**2. Modular Assistive Robotic Platform**

The system is a fully autonomous prototype consisting mainly of a robotized wheelchair with autonomous navigation capabilities, a multimodal interface, and a novel arm exoskeleton attached to the wheelchair (Figure 1).

**Figure 1.** The parts of the platform are shown. The computer, battery, connections with the other components, and the safety relay are located on the back side of the prototype protected by a carbon fiber cover. Safety is a key issue in wearable robotics, so there are three emergency stop switches: (1) on the left side of the robotized wheelchair; (2) on the back side of the robotized wheelchair; and (3) connected through a wire to the left side of the wheelchair.
