# PWR-215 — Autonomous mobility assistance: learner worksheet Release: Revision 7T · Full Tutorial Edition Estimated time: Estimated 14 min reading; practical time is provider-set Difficulty: Intermediate Equipment: Specialist equipment — Declared Autonomous mobility assistance fixture: A powered-mobility simulator travels a six-metre indoor route to a blue table. Two foam obstacles and one safe bay are marked; the learner’s normal seating, communication and mobility support remain in place.; Setup aid for Inspect route and exclusions: Validate route/map, sensors, seating, battery/network, stop/override, safe bay and emergency response.; Autonomous mobility assistance log: Severity-weighted collisions, interventions, route completion/time, workload, false stops, safe-state success and intended-user agency; retain Autonomous mobility assistance errors, assistance, stop and fallback.; Autonomous-mobility provider sheet: from the BCI shared-control mobile-robot study, extract participant input, autonomous navigation role, route and intervention. From “Evaluation of semiautonomous navigation assistance system for power wheelchairs with blindfolded nondisabled individuals”, record participant population, test environment, obstacles, assistance and errors. Use the NIST Privacy Framework for route traces; only the mobility team approves destination, safe bay and progression. Space: Specialist setting Automated structural checklist: 10 of 10 structural checks present Evidence quality/context: G4; Detailed research depth Automated method-quality band: Comprehensive Method-rating basis: Structure coverage, instruction/check specificity, alternative distinctness, source troubleshooting, comparison depth and whether purpose/check fields are authored rather than derived. Editorial review: Pending manual editorial sign off ## Before you begin - [ ] I read the tutorial authority and stop conditions. - [ ] I have the required equipment/space or a declared accessible alternative. ## Canonical source context A mobility and engineering team approves one six-metre simulator route while preserving the learner’s seating, communication and ordinary mobility supports. The learner confirms the blue-table destination, previews obstacles, practises pause and override, and reaches the safe bay after a staged path error. Untested routes and independent mobility remain outside the result. Target outcome: With the mobility and engineering team, the learner confirms destination, previews the route, completes a supervised run with preserved supports and reaches a safe state after a staged autonomy failure. ### Authority and setup conditions - Obtain assessment and same-day clearance from mobility, rehabilitation and engineering professionals as applicable. - Validate route/map, sensors, seating, battery/network, stop/override, safe bay and emergency response. - Start check for Autonomous mobility assistance: Destination and control rights are person-confirmed. - Top-of-sheet stop for Autonomous mobility assistance: Stop for new pain, dizziness, distress, loss of balance, seating shift, pressure, unsafe fatigue or health change. ### Required or supplied materials - Declared Autonomous mobility assistance fixture: A powered-mobility simulator travels a six-metre indoor route to a blue table. Two foam obstacles and one safe bay are marked; the learner’s normal seating, communication and mobility support remain in place. - Setup aid for Inspect route and exclusions: Validate route/map, sensors, seating, battery/network, stop/override, safe bay and emergency response. - Autonomous mobility assistance log: Severity-weighted collisions, interventions, route completion/time, workload, false stops, safe-state success and intended-user agency; retain Autonomous mobility assistance errors, assistance, stop and fallback. - Autonomous-mobility provider sheet: from the BCI shared-control mobile-robot study, extract participant input, autonomous navigation role, route and intervention. From “Evaluation of semiautonomous navigation assistance system for power wheelchairs with blindfolded nondisabled individuals”, record participant population, test environment, obstacles, assistance and errors. Use the NIST Privacy Framework for route traces; only the mobility team approves destination, safe bay and progression. ## 1. Confirm destination and agency The learner selects the blue table, confirms who may start, pause and change destination, and names the right to stop without penalty. Why: Destination and control rights are person-confirmed. Success check: Destination and control rights are person-confirmed. Accessible alternative: Ask the qualified provider to adapt positioning, cue modality, pace, interface or rest while preserving this step’s declared check: “Destination and control rights are person-confirmed.” If an adaptation changes the measured task or configuration, record it as a different configuration rather than an equivalent attempt. Alternative relationship: Conditional equivalence requires target and configuration check Learner notes: ________________________________________________________________________________ Completed: [ ] ## 2. Inspect route and exclusions The qualified team walks the route, measures widths, identifies foam obstacles, bystander zone, safe bay and prohibited doors or slopes. Why: The autonomous map matches the physical training route. Success check: The autonomous map matches the physical training route. Accessible alternative: Ask the qualified provider to adapt positioning, cue modality, pace, interface or rest while preserving this step’s declared check: “The autonomous map matches the physical training route.” If an adaptation changes the measured task or configuration, record it as a different configuration rather than an equivalent attempt. Alternative relationship: Conditional equivalence requires target and configuration check Learner notes: ________________________________________________________________________________ Completed: [ ] ## 3. Check person and device Clinicians check seating, support and health; engineers check sensors, map/version, battery, network, speed, stop, override and logs. Why: Both checklists pass and fallback is reachable. Success check: Both checklists pass and fallback is reachable. Accessible alternative: Ask the qualified provider to adapt positioning, cue modality, pace, interface or rest while preserving this step’s declared check: “Both checklists pass and fallback is reachable.” If an adaptation changes the measured task or configuration, record it as a different configuration rather than an equivalent attempt. Alternative relationship: Conditional equivalence requires target and configuration check Learner notes: ________________________________________________________________________________ Completed: [ ] ## 4. Teach controls while stationary Practise start, pause, resume, override and emergency stop with the drive disabled or wheels secured. Why: The learner demonstrates each command reliably. Success check: The learner demonstrates each command reliably. Accessible alternative: Ask the qualified provider to adapt positioning, cue modality, pace, interface or rest while preserving this step’s declared check: “The learner demonstrates each command reliably.” If an adaptation changes the measured task or configuration, record it as a different configuration rather than an equivalent attempt. Alternative relationship: Conditional equivalence requires target and configuration check Learner notes: ________________________________________________________________________________ Completed: [ ] ## 5. Preview with established control Complete or simulate the route with the best existing mobility method to record time, interventions, workload and contacts. Why: There is a meaningful comparator. Success check: There is a meaningful comparator; verify it in the autonomous blue-table route. Accessible alternative: Ask the qualified provider to adapt positioning, cue modality, pace, interface or rest while preserving this step’s declared check: “There is a meaningful comparator; verify it in the autonomous blue-table route.” If an adaptation changes the measured task or configuration, record it as a different configuration rather than an equivalent attempt. Alternative relationship: Conditional equivalence requires target and configuration check Learner notes: ________________________________________________________________________________ Completed: [ ] ## 6. Run supervised autonomy Confirm destination, start at set speed and monitor route; the learner pauses for uncertainty and the team protects the bystander zone. Why: Route events and interventions are logged. Success check: Route events and interventions are logged. Accessible alternative: Ask the qualified provider to adapt positioning, cue modality, pace, interface or rest while preserving this step’s declared check: “Route events and interventions are logged.” If an adaptation changes the measured task or configuration, record it as a different configuration rather than an equivalent attempt. Alternative relationship: Conditional equivalence requires target and configuration check Learner notes: ________________________________________________________________________________ Completed: [ ] ## 7. Inject a false stop or path error The team stages one safe fault; the learner pauses, overrides to safe bay or uses the approved fallback rather than fighting the system. Why: Safe state is reached within the protocol window. Success check: Safe state is reached within the protocol window. Accessible alternative: Ask the qualified provider to adapt positioning, cue modality, pace, interface or rest while preserving this step’s declared check: “Safe state is reached within the protocol window.” If an adaptation changes the measured task or configuration, record it as a different configuration rather than an equivalent attempt. Alternative relationship: Conditional equivalence requires target and configuration check Learner notes: ________________________________________________________________________________ Completed: [ ] ## 8. Review agency and outcome Compare severity-weighted contacts, time, interventions, false stops, workload, safe-state success and intended-user agency; team and learner decide next step. Why: Fewer collisions alone does not prove better mobility if control or time is unacceptable. Success check: Fewer collisions alone does not prove better mobility if control or time is unacceptable. Accessible alternative: Ask the qualified provider to adapt positioning, cue modality, pace, interface or rest while preserving this step’s declared check: “Fewer collisions alone does not prove better mobility if control or time is unacceptable.” If an adaptation changes the measured task or configuration, record it as a different configuration rather than an equivalent attempt. Alternative relationship: Conditional equivalence requires target and configuration check Learner notes: ________________________________________________________________________________ Completed: [ ] ## Reflection What changed? ________________________________________________________________________________ What remains difficult? ________________________________________________________________________________ What will I repeat, adapt, ask for help with, or stop? ________________________________________________________________________________ --- Completion of this worksheet demonstrates tutorial participation only. It does not establish capability, qualification, safety clearance, diagnosis, treatment or independent validation.