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Kevin McGuire knows about frustration in public places. Using a wheelchair since he was 7 years old, McGuire has had trouble traversing popular restaurants, showering in hotel bathrooms, or even getting to the door of some local establishments.

But by combining technology and the public’s opinions, McGuire, 52, is hoping to save other people with disabilities such frustration.

McGuire’s Waltham-based company, AbleRoad Associates Inc., this fall launched a website and smartphone app that — much like the popular review site Yelp.com — allows people to rate restaurants, shops, businesses, and public venues, but for wheelchair accessibility and ease of access for blind and deaf people. Since its soft launch in January, the site has garnered about 10,000 reviews and 10,000 app downloads, McGuire said last month.

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