The choice of a commercial powered wheelchair was also
made for reasons of cost reduction. Though the whole system
is not cheap, attention was paid to reduce the cost of adapting
the system to the user’s level of disability as well as the costs
of re-adapting the system in case of changes in the users’ functional
abilities in time. These aspects were attained by referring
to standard communication protocols (M3S) between the mobile
base and the user interface, and by endowing the navigation
module with different levels of autonomy.