE) using a standard EPW's joystick as input interface. The level of sense of presence in the VE generated by the simulator revealed a great potential for training and transferring skills to a real environment (RE).