Assistive robotics: design and control for autonomy in a power wheelchair

People with disabilities face a variety of individual situations and conditions, yet share the same challenge: to be as independent and self-sufficient as possible in their day-to-day activities. However, these two notions should not be confused. Autonomy refers to the ability to make decisions and act according to one's own choices, while independence refers to the ability to do things on one's own, without depending on the help of others. Both concepts are essential and play a central role in our society, enabling individuals to live full and rewarding lives despite the limitations they may encounter. Being autonomous and independent can be supported by adaptations in the environment, assistive devices, social and emotional support, as well as inclusive educational and professional opportunities to foster active participation in society.

Disability is defined as a substantial, lasting or even permanent limitation of one or more physical, sensory, mental, cognitive or psychological functions. Among the various types of disability, we find motor disability, which can impact mobility and daily gestures; visual disability, altering visual perception and navigation in the environment; hearing disability, making communication and access to sound information difficult; psychic disability, affecting mental health and emotional well-being; intellectual disability, limiting cognitive abilities and learning; as well as disabling illnesses, such as chronic or neurological diseases, which can lead to significant functional limitations.

Re-education and rehabilitation are essential to promoting the autonomy of people with disabilities and improving their quality of life. Re-education and rehabilitation form a continuum that is personalized and adapted according to the difficulties or incapacities encountered. However, there is a distinction between the concepts of re-education and rehabilitation: re-education aims to recover functions or slow down their deterioration through adapted and active training sessions, whereas rehabilitation is aimed at chronic, acquired or progressive conditions, and aims to enable independent management of daily activities and encourage a return to the home. Rehabilitation relies on human and organizational aids to compensate for deficiencies, as well as on technological tools for substitution or compensation.

Assistive devices, whether technological, social or organizational, are at the heart of the rehabilitation process, and must be adapted to a wide range of needs, while at the same time being customizable and adaptable to individual abilities and disabilities. Technological devices are classically technical aids, used for rehabilitation (e.g. an exoskeleton for gait retraining, a neurostimulation or tele-rehabilitation...