Abstract
Recently, the aging rapidly advances. Therefore, the opportunity in which the old old people use the wheelchair increases. However, the most difficult problem is stepping the stairs, when the wheelchair is used. Help is necessary usually to step with wheelchair, but there is much case that a supporting person is a senior citizen. Therefore, we proposed the wheelchair in which stepping the stairs are possible without help in this study. And, the user is very dangerous if the wheelchair broke down on the stairs. Then, the wheelchair, which raised approach safety and reliability using the Passive Redundancy of field of control called Reliable Control, is developed in this study.
