For my Master's research I worked under Professor Howie Choset on a new wheelchair transfer device. The intended use of the device is for people who have difficulty standing up to get out of their wheelchair as well as sitting back down.
I spent a summer and a semester researching current devices and designing a new mechanism to perform all of the tasks I wanted it to. Finally, I made a physical quarter scale model of the device to demonstrate its feasibility. Many aspects of the design still need to be considered, namely safety, control, and user testing to make sure it is appropriate for the demographic.