This paper describes and evaluates an intelligent\udwheelchair, adapted for users with cognitive disabilities and\udmobility impairment. The study focuses on patients with cerebral\udpalsy, one of the most common disorders affecting muscle control\udand coordination, thereby impairing movement. The wheelchair\udconcept is an assistive device that allows the user to select arbitrary\udlocal destinations through a tactile screen interface. The\uddevice incorporates an automatic navigation system that drives\udthe vehicle, avoiding obstacles even in unknown and dynamic\udscenarios. It provides the user with a high degree of autonomy,\udindependent from a particular environment, i.e., not restricted\udto predefined conditions. To evaluate the rehabilitation device, a\udstudy was carried out with four subjects with cognitive impairments,\udbetween 11 and 16 years of age. They were first trained\udso as to get acquainted with the tactile interface and then were\udrecruited to drive the wheelchair. Based on the experience with\udthe subjects, an extensive evaluation of the intelligent wheelchair\udwas provided from two perspectives: 1) based on the technical\udperformance of the entire system and its components and 2)\udbased on the behavior of the user (execution analysis, activity\udanalysis, and competence analysis). The results indicated that the\udintelligent wheelchair effectively provided mobility and autonomy\udto the target population.
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