A smart wheelchair is a locomotion device used to assist users with disabilities, where an artificial control system supports or replaces the user's control. Its main characteristics are [Faria2014]:
This proposal aims to investigate the design, development, and impact of smart wheelchair technology in the tourism sector, a field of great importance to the province of Santa Cruz de Tenerife, as tourism is its main industry. In the words of Taleb Rifai, Secretary-General of the World Tourism Organization, accessibility is a central element of any sustainable and responsible tourism policy. According to the World Health Organization, 15% of the world's population has some type of disability (physical, mental, or sensory). Furthermore, the aging population must be considered: according to figures from [UNWTO2013], the number of people over 60 years of age increased by 20% between 2000 and 2009. These figures suggest a substantial increase in demand for accessible places and services in the tourism sector. The concept of “reasonable accommodation,” taken from the World Tourism Organization’s “Recommendations for Accessible Tourism” [UNWTO2013], defines accessibility as a set of necessary modifications that, without causing disproportionate disruption, ensure that people with disabilities can enjoy the facilities. The proposal we present, the smart wheelchair, is a technical aid for users with mobility issues that, with appropriate design and implementation, aligns with the concept of “reasonable accommodation” and the principle of “universal design” (designing products, environments, and services usable by everyone to the greatest extent possible) [UNWTO2013]. Furthermore, these same recommendations establish measures for horizontal and vertical movement, access to vehicles, rooms, restrooms, etc., that anticipate the use of wheelchairs. Based on these principles, the proposal presented here is designed to achieve the following general objectives:
These objectives are set after extensive prior work over many years carried out by the robotics group of the University of La Laguna (GRULL), which has extensive experience in the development of robotic transport systems, supported by publications in top-level journals in the field and the projects of the National R&D Plan DPI2004-06626 GUISTUB (2004-2007), DPI2007-64137 SIBTRA (2007-2010), DPI2010-18349 SAGENIA (2010-2013) and DPI2013-46897C2-1-R STIRPE (2014-2016), after which the autonomous vehicle is available Verdino, A fully electric, two-seater vehicle capable of autonomously navigating unstructured environments and responding to potential obstacles. Its operation involves capturing a map of the area to be traversed, which is used for guidance within the work area and to define efficient routes. When the operator inputs a target position, the prototype's navigation system generates the most efficient and safe trajectory possible, taking into account any obstacles that may arise, without requiring human interaction. The development of this prototype has allowed the group to specialize in the development of autonomous robots capable of interpreting the environment through sensors, planning routes, and making decisions. This prior experience allows the design of the wheelchair to be approached as a fully autonomous device with sufficient guarantees. To cite only the most recent of the projects mentioned, STIRPE has already resulted in publications in eight Q1 journals, two Q2 journals, and two Q3 journals. This experience leads us to define a set of specific objectives for the project, aimed at achieving the general objectives outlined above: O1. Mechanical and electronic adaptation of a conventional electric wheelchair to convert it into a smart wheelchair, enabling the development of the proposed different operating modes and control systems. O2. Integration into the prototype of novel, affordable, and portable sensors for 3D environmental perception. This involves both the physical inclusion of the new hardware in the chair and the development of software for the acquisition, processing, and integration of the captured data. O3. Implementation of advanced control and route planning algorithms that allow for autonomous navigation in a dynamic environment with safety and comfort for the user. Specifically, the problem of confined spaces where wheelchair movement is limited will be addressed. O4. Integration into the prototype of novel user interfaces that allow for everything from basic commands to high-level instructions based on the perception of points of interest in the environment, through the integration of object recognition techniques based on neural networks (Deep Learning) and augmented reality systems. This involves adapting the wheelchair to functional diversity through a modular design and considering user profiles (multimodal interface). O5. Development of a system to obtain feedback from wheelchair users so that the level of acceptance of the assistive technology can be objectively assessed for each user profile. The research group also has collaborating companies for this project, including the ONCE Foundation, whose mission is widely known and which has already provided us with a conventional electric wheelchair to serve as the basis for the smart wheelchair. Hotels with extensive experience in accessibility and health tourism, such as the Hotel Mar y Sol and Vintersol, are also involved in the project. These facilities are ideal for conducting validation tests with the self-guided wheelchair and for collaborating on usability and impact studies within the sector.