Abstract
Escalator is an effective mass transportation method, but regular wheelchairs cannot use it because of its instability on uneven step. The parallel link wheelchair we proposed is able to improve the stability by changing its shape. The manipulative mechanism is added to this wheelchair in order to control the shape. Three operators controlled the stability successfully on various step heights. The operation lever angle is 73.2 deg and the maximum required operation force is 60N. This control mechanism also avoids the interference between the foot plate and the advanced escalator step.
