Wheelchairs have been typical mobilities for lower-limb disabled patients, however, long-term use of them have caused disuse of lower-limb and over use of upper limb. A cycling wheelchair was introduced as a solution to these problems. As relying on healthy part when hemiplegic patients arc riding the cycling wheelchairs is discovered in the investigation, over use of healthy part in daily use of the cycling wheelchair is another problem. Still more, for patients who are not able to bend one leg because of the other side either is stiffened of the knee joint or physically not exists, the cycling wheelchair is hard to ride with one leg. For the second step, crank torque during one-leg-pedaling is discussed and a pedaling assistive control is proposed.