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Lemelson Inventeams
This project was part of a collaborative effort funded by a $7,500 Lemelson-MIT grant aimed at creating a technologically advanced wheelchair to improve mobility and independence for individuals with limited physical access as well as decrease the dependency of patients with caregivers. The design featured autonomous navigation and self-summoning functionality, allowing the wheelchair to travel to a user and navigate complex indoor spaces with minimal to no assistance as well as an automatic braking feature to further ensure the safety of the patients using the walker. I worked alongside a multidisciplinary team to conceptualize, prototype, and refine the system, with a focus on integrating practical assistive technology into a user-friendly and reliable solution. The project combined innovation with real-world application and laid the groundwork for more accessible personal mobility devices.
From a technical standpoint, the wheelchair was designed with multiple integrated systems to enable intelligent navigation and user control. For environmental awareness and pathfinding, we implemented a multi-sensor array comprising a LiDAR sensor, ultrasonic sensors, and infrared (IR) sensors. The LiDAR sensor, mounted on the top horizontal beam, used laser pulses to create detailed point clouds of the surroundings. This high-resolution mapping data fed into our A* navigation algorithm, enabling accurate path planning and long-range detection across a broad area. Ultrasonic sensors, positioned on the main electronics panel, provided reliable medium-range obstacle detection using high-frequency sound pulses, unaffected by lighting conditions or transparent surfaces. Complementing this, IR sensors were installed at the bottom sides of the wheelchair, offering fast, energy-efficient detection of nearby objects and floor-level obstacles. These layers of sensing ensured robust, redundant coverage for navigating complex environments.
A custom grip-pressure-based braking system was also integrated, allowing users to intuitively engage or disengage movement through hand pressure. Bluetooth connectivity linked the wheelchair to a wrist-worn wearable device featuring a summon button. For localization, we deployed three fixed locator beacons within the environment; the wearable received their signals and triangulated the wheelchair’s exact position and orientation, enabling precise and responsive self-summoning. I contributed to hardware integration, sensor calibration, and communication protocols, ensuring smooth interaction across all subsystems and reliable performance in real-world conditions.
Throughout the project, we tested each component individually to ensure proper functionality before integrating them into the full electrical and mechanical systems. While my main role was on the mechanical side, I developed a strong interest in the electrical aspects and took the initiative to get more involved. This led me to take on the mechanical-to-electrical integration, where I worked to ensure that the physical design aligned with the electronic components and that both systems functioned together smoothly during assembly and testing.
Very early testing of navigation systems
As a testament to the innovation behind this project, our team submitted a patent application for the self-summoning, autonomously navigating wheelchair system. The design’s unique integration of multi-modal sensing, wireless communication, and user-friendly controls positioned it as a unique solution in the field of assistive mobility technology. We are currently awaiting the results of the patent review process, and we hope it will further validate the potential impact of our work in real-world applications.