An intelligent wheelchair prototype is presented, reusing old damaged equipment and incorporating low cost elements for repowering it. The system can be operated in manual mode (total user control) and semi-automatic depending on tasks to be performed and whether other secondary tasks are carried out (answering questions or picking up objects) as simulated in this experiment. When manual mode is executed, a coherence algorithm has been incorporated that allows the wheelchair to be guided with the eye movement and in the semi-automatic mode, system takes control when user do not execute a control action when an obstacle is about to crash with the chair. For a greater interaction between system and user, a basic, friendly and easy-to-use interface has been developed that empowers the performance of activities throughout this experiment. Participants selection, as well as the experimental tests performed are described in this document. The qualitative and quantitative results obtained allow to validate the efficiency of this system, as well as the satisfaction of the users through the respective tests.