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This paper presents the design and development of the electric-powered wheelchair (EPW) MoviWE.Q. The main characteristic of this EPW is its ability to perform omnidirectional motions thanks to its locomotion system based on two swerve-drive units. MoviWE.Q is designed to be driven by the user with a three-axis joystick and by caregivers using a custom-made force-sensitive interface named SensHB.Q, mounted on the backrest. This paper presents the entire mechatronic system, from the locomotion system kinematics to the developed prototype and some experimental tests with the force-sensitive drive interface SensHB.Q.

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About the Design and Development of the Omnidirectional Electric Powered Wheelchair MoviWE.Q

  • 会议论文

  • 发表日期：

    2026年

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  • Luigi Tagliavini,
  • Andrea Botta,
  • Giovanni Colucci,
  • Lorenzo Baglieri,
  • Simone Duretto,
  • Francesco Amodio,
  • Lorenzo Toccaceli,
  • Giuseppe Quaglia

摘要

This paper presents the design and development of the electric-powered wheelchair (EPW) MoviWE.Q. The main characteristic of this EPW is its ability to perform omnidirectional motions thanks to its locomotion system based on two swerve-drive units. MoviWE.Q is designed to be driven by the user with a three-axis joystick and by caregivers using a custom-made force-sensitive interface named SensHB.Q, mounted on the backrest. This paper presents the entire mechatronic system, from the locomotion system kinematics to the developed prototype and some experimental tests with the force-sensitive drive interface SensHB.Q.