... conceived of the project and participated inits design and coordination. RS implemented the obstacleavoidance software, conducted the user trials and drafted the manuscript. SG, DD, SH and WA ... levers. Figure 5 shows how the sensormodules were positioned on the SPAM. The SPAM's control software shares control of the wheel-chair with the wheelchair operator. The wheelchair opera-tor ... tested. The trade-off, however, was that our microproc-essor and control software were not communicatingdirectly with the motors within the hubs but were,instead, communicating with the JWII...