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Section 4: Robotics Aids for the Disabled
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  UM developed "NavChair" for severely disabled users.
  Some users cannot control their wheelchair accurately with a joystick, because of tremor or other limitations.
  Obstacle avoidance on NavChair overcomes these problems:
  User gives general direction of travel with joystick; NavChair follows this direction.
  When obstacle is encountered, NavChair steers around it while trying to maintain user-specified direction as closely as possible.
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