Introduction: A robotic wheelchair system enables people with disabilities and elderly people who are unable to operate traditional wheelchairs to move around. Advances in computer and software technologies have contributed to the provision of robotic wheelchairs and its tracking system to suit the needs of the healthcare sector. Developing a quality software system requirements specification and performing testing on the requirements are critical as the users involve patients who suffer musculoskeletal disorders. Methods: This research paper presents a robotic wheelchair and its software system requirements; a testing environment; and a requirements-based testing strategy to ensure the software system comply with the requirements including the functional and technological constraints of the wheelchair system. Results: The testing strategy was implemented to calculate Average Percentage of Faults Detected (APFD) and the result quantify 92.19% APFD rates of fault detection with 92.19%. This result delivers an effectively improving test coverage. Conclusion: The proposed testing environment and the requirements-based testing strategy enable requirements testing to be conducted from the very beginning of the software development life cycle.