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Table 4 Dependency between moving speed and minimal distance to obstacles (all subjects, n = 17)

From: Design and validation of an intelligent wheelchair towards a clinically-functional outcome

Powered WC skills

Measured linear speed (m/s)

Measured angular speed (rad/s)

Minimal distance to obstacles (m)

Rolls forward 10 meters, Rolls backward 5 meters

0.33

0.09

0.44

Turns left/right 180 degrees

0.06

0.23

0.42

Ascends 5-degree right incline,

0.13

0.12

0.19

Descends 5-degree right incline,

Ascends 10-degree right incline,

Descends 10-degree right incline

Lateral maneuvers (parking)

0.15

0.13

0.14

Gets through hinged door

0.33

0.10

0.24

Rolls 100 meters through hallway

0.31

0.11

0.27