Abstract
This paper presents the working principle and development of a personal mobility platform that is a part of a hand-free wheelchair project. The wheelchair design integrates two control levels, motor steering wheels, cameras, and IMUs, enabling precise motion control based on the rider's movements on a seat. The mobility platform, comprising two motor steering wheels and a passive caster wheel, is designed to satisfy wheelchair requirements of omnidirectional maneuverability. In this article, detailed descriptions of the platform components, including dimensions and functionality, are provided. Additionally, the motor steering wheel design is discussed, emphasizing its crucial role in providing motion and supporting the platform's weight. A preliminary experimental test result demonstrates the platform's capability to navigate in the environment. The results highlight the system's potential to enhance independent mobility and address challenges faced by individuals with mobility limitations.
