Underwood said he trained with a 35-year-old parapalegic who's been in a wheelchair since he was in a skiing accident at 19 and Ironside's self-sufficiency is based on that man.
"The first thing I noticed was he had no handles on his wheelchair, so we cut those off, and he said, 'Why would I want them? Whatever I can do for myself, I'll do for myself,'" Underwood said. "The speaks to some of his independence. Ironside is like that in terms of his self-sufficiency."
Underwood said the new show only borrows the name, occupation and wheelchair, otherwise everything else is new.
"It's a crime drama wrapped in a character study," Underwood said.
Producers said they have not decided if they will use the original show's theme song.