Methods and algorithms for multilevel control of mobile rehabilitation platforms

Abstract

This text explores the development of advanced robotic wheelchairs for people with disabilities, focusing on methods for multilevel autonomous control and multimodal human-machine interfaces. To simplify the interaction process and bypass the limitations of traditional manual controls like joysticks, the implementation of delegated autonomy is proposed. This approach reduces user input to high-level scenarios, enabling the use of slow neurointerfaces (EEG, FNIRS). Furthermore, the monograph presents a technical and comparative analysis of electromechanical wheelchairs from major global manufacturers, including Invacare, Sunrise Medical, Permobil, and Pride Mobility. It details their digital integration, custom tracking platforms, IoT diagnostics, and advanced configurations.