Abstract
A new type of a folding electric wheelchair is proposed. It can be moved on a flat floor with the omni-directional motion and it is easily transportable because of the light framework body and the equipment of a simple drive mechanism two sets of the powered wheel steering and drive unit are mounted on the front and the rear positions of the chassis like a skate board. This paper deals with the prototype of the wheelchair developed for design of the motion control system and determination of the specifications on the new type one.
