Design and evaluation of a seat orientation controller during uneven terrain driving

Highlights • Risk of tips and falls is common in EPW users when driving in ground slopes due to the shift in center of mass and loss of stability. • A seat orientation controller is proposed to maintain the seat of a novel electric power wheelchair (EPW) horizontally leveled when driving in uneven terrains, hills and cross slopes. • The EPW was placed in a dynamic platform that simulates these ground slopes in order to evaluate the effectiveness of the seat orientation controller. • The wheelchair seat stays horizontal within ± 0.5° up to 5° of ground angle. • The Center of Pressure of the wheelchair and test dummy remains within the footprint of the wheelchair when the controller is activated throughout the test.