Abstract
Recently, leg handicapped by aging, the traffic accidents and sports activity is increased. The population that uses the wheelchair tends to increase year by year, but wheelchair has problems in the ability of climbing in the stairs. There is a problem that the nurser is necessary, and it is difficult to install it in all buildings though it is if the solved equipment is developed. Therefore, it is a purpose of this research to develop the wheelchair that can climb stairs without nursing person and keep efficiency of the movement in the plain.
