Effects of deceleration profiles and driving speed on usability and user perception in autonomous wheelchairs

Autonomous wheelchairs are increasingly recognized as personal mobility systems that may serve both individuals with physical impairments and able-bodied users; however, little is known about how specific motion control parameters shape user experience during autonomous navigation. This study investigated the effects of deceleration profiles and driving speed on the usability of an autonomous wheelchair, along with changes in user perceptions following actual use. Twenty participants evaluated five deceleration modes (ranging from -0.2 m/s² to -1.0 m/s²) and five driving speed modes (ranging from 3 km/h to 7 km/h) on five usability measures (safety, rapidity, accuracy, convenience, and preference), and their perceptions of the autonomous wheelchair were compared before and after riding the system. The results indicated that moderate deceleration profiles and an intermediate driving speed received the highest usability ratings, whereas both extreme deceleration and high speed were rated least favorably. Furthermore, trust-related perceptions, including intention to use, reliability, and safety, significantly improved after riding the autonomous wheelchair. The results provide empirical design guidelines for the human-centered development of autonomous personal mobility systems.