*2.3. Mobile Platform*

The mobile platform was based on Summit XL Steel, from Robotnik. It has omnidirectional wheels that allow the movement of the user in the room. Furthermore, it has its own computer that executes a navigation system, which makes it possible to move between different rooms. Laser-based simultaneous localization and mapping (SLAM) is used to perform the mapping of each room, and the navigation and localization along the different rooms is performed using the adaptive Monte Carlo localization (AMCL) probabilistic localization system, as can be observed in Figure 2). In addition, this platform is equipped with two laser sensors used to provide the wheelchair with an obstacle avoidance algorithm, increasing the safety during navigation.

**Figure 2.** Pictures of the monitoring of the navigation algorithm with obstacle avoidance in a real test.

### *2.4. Electric Power System*

The system has three batteries to power the whole system. First, the mobile platform incorporates a 15/30Ah@48V LiFePO4 battery, which gives an autonomy of up to 10 h. On the other hand, the main computer of the system also has its own 91 kWh battery. The third and the last battery of the system are dedicated to supply the arm and hand exoskeleton. This battery was built with Panasonic 18650b cells and has a capacity of 1.18 kWh, which gives an autonomy of up to 3 h in continuous operation.
