Patent ID: RE45158

Claim:
Control system for controlling a wheelchair having movable parts, said control system comprising a controller and a number of actuators for effectuating movements of said movable parts characterised in that said controller ( 2 ) comprises a mathematical model of the kinematics of said movable parts ( 31 , 32 , 33 , 34 , 35 , 36 ) and a respective at least one actuator (N 1 , N 2 , . . . , N n ), said mathematical model being based on defining a structure of said wheelchair by a number of points, said number of points comprising locations of joint coupling points of said wheelchair, wherein mechanical relationships between, and kinematics of, different parts are translated into mathematical functions, said controller ( 2 ) comprises means for receiving an input signal from one or more of said actuators (N 1 , N 2 , . . . , N n ), said controller ( 2 ) comprises means for setting, based on said mathematical model, limiting positions of said actuators (N 1 , N 2 , . . . , N n ) in response to said input signal, enabling dynamical alteration of limiting positions of said actuators.