抄録
In this research, we are focusing on the step ascending of a wheelchair. A step ascending motion in a wheelchair requires precise motion control in proposed timing, and the elderly are difficult to perform this task becouse of the decline in physical performance. The aim of this research is to develop a wheelchair that enables to climb up a lower step almost automatically. In this thesis, we proposed a step ascending strategy using a weight slide mechanism. This mechanism comes from ouranalysis research work for the physical movement of skilled wheelchair users. So we use an experimental model to validate the effect of the slide mechanism. Experiments on the climb up a step, the experimental robot was able to attain motion of the step ascending. The sliding mechanism is considered to be effective for the step ascending of rear wheel.
