A smartphone and its internal accelerometer sensor was used to detect the vector of gravity, and thus detecting the pitch and roll.  After discovering the needs of the customers, collision avoidance was implemented into the control kit and back up cameras were added into the smart phone app to allow for the camera view to be seen without additional screens attached to the wheelchair. 
smartphone
After discovering the needs of the customers, collision avoidance was implemented into the control kit and back up cameras were added into the smart phone app to allow for the camera view to be seen without additional screens attached to the wheelchair. 
the smartphone app