This paper proposes a solution to the cross-a-door problem in unknown environments for a robotic wheelchair commanded through a Human-Machine Interface (HMI). The problem is solved by a dynamic path planning algorithm implementation based on successive frontier points determination. An adaptive trajectory tracking control based on the dynamic model of the robotic wheelchair is impleme... https://www.roneverhart.com/DeRoyal-LMB-Spring-Finger-Extension-Assist/