Stair-climbing wheelchair.q05: from the concept to the prototype

In this paper, an electric stair-climbing wheelchair, named wheelchair.q05, able to move on flat ground and to climb stairs, is presented. The proposed solution has been developed through a series of studies and designs, all based on a smart hybrid triple leg-wheel locomotion unit. The stability of the device is guaranteed by a rear support of a pair of pivoting wheels during motion on flat ground, and by the support of an idle track, when climbing on or going down stairs. By means of mechanisms and actuators, it is possible to change the configuration of the wheelchair, from the flat ground motion to the stair climbing configuration