A novel stair-climbing wheelchair with transformable wheeled four-bar linkages

This paper describes the development of a novel multi-wheel stair-climbing wheelchair. The necessity for mobility aid technology for elderly and handicapped people that has “minimal invasiveness for use in an historical environment” is described. With this goal in mind, a prototype of a novel wheelchair having a stair-climbing function resulting from transformable wheeled four-bar linkages is proposed. The mechanical design, principle of...