Abstract:
This research paper presents a novel track based
stair-climbing wheelchair design with improved stability and
performance. The proposed design has an adaptable arrangement
to the staircase especially at the top of the staircase. In the
existing wheelchair designs, this particular feature has not been
adequately addressed. The proposed design consists of body
frame and supporting rubber track arms. Of the two main
operations; ascending and descending, the most critical operations
is at the top of the staircase, which is smoothly controlled
by following the staircase profile. This motion is achieved by
properly synchronizing the rubber track arms according to a
pre-planned motion profile. As a result, user does not feel sudden
motions in position and attitude. Furthermore, the proposed
wheelchair is adaptable to any staircase.
