Abstract
Recently, aging society is progressing in Japan, and the use of electric wheelchairs and mobility scooters are needed. These vehicles are moved by wheels, and it is difficult to get over a step. Therefore, barrier-free design in all facilities has been desired for a long time. However, we have to spend much time and a great effort to do achieve the thing.We study the machinery of the wheels that moves by the wheels on the level ground, and get over a step with the wheel which is unfolded. And, this kind of wheels can get over a step with good moving efficiency. Moreover, we study about the proper control of the degree of the wheel which is unfolded.
