From: Design and validation of an intelligent wheelchair towards a clinically-functional outcome
RWST operation ID | Powered WC skills | Performance (%) | Safety (%) | ||
---|---|---|---|---|---|
 |  | Vocal interface | Standard joystick | Vocal interface | Standard joystick |
1 | Rolls forward 10m | 100 | 100 | 100 | 100 |
2 | Rolls backward 5m | 100 | 100 | 100 | 100 |
3 | Turns left/right in forward propulsion | 88.9 | 100 | 100 | 100 |
4 | Turns left/right in backward propulsion | 88.9 | 100 | 88.9 | 100 |
5 | Turns left/right 180 degrees | 66.7 | 100 | 88.9 | 100 |
6 | Lateral maneuvers (parking) | 100 | 100 | 100 | 100 |
7 | Gets through hinged door | 100 | 100 | 100 | 100 |
8 | Rolls 100 meters in hallway | 77.8 | 100 | 77.8 | 100 |
9 | Avoids mobile obstacles | 100 | 100 | 100 | 100 |
10 | Ascends 5-degree right incline | 100 | 100 | 100 | 100 |
11 | Descends 5-degree right incline | 100 | 100 | 100 | 100 |
12 | Ascends 10-degree right incline | 100 | 100 | 100 | 100 |
13 | Descends 10-degree right incline | 100 | 100 | 100 | 100 |
14 | Rolls on laterally inclined incline | 100 | 100 | 100 | 100 |
15 | Rolls 2 meters on gravel | 100 | 100 | 100 | 100 |
Average | All 15 tasks | 94.8 | 100 | 97.0 | 100 |