In Peru there are approximately 932,000 people with disabilities, 59.2% of them have mobility problems. These people can not carry out activities inside or outside their home, thus affecting their daily life. Therefore, this study has been conducted from 2014 to 2020 at the Mechatronics Engineering Laboratory of Ricardo Palma University in Peru; resulting in the proposed project titled iTakuna, an intelligent embedded system for wheelchairs used by paraplegic patients in order to bring comfort and autonomy, which can be found in clinics, hospitals and homes. The device is composed of 8 sensors capable of detecting objects up to 3 meters away, power drivers for controlling the motors, controlled by fuzzy logic. The device was developed using SolidWorks software for 3D design; Proteus, for the design of electronic boards and simulation of electronic components, and Simulink for mechatronics analysis. Finally, it was designed, manufactured and implemented obtaining the expected results. Likewise, the Graphical User Interface (GUI) developed turned out to be friendly and intuitive for the patient. It is expected to reach a mass manufacturing level and can be used in clinics and hospitals.