Abstract
We propose a pair of step-climbing units for a standard manual wheelchair. The target is a wheelchair user who has no disabled upper limbs and hopes independent life without caregivers. When traveling by a car, it is easy to load them because their weights are light and they are not attached to the wheelchair. These devices are used combining with a pair of mobile slopes and move on the slopes. Therefore, they produce propelling forces to the rear wheels of a wheelchair. The shape of the unit is like a wedge, and each unit comprises a DC motor and a crawler belt. We also discuss the controller using position and electric current data. Experimental results of the motion of climbing up a 30 cm step, which is corresponding to the height of two standard steps, confirmed effectiveness of the design.
