A simulator for both manual and powered wheelchairs in immersive virtual reality CAVE

Abstract A large number of people in the world need to use a wheelchair because different disabilities. Driving requires complex physical and cognitive abilities which be trained. Virtual training helps users acquire driving skills safe environment. The aim this paper is describe technically validate simulation models for both manual (MW) powered wheelchairs (PW) based on immersive virtual reality CAVE (VR). As VR system, Gait Real-time Analysis Interactive Lab (GRAIL) was used, equipped with motion platform two degrees freedom an optoelectronic capture system. real positioned onto rear wheels free turn MW modality, commercial joystick installed armrest simulate PW modality. Passive markers were used track wheel rotation, user hand motion. Custom D-flow applications developed manage scene response actions. Overground tests, single performed verify model reliability. Quantitative results demonstrated that simulator kinematics consistent overground absence slip inertia (median error 0.40 °, no systematic bias p = 0.943, high correlation rho > 0.999, < 0.01). proposed solution flexible adaptable wheelchairs, joysticks systems. main limitation force feedback. Nevertheless, it reliable prototype can new scenarios as well training. next steps include system validation end assessment effectiveness tool.