Abstract:In this chapter, we propose a novel add-on electric drive system for propelling a manual wheelchair on the floor together with an advanced function to climb and descend a step with no human support. The proposed add-on mechanism consists of an active-caster drive wheel and a reconfigurable link mechanism with a linear actuator to change the location of the drive wheel relative to a wheelchair. By attaching the mechanism to a manual wheelchair, we build a five-wheeled wheelchair. Since the drive wheel is attach… Show more
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