Inclusion Criteria:  Male or female, over 18 years of age, Patient with neurological disorders such as brain injury or neurodegeneration, Having been prescribed an electric wheelchair and circulating in electric wheelchair for more than 3 months Of which electric wheelchair is the main mode of travel Whose physical measurements (weight, height) are compatible with the use of the physical simulator chosen for the development of the robotic assistance module, i.e. according to the manufacturer's data 140 kg max and 51 cm max seat width. Having freely consented to participate in the study, In the case of curatorship, having read the patient information document and given his/her free and informed consent to participate in the study, in the presence of his/her curator, In the case of a guardianship, the legal representative having read the information document intended for the legal guardian of an adult under legal protection (under guardianship) and given his or her free and informed consent for the person for whom he or she is responsible to participate in the study (in agreement with the patient)  Exclusion Criteria:  Comprehension problems that prevent the protocol from being carried out, Motor disorders of the upper limb requiring additional technical driving assistance, A patient who has expressed difficulties with internal and/or external driving safety on the basis of the WST, Patients who were included in the SIMADAPT1 study to avoid bias due to their experience in the simulator and virtual reality, Pregnant, parturient or breastfeeding women, Person deprived of liberty by a judicial or administrative decision, persons under psychiatric care or for purposes other than research, Minor, Person in emergency situation unable to give prior consent.