Design and fabrication of a statically stable stair-climbing robotic wheelchair

Chun Ta Chen*, Hoang Vuong Pham

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

18 Citations (Scopus)


Purpose - The purpose of this paper is to present the mechanical design and stability analysis of a new stair-climbing robotic wheelchair. Design/methodology/approach - A prototype stair-climbing robotic wheelchair is constructed comprising a pair of rotational multi-limbed structures pivotally mounted on opposite sides of a support base. The short arm, long arm, and triangular support structures within each rotational multi-limbed structure rotate under the actuating effects of epicyclical gear trains. Findings - The robotic wheelchair ascends and descends stairs in a statically stable manner and has an efficient planar navigation capability. Research limitations/ implications - In its current state of development, the robotic wheelchair is controlled and powered remotely via umbilical cords rather than an onboard processor and power supply. Practical implications - The robotic wheelchair provides an effective solution for enhancing the mobility of the elderly and disabled. Originality/value - The rotational multi-limbed mechanisms are developed to ensure the stability of the sitting base at all stages of the stair navigation maneuver without the need for additional servo-mechanism. The proposed robotic wheelchair shows the simplification of the associated operation process.

Original languageEnglish
Pages (from-to)562-569
Number of pages8
JournalIndustrial Robot
Issue number6
Publication statusPublished - 2009
Externally publishedYes


  • Research and development
  • Robotics
  • Wheelchairs

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Industrial and Manufacturing Engineering


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