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Figure 5 | ROBOMECH Journal

Figure 5

From: Development and analysis of a novel add-on drive mechanism for motorizing a manual wheelchair and its step climbing strategy

Figure 5

A series of wheelchair motion as the proposed step climbing method. (a) The wheelchair stops in front of the step. (b) The wheelchair performs a static wheelie motion by hovering the front casters above the ground. (c) While keeping the posture of the wheelie motion, the wheelchair performs a translational motion so that the front casters climb over the step. (d) After the front casters climb, the large wheels are made to hover above the ground by changing the height of the drive wheel. (e) The large wheels pass over the step by a translational motion. (f) After the large wheels climb, the wheelchair performs a static wheelie motion on the step. (g) By cooperative control of the drive wheel and the linear actuator, the front casters land at the same time that the drive wheel climbs on the step. (h) the wheelchair moves on the step.

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