The invention relates to a control system for controlling a wheelchair having movable parts. The control system comprises a controller and a number of actuators for effectuating movements of the movable parts. The controller comprises a mathematical model of the kinematics of the movable parts and their...http://www.google.co.uk/patents/US8078365?utm_source=gb-gplus-sharePatent US8078365 - Control system for a wheelchair having movable parts
