User Field Testing for Robot Wheelchairs: A Mixed-Method Approach.

Enhancing mobility and independence for electric power wheelchair (EPW) users is often hindered by architectural barriers. Robotic wheelchairs with innovative mechanisms offer potential solutions, but current technologies are typically confined to lab evaluations with limited user input. This study employed a mixed-method approach to assess the effectiveness of a legged-wheel robotic wheelchair compared to standard EPWs in indoor and outdoor environments. Driving metrics, usability assessments, and user feedback were collected. EPW users found the robotic wheelchair challenging to learn, however, its overall usability and effectiveness in meeting their mobility needs were comparable to their EPWs. The robotic wheelchair also demonstrated improved stability and reduced vibration on uneven terrains. Feedback highlighted the benefits of robotic wheelchair applications when accessibility is not available compared to existing EPWs. Furthermore, participants suggested improvement of seating functions, better maneuverability in tight spaces, and enhanced indoor accessibility similar to EPWs. While standardized tools confirmed the robotic wheelchair's effectiveness compared to existing EPWs, user perceptions are essential to validate these findings. The study concludes that robotic wheelchairs can enhance outdoor safety and comfort but must integrate fundamental functions of existing EPWs to support users' health and indoor mobility.