Through modification of the software, the gesture input device can be adjusted to match the changes in the movement of a person with a progressive illness. The other piece of equipment in this system is a speech recognition device capable of recognizing unclear speech as a tool in controlling home equipment, as well as bearing a capability of working with other input devices. Additionally, the system comes with active caster with a built-in motor, as an output device in assisting individuals, where the object to be moved can be simply maneuvered by the casters attached to it. Based on weight and size of the objects, more than one caster may have to be attached. The caster may not have to be attached to each position since the position is automatically calculated and the object can be maneuvered remotely. To make it all work together the system comes with a RT middleware, making it possible to customize the system for each individual need. With distribution of various aids equipment throughout home in a network, the home environment can be considered as one system disability aids, with functionally distributed across a room. Based on this system AIST has developed three type of home environment models; a home equipment control assist system helping people with mobility impairment, cooking assist system designed to help individual with brain dysfunction due to stroke with their cooking training, and an environment management system to detect changes in the home environment helping people with visual impairment
