A Novel Approach for a Leg-based Stair-climbing Wheelchair based on Electrical Linear Actuators

The objective of this work is to develop a novel low-cost wheelchair capable to climb stairs (according to Spanish building regulation) and any obstacle similar to a step, to drive over uneven terrain such as cobblestones and adjust the height of the seat. The contribution presented in this work can be included into the leg-based stair-climbing mechanism classification. This work is a novel solution based on a previous patent, which proposed a wheelchair composed of nine linear actuators controlled by a pneumatic system. This novel approach proposes a mechanical modification in order to increase the flexibility of the mechanism, allowing the wheelchair to move up and down without changing the orientation, also guaranteeing the horizontal position of the user. In addition, the electric linear actuator presents some advantages with respect to the pneumatic system proposed in the previous design, being this wheelchair easier to be controlled. This works also presents the first prototype developed.