IROS 2015 Paper Abstract


Paper ThFT10.6

Sasaki, Kai (University of Tsukuba), Eguchi, Yosuke (University of Tsukuba), Suzuki, Kenji (University of Tsukuba)

Step-Climbing Wheelchair with Lever Propelled Rotary Legs

Scheduled for presentation during the Regular session "Medical Systems, Healthcare, and Assisted Living" (ThFT10), Thursday, October 1, 2015, 18:05−18:20, Saal B4

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Medical Systems, Healthcare, and Assisted Living, Mechanism Design, Human Centered Robotics


There are a few types of step-climbing wheelchairs in the world, but most of them are large and heavy because they are power-assisted. Therefore, they require large space to maneuver, which is not always feasible with existing house architectures. This study proposes a novel step-climbing wheelchair based on lever propulsion control using human upper limbs. The developed step-climbing wheelchair device consists of manual wheels with casters for moving around and a rotary-legs mechanism that is capable of climbing steps. The wheelchair also has a passive mechanism for posture transition to shift the center of gravity of the person between the desired positions for planar locomotion and step-climbing. The proposed design consists of passive parts, and this leads the wheelchair being compact and lightweight. In this paper, we present the design of this step-climbing wheelchair and some preliminary experiments to test its usability.



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