**3. Sensors, computational system, and human-machine interface**

It is planned to use the system as a research and development testbed at the end of the conversion. For this reason, several sensors and computational hardware with different characteristics are mounted to the chair. These devices will be used for performance comparison in the future. **Tables 1** and **2** show the list of the sensors for perception and the computational hardware added to the autonomous wheelchair testbed. More information about these components is illustrated in the next subsections.
