The choice of commercial products designed for the specific
purpose of locomotion for people with disabilities also
took into account the security aspects. Aspects concerning stability
and manoeuvrability of the wheelchair were tackled at
the origin. Further security aspects were added to the standard
levels allowed by the commercial wheelchair integrating internal
and external/environmental sensors which can capture information
about the environment with a high level of reliability.
This allowed the introduction of various autonomy levels that
assure avoidance of the various obstacles present in a nonstructured
user environment, thus enhancing the security levels of the
whole system.