This paper presents some results of the project called. "Sistema Integral de Ayuda a la Movilidad - SIAMO-" (Integral System for Assisted Mobility). The SIAMO can be installed over any standard powered wheelchair and includes a complete user-machine interface, motor control modules and safety and autonomous guidance systems. Special care has been taken in designing and testing the Human Machine Interface (HMI) and Sensory System on-board, to build a wheelchair with a convenient performance/cost ratio. HMI includes a full set of linear and state-based input devices, each of them able to drive the chair using any of the capabilities of the user; output devices feedback the state of the chair to user. The sensory system includes contact and contactless devices, as ultrasonic and infrared range finders, and a vision-based self-localization system for safety and navigation task. Integration with the Building capabilities are also possible thanks to the flexibility of the Serial Bus used.
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机译：本文介绍了该项目的一些结果。 “ Ayuda a la Movilidad集成系统-SIAMO-”（辅助移动集成系统）。 SIAMO可以安装在任何标准的电动轮椅上，并包括完整的用户机界面，电机控制模块以及安全和自主引导系统。在设计和测试车载人机界面（HMI）和传感系统时，要格外小心，以制造出性能/成本比方便的轮椅。 HMI包括一整套基于状态的线性输入设备，每个输入设备都可以使用用户的任何功能来驱动椅子。输出设备将椅子的状态反馈给用户。传感系统包括接触式和非接触式设备（如超声波和红外测距仪）以及基于视觉的自我定位系统，用于安全和导航任务。由于所使用的串行总线的灵活性，还可以与Building功能集成。
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