Abstract
It is difficult for many wheelchair users to climb a step because the front casters of a wheelchair are small. In this paper, we proposed the system for a wheelchair user to climb a step safely without manual operation. We proposed the system for climbing a step applied a wheelie motion about a five-wheeled wheelchair with a single drive wheel. We derived the kinematics model about the wheelie motion of the five-wheeled wheelchair and simulated the traction force needed to perform the wheelie motion. In some experiments, we showed the position of the drive wheel is related to perform the wheelie motion easily.
