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Figure 8 | ROBOMECH Journal

Figure 8

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

Figure 8

Wheelie motion of the wheelchair. (a) Without brakes. When the brakes are not used, the wheelchair frame rotates about the wheel shafts of the large wheels. (b) With brakes. When the brakes are used, the wheelchair frame rotates about the point of contact with the ground. This is a combined motion in which the wheelchair frame rotates about the wheel shafts of the large wheels while the large wheels rotate in the backwards direction.

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