Abstract
Recently, the leg handicapped people increases by rapid progress to the aged society and the traffic accident etc. in our country. Therefore, there is a situation which the wheelchair user increases. Then, it is very difficult that it can say that the barrier freeing advanced and that all buildings install this. Then, in this study, by giving the machine function to wheelchair itself, both of flatland transfer and stepping the stairs are enabled, and the wheelchair that level difference and stairs, etc. are got over is developed.
