Santis, Agostino DeGironimo, Giuseppe DiMarzano, AdelaideSiciliano, BrunoTarallo, AndreaVittorio Scarano and Rosario De Chiara and Ugo Erra2014-01-272014-01-272008978-3-905673-68-5https://doi.org/10.2312/LocalChapterEvents/ItalChap/ItalianChapConf2008/035-042The design of solutions for robotic extenders of wheelchairs must take into account both objective and subjective metrics for everyday activities in human environments. Virtual Reality (VR) constitutes a useful tool to effectively test design ideas and to verify performance criteria. This paper presents the development of a simulation environment, where three different manipulators to be mounted on a commercially available wheelchair have been considered. Experimental results are discussed in a significant case study, based upon users' feedback.