Abstract: A method of commanding and controlling a mobile apparatus (wheelchair) based on the assimilation of visual parameter and brain activity data includes validating a desired position of gaze (the iris) in the environment using the physiological brain characteristics of the potentials mentioned in P300 and SSVEP. These supply a control unit and are used to assess the user's state of mental fatigue using an algorithm based on the theory of evidence. A unit detecting the user's emotional state is also implemented using the alpha and beta waves from the parietal, central and frontal region of the cerebral cortex and the user's heart rhythm. The assimilation between these two units makes it possible to define a mode of operation in real time: manual, semi-autonomous or autonomous, which corresponds to the user's emotional or fatigue states as well as the characterization of the environment (safe path, detection of obstacles, locked situation).

Abstract: The present invention relates to an asymmetrical wheel kit for a manual wheelchair (1), and a wheelchair fitted with the wheel kit to facilitate the practice of a throwing sport activity. The wheel kit is characterized in that it includes two asymmetrical wheels, with a small lateral wheel (10) and a large lateral wheel (42), the small lateral wheel (10) being provided with drive means (24-1, 24-2, 25-1, 25-2, 26, 27, 40, 47; 55, 56a, 56b, 54) actuated by a first actuation means (43) arranged on the side of the large lateral wheel (42). This kit can be used in the field of manual wheelchairs for sick or disabled persons.