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Types of Self Control Wheelchairs Self-control wheelchairs are utilized by many disabled people to move around. These chairs are ideal for daily mobility and are able to climb up hills and other obstacles. They also have large rear flat shock absorbent nylon tires. The velocity of translation of the wheelchair was calculated using a local potential field method. Each feature vector was fed to an Gaussian encoder that outputs an unidirectional probabilistic distribution. The accumulated evidence was then used to trigger visual feedback, and a command delivered whe