Design of a robotic-hybrid wheelchair for operation in barrier present environments

The purpose of this paper is to outline a radical approach towards providing wheeled mobility to the elderly or disabled. A robotic-hybrid wheelchair designed for operation in barrier present environments (the real world) is currently under construction. The wheelchair is targeted towards providing increased independence for wheelchair users and/or much needed assistance to care workers in the field of facilitating mobility to those who cannot be independently mobile. The wheelchair incorporates a hybrid of 4 robotic legs resembling human legs in operation interfacing wheels. Each leg provides three degrees of freedom which are actuated hydraulically: two degrees for lift and one degree for dynamically variable track width. Each foot is further equipped with independently operated steering and drive motors. The resultant wheelchair is estimated to be capable of negotiating stairs and a single step of up to 70 cm to allow for direct boarding to a vehicle. The proposed control is via a radio control for operation by the user or assistant in the case of care worker assisted mobility. Key design aspects are safety, aesthetics and not exceeding the size of a standard powered wheelchair