2A2-C10 Sheet Stabilization and Instantaneous Positioning of Variably Configured Wheelchair on Escalator(Welfare Robotics and Mechatronics (2))

Abstract

The revised Variably Configured Wheelchair is proposed, which can travel by escalator safely. The newly designed trapezoidal wheelchair frame controls the location of center of gravity within the safety area. The parallel link mechanism push the lower link by a handle motion to the escalator step surface in order to keep the sheet posture horizontal. The toggle link is applied for magnifying the operation force. The measuring rod attached in front of the wheelchair is pressed against an escalator step side wall in order to set the wheelchair constant distance and to work the parallel link.