Novel design of stair climbing wheelchair

This paper introduces a simple and novel mechanism for wheelchairs that assists in climbing stairs. The design mechanism consists of two 2 degrees of freedom legs. Each legs consist of two four bar linkages joined to each other in a certain manner. Each leg is fitted with two actuators which assist the chair to move the legs as required. The proposed design has statically stable leg motion with adjustable height. Inverse kinematics analysis has been performed and the position values for each leg is determined. Seating position remains horizontal on climbing ensuring the comfort of the person. This would assist in resolving the balancing issues while climbing the stairs through wheel chair.