Development of an Autonomous Wheelchair for Hospital Patient Transportation

• Michael Colavito, Mechanical Engineering, University of Delaware

• Weisong Shi, Computer and Information Sciences, University of Delaware

Transportation of patients within hospitals is a repetitive and time-intensive task that can place significant demands on healthcare staff. The development of an autonomous wheelchair designed to safely transport patients around a hospital can reduce staff workload and improve transportation efficiency. This project combines mechanical design, electronics, and autonomous navigation to create a reliable mobility platform capable of operating in an indoor hospital environment.

As the mechanical engineer on the project, I was responsible for designing and manufacturing the wheelchair’s structural components. This included mounting systems for a LiDAR, camera, microphone, buck converter, computer, and motors. The framework for these systems was integrated with the existing wheelchair frame. These components were designed using CAD software and then 3D printed. Simulated loads were applied to weight-bearing parts to improve strength and fit. The mechanical system was combined with the electronics using an autonomous driving stack built on ROS 2 and Python.

Ongoing testing evaluates the wheelchair’s structural performance, drive system, reliability, and navigation under varying operating conditions, including different passenger loads. The findings of this work show that it is possible to convert a standard wheelchair into an autonomous mobility system and create the foundation for improving patient transport in healthcare through robotic assistance.