# Systematic Review of Mecanum and Omni Wheel Technologies for Motor Impairments
## 6 Conclusions  
This review has demonstrated that Mecanum and omni wheel technologies hold significant promise for improving mobility and independence in individuals with motor impairments, particularly through enhanced indoor maneuverability, multimodal control strategies, and the integration of intelligent automation. However, despite rapid technological advancements, their widespread adoption remains limited due to persistent challenges in several areas. Among the most pressing issues are inadequate performance on uneven or outdoor terrain, the lack of standardized evaluation protocols, and the limited scalability of current prototypes. Additionally, a considerable gap persists between proof-of-concept innovations and fully validated user-ready solutions. This gap is especially evident in the limited field testing and real-world validation reported in many studies. Furthermore, while several projects integrate sophisticated control systems--such as FOC or brain-computer interfaces--the mathematical modeling, algorithmic transparency, and robustness of these implementations are often underreported, making cross-comparison and replication difficult. To close these gaps, future research should prioritize the following:  
* Development of adaptive terrain-handling mechanisms suitable for unstructured and outdoor environments;
* Design of human-centered control systems that minimize cognitive and physical demands across a wide range of user abilities;
* Implementation of scalable and modular system architectures to enhance affordability and long-term serviceability;
* Integration of telehealth and IoT functionalities to support continuous care, monitoring, and communication;
* Application of ergonomic design principles and computational optimization to balance performance with comfort and usability;
* Greater engagement in participatory testing and co-design processes that involve end-users from the earliest development phases;
* Systematic analysis and documentation of the mathematical models and control algorithms to improve comparability, reproducibility, and performance evaluation. Ultimately, translating the potential of Mecanum and omni wheel systems into inclusive, practical mobility solutions will require interdisciplinary collaboration between engineers, clinicians, and users. The goal should not only be technological innovation but also long-term functionality, accessibility, and real-world effectiveness. This review provides a structured roadmap to guide such efforts and underscores the need for assistive mobility systems that are not only intelligent and adaptable but also equitable and user-driven. The following supporting information can be downloaded at: [[https://www.mdpi.com/article/10.3390/app15094773/s1](https://www.mdpi.com/article/10.3390/app15094773/s1)]([https://www.mdpi.com/article/10.3390/app15094773/s1](https://www.mdpi.com/article/10.3390/app15094773/s1)). Conceptualization, M.B., S.S., M.C. and R.K.; methodology, S.S.; formal analysis, M.B. and I.L. ; investigation, M.B., J.L. and S.S.; resources, L.L. and S.S.; data curation, I.L. and S.S.; writing--original draft preparation, M.B. ; writing--review and editing, M.B., J.L., S.S. and M.C. ; visualization, M.B. and I.L. ; supervision, M.B. and R.K.; project administration, M.B. and R.K.; funding acquisition, M.B., S.S., M.C. and R.K. All authors have read and agreed to the published version of the manuscript. The APC was funded by 1.2 Research, Development, and Innovation in Enterprises under the Regional Operational Program of the Silesian Voivodsehip for 2014-2020, co-financed by the European Regional Development Fund. Project name \"Mobiline mechatroniczne urzadzenie z funkcja pionizacji dla osob niepelnosprawnych\", UDA-RPSL_01.02.00-24-00 AA/19. All data supporting the findings of this study are available within the article and its Supplementary Materials. In particular, a supplementary comparison table has been added to provide standardized technical metrics for all included studies.