40S Be 0327

CONTENTS
Chapter Page
Title
No. No.
1 INTRODUCTION 1-8
1.1 Wheelchair 1
1.1.1 History 1
1.1.2 Types of wheelchairs 1
1.1.3 Limitations 5
1.2 Stairs 6
1.2.1 Standard stair size 8
2 LITERATURE SURVEY 9-18
2.1 Manual wheelchairs with stair-climbing capabilities 9
2.2 Power wheelchairs with stair-climbing capabilities 13
2.2.1 Wheelchairs that use wheels or wheel clusters to climb 13
2.2.2 Wheelchairs and wheelchair carriers that use legs to climb 15
2.2.3 Wheelchairs and wheelchair carriers that use a rubber track to climb 16
2.3 Summary 18
2.4 Objective 18
3 METHODOLOGY 19-32
3.1 Description 19
3.2 Principle Parts 19
3.2.1 Frame 22
3.2.2 Lobe wheels 24
3.2.3 Chair 28
3.2.4 Gear motor 28
3.2.5 Transmission system 30
3.2.6 Assembly 30
4 WORKING MECHANISM 33-36
4.1 Calculations 35
5 RESULTS & DISCUSSION 37-39
5.1 Advantages & Disadvantages 38
5.2 Applications 38
5.3 Engineering practices 39
5.3.1 Human Safety 39
5.3.2 Environmental impact 39
5.3.3 Ethical practices 39
5.3.4 Cost Consideration 39
6 BILL OF MATERIALS 40
7 CONCLUSIONS 41
8 FUTURE SCOPE 42
REFERENCES 43-44
ANNEXURE – I 45-46
ANNEXURE – II 47
LIST OF FIGURES
Figure Page
Description
No. No.
1.1 Manual self-propelled wheelchair 2
1.2 Manual attendant-propelled wheelchair 2
1.3 Powered wheelchair 3
1.4 Mobility scooter 3
1.5 Single arm drive wheelchair 4
1.6 Reclining wheelchair 4
1.7 Sports wheelchair 5
1.8 All-terrain wheelchair 5
1.9 Stair terminologies 7
1.10 Standard stair size 8
2.1 Ernesto Blanco's Wheelchair Climbing a Staircase 9
2.2 Manuscale Wheelchair 10
2.3 Vardaan Manual Stair-Climbing Wheelchair 11
2.4 Stairbike Climbing a Staircase 12
2.5 Zenith 3D Model 12
2.6 TGR Scoiattolo 2000 Wheelchair 13
2.7 Independence iBOT 4000 Mobility System 14
2.8 OB-EW-001 Observer Maximus 15
2.9 Zero Carrier Wheelchair 15
2.10 C-MAX U1 Climbing a Staircase 16
2.11 TopChair Wheelchair Descending a Staircase 16
2.12 TGR Explorer Powered Wheelchair 17
2.13 Stairmax Wheelchair Carrier 17
3.1 Frame design 20
3.2 Frame dimensions 21
3.3 Total deformation of the frame 21
3.4 FOS of the frame 22
3.5 Fatigue FOS of the frame 22
3.6 Maximum principal stress of the frame 23
3.7 Maximum principal strain of the frame 23
3.8 Human gait cycle 24
3.9 Wheel design 25
3.10 Wheel dimensions 25
3.11 Total deformation of the wheel 26
3.12 Maximum principal stress of the wheel 27
3.13 Maximum principal strain of the wheel 27
3.14 Seat tilting mechanism 28
3.15 Motor connection 29
3.16 Assembled wheelchair: Isometric view 30
3.17 Assembled wheelchair: Front view 31
3.18 Assembled wheelchair: Top view 31
3.19 Assembled wheelchair: Side view 32
4.1 Working mechanism 33
4.2 Mechanism top view 34
LIST OF TABLES
Table Page
Description
No. No.
3.1 Properties of mild steel 20
3.2 Analysis parameters 23
3.3 Results of analysis 24
3.4 Properties of plywood 26
3.5 Specification of motor 29
3.6 Battery specifications 29
4.1 Chain, sprocket and center distance calculation 36
5.1 Results 37
6.1 Bill of materials 40
Design and fabrication of multi-purpose wheelchair for differently-abled person 2016-2017
CHAPTER 1
INTRODUCTION
One-fifth of the estimated global population, i.e. between 110 million and 190 million
people, experience significant disabilities. Disabilities of various parts such as eye, ear, hand,
leg etc. Limb disability is one of the disabilities which are caused due to various reasons such
as deformation by birth, war, disorders such as diabetes. Lower limb of sports person also
suffers huge blows while playing and are always at the risk of suffering severe injuries. These
injures sometimes may be a permanent disability.
1.1 WHEELCHAIR
1.1.1 HISTORY
The first records of wheeled seats being used for transporting disabled people date to three
centuries later in China; the Chinese used early wheelbarrows to move people as well as heavy
objects. A distinction between the two functions was not made for another several hundred
years, around 525 AD, when images of wheeled chairs made specifically to carry people begin
to occur in Chinese art.
Wheelchair is used by people who have difficulty in mobility. Generally people who use are,
 Lower limb disabled people

 Patients at the hospitals
 Elderly people.
1.1.2 TYPES OF WHEELCHAIR
There are many types of wheelchairs available in the market like manual or powered wheelchair
and the choice of wheelchair depends upon the physical and mental ability of the user. General
types of wheelchairs are,
Department of Mechanical Engineering, VVCE, Mysuru Page 1

1.1.2.1 Manual self-propelled wheelchair
A self-propelled manual wheelchair incorporates a frame, seat, one or two footplates (footrests)
and four wheels: usually two caster wheels at the front and two large wheels at the back as seen
in Figure 1.1. There will generally also be a separate seat cushion. The larger rear wheels
usually have push-rims of slightly smaller diameter projecting just beyond the tyre; these allow
the user to manoeuvre the chair by pushing on them without requiring them to grasp the tyres.
Figure 1.1: Manual self-propelled wheelchair
1.1.2.2 Manual attendant-propelled wheelchairs
An attendant-propelled wheelchair is generally similar to a self-propelled manual wheelchair,

but with small diameter wheels at both front and rear as seen in Figure 1.2. The chair is
manoeuvred and controlled by a person standing at the rear and pushing on handles
incorporated into the frame. Braking is supplied directly by the attendant who will usually also
be provided with a foot- or hand-operated parking brake.
Figure 1.2: Manual attendant-propelled wheelchair
1.1.2.3 Powered wheelchairs
An electric-powered wheelchair, commonly called a "power chair" is a wheelchair which

additionally incorporates batteries and electric motors into the frame and that is controlled by
either the user or an attendant, most commonly via a small joystick mounted on the armrest, or
on the upper rear of the frame as seen in Figure 1.3.

Figure 1.3: Powered wheelchair
1.1.2.4 Mobility scooters
Mobility scooters share some features with power chairs, but primarily address a different
market segment, people with a limited ability to walk, but who might not otherwise consider
themselves disabled as seen in Figure 1.4. Smaller mobility scooters are typically three
wheeled, with a base on which is mounted a basic seat at the rear, with a control tiller at the
front. Larger scooters are frequently four-wheeled, with a much more substantial seat.
Figure 1.4: Mobility scooter
1.1.2.5 Single-arm drive wheelchairs
One-arm or single arm drive enables a user to self-propel a manual wheelchair using only a
single arm as seen in Figure1.5. The large wheel on the same side as the arm to be used is fitted
with two concentric handrims, one of smaller diameter than the other. On most models the
outer, smaller rim, is connected to the wheel on the opposite side by an inner concentric axle.
When both handrims are grasped together, the chair may be propelled forward or backward in
a straight line. When either hand-rim is moved independently, only a single wheel is used and
the chair will turn left or right in response to the hand-rim.

Figure 1.5: Single arm drive wheelchair
1.1.2.6 Reclining wheelchairs
Reclining or tilt-in-space wheelchairs have seating surfaces which can be tilted to various
angles as seen in figure 1.6. The original concept was developed by an orthotist, Hugh Barclay,
who worked with disabled children and observed that postural deformities such as scoliosis
could be supported or partially corrected by allowing the wheelchair user to relax in a tilted
position.
Figure 1.6: Reclining wheelchair
1.1.2.7 Sports wheelchairs

A range of disabled sports have been developed for disabled athletes,
including basketball, rugby, tennis, racing and dancing which can be seen in Figure 1.7. They
are usually non-folding (in order to increase rigidity), with a pronounced negative camber for
the wheels (which provides stability and is helpful for making sharp turns), and often are made
of composite, lightweight materials.

Figure1.7: Sports wheelchair
1.1.2.8 All-terrain wheelchairs
All-terrain wheelchairs can allow users to access terrain otherwise completely inaccessible to
a wheelchair user from figure 1.8. Two different formats have been developed. One hybridises
wheelchair and mountain bike technology, generally taking the form of a frame within which
the user sits and with four mountain bike wheels at the corners. In general there are no push-
rims and propulsion/braking is by pushing directly on the tyres.
Figure 1.8: All-terrain wheelchair
1.1.3 LIMITATIONS
Wheelchair has limitations against architectural barriers on its way. Although as per PWD 1995
act it is mandatory to provide an accessible environment in every public building but numerous
buildings in India are designed without considering accessibility for physically challenged and
wheel chair users. Many urban cities of India have addressed the problem by providing
alternatives for the architectural barriers like providing ramps at the entrance thresholds,

lowering kerbs, wheeler chair ramps, lifts etc. But still a wheelchair user has to negotiate few
architectural barriers.
Several studies have shown that both children and adults benefit substantially from access to a
means of independent mobility, including power wheelchairs, manual wheelchairs, scooters,
and walkers. Independent mobility increases vocational and educational opportunities, reduces
dependence on caregivers and family members, and promotes feelings of self-reliance. For
adults, independent mobility is an important aspect of self-esteem and plays a pivotal role in
“aging in place.” For example, if older people find it increasingly difficult to walk or wheel
themselves to the commode, they may do so less often or they may drink less fluid to reduce
the frequency of urination. If they become unable to walk or wheel themselves to the commode
and help is not routinely available in the home when needed, a move to a more enabling
environment (e.g., assisted living) may be necessary. Mobility limitations are the leading cause
of functional limitations among adults, with an estimated prevalence of 40 per 1,000 persons.
1.2 STAIRS
A stairway, staircase, stairwell, flight of stairs, or simply stairs is a construction designed to
bridge a large vertical distance by dividing it into smaller vertical distances, called steps. Stairs
may be straight, round, or may consist of two or more straight pieces connected at angles. The
step terminologies are as shown in the Figure 1.9.
Each step is composed of tread and riser.
 Tread
The part of the stairway that is stepped on. It is constructed to the

same specifications (thickness) as any other flooring. The tread "depth" is measured from the
outer edge of the step to the vertical "riser" between steps. The "width" is measured from one
side to the other.
 Riser
The vertical portion between each tread on the stair. This may be missing for an "open" stair
effect.

 Nosing
An edge part of the tread that protrudes over the riser beneath. If it is present, this means that,
measured horizontally, the total "run" length of the stairs is not simply the sum of the tread
lengths, as the treads overlap each other.
The following stair measurements are important:
Figure 1.9: Stair terminologies
 The rise height or rise of each step is measured from the top of one tread to the next.
It is not the physical height of the riser; the latter excludes the thickness of the tread. A
person using the stairs would move this distance vertically for each step taken.
 The tread depth of a step is measured from the edge of the nosing to the vertical riser;
if the steps have no nosing, it is the same as the going; otherwise it is the going plus the
extent of one nosing.
 The going of a step is measured from the edge of the nosing to the edge of nosing in
plan view. A person using the stairs would move this distance forward with each step
they take.
 To avoid confusion, the number of steps in a set of stairs is always the number of
risers, not the number of treads.
 The total run or total going of the stairs is the horizontal distance from the first riser
to the last riser. It is often not simply the sum of the individual tread lengths due to the
nosing overlapping between treads. If there are N steps, the total run equals N-1 times
the going: the tread of the last step is part of a landing and is not counted.
 The total rise of the stairs is the height between floors (or landings) that the flight of
stairs is spanning. If there are N steps, the total rise equals N times the rise of each step.

 The slope or pitch of the stairs is the ratio between the rise and the going (not the tread
depth, due to the nosing). It is sometimes called the rake of the stairs. The pitch line is
the imaginary line along the tip of the nosing of the treads. In the UK, stair pitch is the
angle the pitch line makes with the horizontal, measured in degrees. The value of the
slope, as a ratio, is then the tangent of the pitch angle.
 Headroom is the height above the nosing of a tread to the ceiling above it.
 Walkline – for curved stairs, the inner radius of the curve may result in very narrow
treads. The "walkline" is the imaginary line some distance away from the inner edge on
which people are expected to walk. Building code will specify the distance. Building
codes will then specify the minimum tread size at the walkline.
1.2.1 STANDARD STAIR SIZE
Figure 1.10: Standard stair size
The standard stair size is shown in fig1.10. The stairs are constructed in every building based
on,
 The average foot size of an adult for tread length i.e., 25.4 cm.
 The riser height is based on the way the foot comes while coming down the stairs, the
recommended height is 19.7 cm.

CHAPTER 2
LITERATURE SURVEY
After conducting an intensive literature review, it was found that wheelchairs with stair-
climbing capacities can be categorized into two types; the battery powered and the manual
powered. Although there are plenty of powered wheelchairs available in the market place, there
are limited scholarly reviews published on manual or battery powered wheelchairs. Instead,
patent certificates, wheelchair descriptions, and operation manuals are available. Indeed, no
peer reviewed literature was found for manual wheelchairs. Some researchers have built scale
models or full size prototypes of their designs but little documentation has been published on
this type of wheelchairs.
2.1 MANUAL WHEELCHAIRS WITH STAIR-CLIMBING

CAPABILITIES
In 1962, Ernesto Blanco, while working at Massachusetts Institute of Technology (MIT),
designed a self-propelled stair-climbing wheelchair [1], but a full scale prototype was never
built. However, a small model of Blanco’s design was built to showcase how his wheelchair
would perform rolling in flat ground as well as how it would climb and descend stairs. Fig. 2.1
shows a picture of Blanco’s wheelchair model climbing a staircase. Although no peer reviewed
literature was published on Blanco’s wheelchair, the mechanism can be examined from the
description given in MIT’s website and picture of the model.
Figure 2.1 Ernesto Blanco's Wheelchair Climbing a Staircase [1]

The spokes that extend outward away from the drive wheels are loaded with springs. The
spokes are spaced in such a way that, as the wheelchair rolls on flat terrain; they are completely
compressed inward, allowing the wheelchair to roll entirely on its drive wheels. While climbing
or descending a staircase, the spokes project outward away from the drive wheels to engage
the top edges of the steps.
The contact points act as pivot points and allow the user to climb or descend softly. As the
drive wheels roll on top of the spokes, these are compressed inward allowing the drive wheels
to rest on the top flat surface of the step. Not much else can accurately be said of Blanco’s
wheelchair as no other literature was found.
Another manual stair-climbing wheelchair found is The Manuscale shown in Fig 2.2. Here,
again, little literature has been published on this wheelchair, from which the following
observations are made. The Manuscale moves on the drive and turning wheels as a typical
manual wheelchair. Before climbing, the wheelchair is backed in reverse just in front of the
staircase. The user then pulls on a handle bar which reclines the seat, drops the climbing
sprockets to the floor, and lifts the drive and turning wheels from the floor. In this position, the
wheelchair drive wheels are now connected to the climbing sprockets by a series of chains and
drive sprockets, such that, as the user pulls to turn the drive wheels, the chains drive the
climbing sprockets. As the sprockets move backward, they drop on the top of the first step and
lifts the wheelchair up. The user continues to pull on the drive wheels to continue climbing the
remaining steps.
Figure 2.2 Manuscale Wheelchair [2]
Although Manuscale is capable of climbing stairs, the climb is rather uncomfortable. The
climbing sprockets with only four spokes are spaced far apart from each other and thus slam
the user each time the sprocket turns 90 degrees. Considering the number of turns needed to
climb an average staircase, slamming the user and chair every quarter of a turn is not desirable

for the user or the wheelchair. In addition, it is observed that the right drive wheel controls the
right climbing sprocket and the left drive wheel controls the left climbing sprocket respectfully.
Having independent control of the climbing sprockets can be advantageous when it is required
to make turns during the climbing process. However, it can also sacrifice stability, comfort,
and reliability of the wheelchair and its components and provide an unpleasant experience for
the user. Last, the user powers the climbing sprockets by pulling on the drive wheel rims that
are now difficult to reach while on reclined position, causing strain to the user’s wrist joints.
As seen on the video, pulling on the drive wheels to climb a small wing of steps is tiring and
challenging for the user.
A third manual stair-climbing wheelchair found through an internet search is Vardaan. Figure
2.3 [3] is a wheelchair designed by a group of four engineering students at the Indian Institute
of Technology (IIT). Vardaan is capable of climbing a wing of stairs by pulling on handle bars
connected to sets of “Y” shaped wheels. The power arms are connected to ratchets and braking
systems making a safe and stable climb and descend. As with the previous wheelchairs, there
exist very little published documentation that further explains how Vardaan climbs. Lola Nayar
[4] describes the project and its innovative climbing procedure conducted by Shanu Sharma, et
al. and mentored by Prof. Kanpur. Currently, the wheelchair designed by Shanu Sharma has
been approved by the IIT science and technology departments for further research and possible
mass production.
Figure 2.3 Vardaan Manual Stair-Climbing Wheelchair [3]
The Stairbike shown in Fig. 2.4 is a working prototype of a manual stair-climbing wheelchair
designed to help active individuals with good condition who suffer from paraplegia [5]. With

limited literature published about the Stairbike the following observation can be assumed. The
user is reclined almost parallel to the ground in a very uncomfortable and unsafe position. One
can imagine the difficulty, strength and coordination required to bring the user to a rolling
position (upright) after climbing or descending a staircase. The two clusters of four wheels on
the back are powered by chains and pedals for the user to control with his/her hands.
Figure 2.4 Stairbike Climbing a Staircase [5]
The last reviewed manual wheelchair that claimed to have stair-climbing capabilities was
Zenith. This is a manual stair-climbing wheelchair conceptual design by Josefina Chaves-Posse
et al. shown in Fig. 2.5 in collaboration with the University of Alberta [19]. By observing the
picture of the wheelchair, we can derive that Zenith moves on two tracks on flat terrain and
climbing stairs. It can be observed that there are clusters of three legs with small wheels at the
ends that help during climbing mode.
Figure 2.5 Zenith 3D Model [19]
By pure observation one can assume that the Zenith’s climbing power tracks are controlled
when the user turns the drive wheels’ rims. Also, there appears to be a linear actuator between

the drivetrain and the user, possibly used to recline the seat as the wheelchair climbs the steps.
Little else can accurately be said about Zenith, as no published literature of any kind was found.
Efforts were made to contact the designer with little success.
This completes the summary of manual stair-climbing wheelchairs found in the literature.
Unfortunately, very few scientists and scholars have taken the subject seriously and research
and development of manual stair-climbing wheelchairs lags in development. Since little
information was derived from the limited literature on manual stair-climbing wheelchairs, the
focus is changed to power wheelchairs with stair-climbing capabilities.
2.2 POWER WHEELCHAIRS WITH STAIR-CLIMBING

CAPABILITIES
Power stair-climbing wheelchairs can be categorize in three types. The first type of powered
wheelchairs with stair-climbing capabilities uses wheels or clusters of wheels to climb steps.
The second type involves wheelchairs that use leg-like members to climb one step at the time.
The third type, involves wheelchairs that use a rubber track or some type of crawler to climb.
The following discussion centres on research of products available in today’s marketplace as
well as scholarly published literature.
2.2.1 WHEELCHAIRS THAT USE WHEELS OR WHEEL CLUSTERS

TO CLIMB
The first type of wheelchairs use wheels or clusters of wheels to climb. Fig. 2.6 shows the TGR
Scoiattolo 2000 Wheelchair [6]. This wheelchair is capable of carrying a paraplegic person
upstairs with the help of an assistant. An assistant refers to an adult individual who assists the
user (paraplegic user) to climb or descend the staircase.
Figure 2.6 TGR Scoiattolo 2000 Wheelchair [6]

The TRG Scoiattolo 2000 Wheelchair is equipped with a set of batteries and motors used to
ascend and descent stairs.
Figure 2.7 Independence iBOT 4000 Mobility System
The Independence iBOT 4000 Mobility System is a wheelchair that utilizes clusters of wheels
to climb stairs as shown in figure 2.7 [9]. This system manufactured by Independence
Technology, a Johnson & Johnson Company, is a wheelchair that can assist paraplegic patients
in moving on flat terrain as well as climbing steps without the need of an assistant. The iBOT
can maneuver flat terrain rolling on its four wheels, a function intended to be used primarly in
outdoor environments. In this function, the iBOT is capable of moving through soft or unstable
terrain such as grass, gravel, dirt, and beach sand. In addition, when the wheelchair moves over
a curve or incline, the cluster rotates proportionally to maintain a level seat and maximize the
tipping over factor of safety as described in [9].
Another wheelchair that uses its wheels to climb stairs is the OB-EW-001 Observer Maximus
as shown in Figure 2.8. This device utilizes two powerful motors to drive the front and the rear
wheels independently, making it a power 4WD wheelchair. The wheelchair also uses a
gyroscope to monitor the inclination of the chair when climbing stairs and ramps and a motor
to adjust the seat level with leveled ground.

Figure 2.8 OB-EW-001 Observer Maximus [10]
2.2.2 WHEELCHAIRS AND WHEELCHAIR CARRIERS THAT USE

LEGS TO CLIMB
The second type of stair-climbing wheelchairs and wheelchair carriers consists of leg-like
elements to dominate stairs. Fig. 2.9 shows the Zero Carrier wheelchair designed by Jianjun
Yuan et al. [12, 13]. Zero Carrier is an eight-legged wheelchair equipped with wheels attached
at the end of each leg. Furthermore, the legs are constructed from square tubing fitted inside a
bigger square tubing capable of compressing and expanding. All eight legs are independently
driven by eight motors giving the Zero Carrier the possibility to compress or expand any leg
independent from the rest.
Figure 2.9 Zero Carrier Wheelchair [12]

Wheelchair carriers that utilize leg-like elements to climb stairs include the C-MAX U1 by
AAT The Stairclimber People [11] as shown in Figure 2.10
C-MAX U1 is a wheelchair carrier that is strapped to the back of most manual wheelchairs.
The user requires an assistant to climb stairs. The carrier lifts up the user on two legs and the
assistant takes to position of the back legs to prevent it from falling back. The C-MAX U1 is
composed of an electric motor that runs a rack attached to the legs and pushes it downward
away from the main frame of the carrier.
Figure 2.10 C-MAX U1 Climbing a Staircase [11]
2.2.3 WHEELCHAIRS AND WHEELCHAIR CARRIERS THAT USE A

RUBBER TRACK TO CLIMB
The devices under this category are equipped with some type of climbing tracks often made of
rubber material to help climb stairs. Of all the types studied, these types seem to be the most
abundant and favorable by user as it is very smooth during climbing and descending. The
jerking or sudden acceleration change for these types of climbers is minimized.
The Topchair shown in Figure 2.11 is a powered stair-climbing wheelchair invented by Manse
De Chermont and first produced in 2007 by the Topchair Company [14], [15]. The Topchair
moves on flat ground like typical electric wheelchair and on climbing tracks to climb steps.
Figure 2.11 TopChair Wheelchair Descending a Staircase [14]

The TGR Explorer wheelchair is similar to Topchair and is shown in Figure 2.12, designed by
the Italian company TGR Instruments of Freedom [16] consists of two separate independent
systems; one system consists of three wheels used for flat ground navigation while the other
consists of a climbing track for climbing applications.
Figure 2.12 TGR Explorer Powered Wheelchair [16]
The Stairmax, designed by Lehnar Lifttechnik [20], a wheelchair carrier that can be adapted to
most manual wheelchairs is shown in Fig. 2.13. Stairmax climbs stairs without the use of an
assistant, as long as the user possesses good arm and finger functionality as described in the
operation manual [17]. The staircase is required to have at least one good handrail. In addition
to the climbing track, the Stairmax is equipped with a small wheel in the back to make turns.
Figure 2.13 Stairmax Wheelchair Carrier [17]

2.3 SUMMARY
From the many types of stair climbing wheelchairs, we can see that some of them like
Manuscale, Vardaan use manual method for movement and high effort might be needed to
climb the stairs. The person on the power wheelchair can sit in comfort while it climbs the
stairs but those wheelchairs are not available in India. Even if they can be imported from other
countries the total cost would be very high (i.e. around 9 lakhs). Hence an attempt is required
to make an indigenous and cost effective stair-climbing wheelchair.
2.4 OBJECTIVES
• To design a stair-climbing wheelchair for differently-abled person with lower limb
disability in order to increase their mobility
• To fabricate a stair-climbing wheelchair for differently-abled person with lower limb

disability

CHAPTER 3
METHODLOGY
3.1 DESCRIPTION
The method we followed to complete the project is as follows,
SELECTION Selection
of project
SURVEY Existing Scope for

product improvement
Deisgn of Analysis
DESIGN frame and of frame Calculations
wheel and wheel
FABRICATION Procurement of
material Machining
ASSEMBLY Fitting all

Wiring
the parts
Testing of
TESTING the
wheelchair
Tabulation of
RESULTS results obtained
from testing
3.2 PRINCIPLE PARTS

The wheel chair consists of following principle parts,
3.2.1 Frame
3.2.2 Lobe wheels
3.2.3 Chair
3.2.4 Gear motor and Reduction box
3.2.5 Transmission system

3.2.1 FRAME
A frame is a structural system that supports other components of a physical construction or
steel frame that limits the construction's extent. The frame was designed in solid edge V20
software. This frame was fabricated using MS pipe of outer diameter 25.4 mm and wall
thickness of 1.67mm. The frame can be divided into two parts rectangular part and leg part.
The rectangular part is used to hold the chair along with the tilting mechanism, drive shaft and
gear motor. The leg part is mainly used to hold the planetary wheels and driven shaft. The
dimensions of the rectangular part were chosen by considering the space required for a normal
person to sit comfortably and taking other ergonomic considerations. The properties of mild
steel is shown in table 3.1. The design of the frame in figures 3.1 and 3.2.
Table 3.1: Properties of mild steel
Properties Value
Density 7850 kg/m3
Young’s modulus 2x105 MPa
Poison ratio 0.3
Bulk modulus 1.66x105 MPa
Shear modulus 7.69x104 MPa
Tensile yield strength 250Mpa
Ultimate tensile strength 250Mpa
Compressive yield strength 460Mpa
Figure 3.1: Frame design

Figure 3.2: Frame dimensions
Frame Analysis
The analysis of the frame was done by using ANSYS 15.0. A load of 1500N was applied on
the centre of gravity and the deformation was analysed. The maximum deformation was found
to be 0.1mm. The safety factor for both static and fatigue loading were found good enough to
sustain the load. The safety factor of stress was 7.3 and the safety factor of fatigue was 2.6.
Maximum deformation was found at the plate on which the seat is being mounted. The stress
analysis was done by using the maximum principal stress theory. The loading and boundary
conditions applied during the analysis is as shown in table 3.2. The results of the analysis are
shown in figures 3.3 - figure 3.7.
Figure 3.3: Total deformation of the frame

Figure 3.4: FOS of the frame
Figure 3.5: Fatigue FOS of the frame

Figure 3.6: Maximum principal stress of the frame
Figure 3.7: Maximum principal strain of the frame

Table 3.2: Analysis parameters
Parameter Condition
Type of element tetrahedron
Boundary conditions Frame legs - fixed
Loading condition 1500N on the centre plate in negative y-
direction

The results of the analysis conducted on the frame is as shown in the table 3.3
Table 3.3: Results of analysis
Parameter Value
Max deformation 0.104mm
Factor of safety 7.3
Factor of safety fatigue 2.6
Maximum stress 43.91MPa
Maximum strain 0.00017
3.2.2 LOBE WHEELS

The stair climbing lobe wheel was designed by imitating the continuous foot movement in a
human gait cycle. The discontinuous wheel or stair climbing lobe wheel is designed to produce
similar phase cycle as stance and swing phase of human gait cycle as shown in figure 3.8.
The stair climbing lobe wheel is designed by considering foot size of human so that each
spoke shoe will adjust to the tread size automatically as shown in fig. The size between each
shoe is designed to negotiate maximum height of the riser in public building. It can negotiate
the step riser of range 75 – 185mm and tread width range 230 – 350mm which enables it to
access almost all the stairs in public areas. A light weight wheel with drum brakes was also
developed to control the movement of the shaft during ascending and descending process.
Figure 3.8: Human gait cycle

Figure 3.9: Lobed wheel design
Figure 3.10: Lobed wheel dimensions
Wheel Analysis
Wheel analysis was done by using ANSYS 15.0 software. In the analysis only deformation and
factor of safety of the wheel were considered in static position. The deformation, stress and
strain were calculated. The stress and strain were calculated based on maximum principal stress
theory. The properties of the plywood used to make the lobe wheel are mentioned in table 3.3.
The wheel analysis is shown in figures 3.11 to 3.13.

Table 3.4: Properties of plywood
Properties Value
Density 615 kg/m3
Young’s modulus 11 GPa
Poison’s ratio 0.25
Ultimate tensile strength 35 MPa
Yield compressive strength 31 MPa
Bulk modulus 9.19x103MPa
Shear modulus 4.24x103MPa
Figure 3.11: Total deformation of the wheel

Figure 3.12: Maximum principal stress of the wheel
Figure 3.13: Maximum principal strain of the wheel

3.2.3 CHAIR
The chair is one of the main parts of the wheelchair. The chair is fitted on to the frame of the
wheelchair. There is a tilting mechanism which connects the chair to the frame. There is need
for the tilting mechanism because the person sitting on the wheelchair may feel like slipping
from the seat because of the inclination of the stairs. The more the inclination of the stairs the
more he feels to slip from the chair. So with help of the seat tilting mechanism the person sitting
on the wheelchair can adjust the seat to the higher angle making the seat nearest to parallel to
the ground so that he may sit comfortably on the wheelchair while it is climbing stairs.
Knob to tilt the seat
Figure 3.14: Seat tilting mechanism
The figure 3.15 shows the seat tilting mechanism where the knob is rotated to tilt the seat to
the higher position. The person sitting on the wheelchair can rotate the knob to change the
position of the seat when he wants to climb the stairs. With this the CG of the wheelchair will
be directed towards the ground.
3.2.4 GEAR MOTOR

A gear motor is used as locomotion unit and this motion is transmitted to the wheels through
shafts. This motor is mounted on a support provided by the shaft as shown in figure 3.16. The
dimensions and specifications of gear motor are obtained from standard motors available. A
gear motor of 180 watt power and 1:24 reduction gear ratio is used to reduce the speed to 60
rpm. Further the speed of the motor is reduced to 1.5 rpm using 1:40 ratio gearbox. The
specifications of the motor and the battery is shown in table 3.4 and 3.5 respectively

Table 3.5: Specification of motor

Motor DC gear motor
Voltage 24V
Current 7.5 A
Duty S1
Speed 1440 rpm
Table 3.6: Battery specifications

Battery type Dry battery
Voltage 12 V
Current 7.5 Ah
The battery availability in the market is of 12V, so to provide the required voltage for the motor
two batteries are connected in series to make 24V. The connection for the motor is as shown
in figure 3.15. The motor and the battery is connected in series and the circuit is closed by
connecting a reverse switch. The reverse switch is used to change the direction of the motor so
that the person can either climb up or climb down the stairs.
Reversing switch in control of DC gear motor with Battery

the person on the wheelchair reduction box
Figure 3.15: Motor connection

3.2.5 TRANSMISSION SYSTEM

The transmission component of the wheelchair design is responsible for allowing the operator
to change gears between forward, neutral, and reverse movement. The transmission system
consists of the motor and chain-sprocket system. The motor with the reduction box is directly
mounted on the centre shaft with the help of mountings from the frame to hold the motor in
place. Therefore the motor is mounted rigidly, so that all the torque produced is completely
transferred to the wheels. Now the drive from the centre shaft is transferred to the front and
back shafts with the help of the chain sprocket arrangement. The front and back shafts drive
the wheels which climbs the stairs.
3.2.6 ASSEMBLY AND FABRICATION
Figure 3.16: Assembled wheelchair: Isometric view

Figure 3.17: Assembled wheelchair: Front view
Figure 3.18: Assembled wheelchair: Top view

Figure 3.19: Assembled wheelchair: Side view
The pipes were cut into required lengths and welded properly in correct positions to make the
frame. The plywood was cut to make the lobe shaped wheel. The shafts were machined to fit
as per requirement. The hubs were machined and holes were drilled so as to bolt the sprocket
into place. Then the parts were fitted as follows,
1. The front and rear shaft are held onto the frame with help of Plummer blocks.
2. The hub was fitted on the shafts and the wheels were fitted.
3. The motor and the battery were connected and the motor was fitted onto the
centre shaft.
4. The transmission from the motor to the front and rear shafts were made with
help of chains as shown the figure
5. The seat tilting mechanism was fitted to the chair and then it was fitted to the
frame.
6. The wiring for the motor and the battery were made.
The complete assembly of the wheelchair can be seen in figures 3.16 – 3.19.

CHAPTER 4
WORKING MECHANISM
The power is generated using a DC geared motor. This motor is coupled with a gear box. Due
to this the high speed, low torque input of the motor gets converted to low speed high torque
output. The geared box is coupled with the centre shaft which gets high torque but low rpm.
Two sets of sprockets are used. In both the sets all the sprockets are of 33 teeth. 2 sprockets are
mounted on the centre shaft; the rear shaft and the front shaft have one sprocket each.
The front and rear sprockets receive same high torque as they are on the centre shaft. This
torque is transmitted to both front and the rear shaft using a chain drive system. Since the
sprocket on the front and rear shaft are same there will be no change in the torque transmitted
and also the speed will remain same as the centre shaft. The mechanism can be seen in the
figure 4.1 and figure 4.2.
Figure 4.1: Working mechanism

Figure 4.2: Mechanism top view
Wheel chair when approach the stairs, the seat is tilted backwards. This makes the CG of the
system to shift towards the rear wheel. When the motor is switched on the wheelchair starts to
climb the stairs. The direction can be reversed by using a direction control switch.

4.1 CALCULATIONS
POWER CALCULATIONS
Torque required on a flat surface
Normal force (Fn) = force applied = mg
= 100*9.81
= 981N
Friction force (Ff) = Fn
= 0.2*981
= 196.2 N
Torque required = Ff*rw
= 196.2*0.18
= 35.316 N-m
Torque required on slope

Stair dimensions
Land: 254.0 mm
Rise: 177.8 mm
Slope of stair () = tan-1(177.8/254)
= 35o
Total mass acting (including setup) = 100kg = 100*9.8 = 981N
Normal force acting (Fn) = mgcos
= 100*9.81*cos (35o)
= 803.58 N
Frictional force (Ff) = Fn
= 0.2*803.58
= 160.7 N
Opposing force (Fo) = mgsin
= 100*9.81*sin (35o)
= 562.67 N
Torque required = (Ff + Fo) rw
= (160.7+562.67) 0.18
= 130.20 N-m

Motor torque generated

2NT
Power of motor (P) =
60
21.5T
180 = *0.6 (i.e., 0.6 = efficiency of the motor gear box)
60
Torque at the mid-shaft Tmid = 687.54N-m
Torque generated at wheels = Tmid / 1 (1:1 ratio sprocket arrangement)
= 687.5 / 1
= 687.5 N-m
The following formulae were used to determine the radius and the chain length
P = 2 r2 sin(180/Z2)
Lp = 2*c/15 + (Z1+Z2)/2 + P(Z1-Z2)/(4π2*c)
L = Lp*P
Cactual = P/4[Lp - (Z1+Z2)/2 +√{((Lp-(Z1+Z2)/2)2 – 8(20/2)2}]
Where, P = Pitch of chain
Lp = Pitch length of chain
L = Length of chain
c = center distance
Z1 = no. of teeth on driver
Z2 = no. of teeth on driven
Cactual = actual centre distance
The requirements of the chain-sprocket arrangement is as shown in the table 4.1
Table 4.1 Chain, sprocket and centre distance calculation
Parameter Value
Centre distance 426 mm
Pitch of chain 15 mm
Radius of driven sprocket 78.9 mm
Radius of driver sprocket 78.9 mm
Pitch length of chain 90 mm
Length of chain 1350 mm
Actual centre distance 424.81mm
No of teeth on driver 33
No of teeth on driven 33

CHAPTER 5
RESULTS AND DISCUSSION

After assembly of the wheelchair, we first tested it on normal surface where we loaded it
gradually. The results are shown in the table 7.1.
After successful pull up to 40 kg, people with weight around 60 kg and 80kg were made to sit
on the wheelchair. The motor was able to drive both the weights. The limit of the wheelchair
on the normal surface is 100kg.
Then we tested the wheelchair on a slope where the limit was around 80kg.
The wheelchair was tested on the stairs, the wheelchair could pull weights up to 50 kg so we
made person of 55kg weight sit on the wheelchair and the results are tabulated in the table
below.
Table 5.1 Results
LOAD ON
LOADING CONDITION RESULT
WHEELCHAIR
No load Successful
20kg Successful
40kg Successful
60kg Successful
On flat surface
80kg Successful
100kg Successful
110kg Unsuccessful
No load Successful
20kg Successful
40kg Successful
On inclination (350) 60kg Successful
70kg Successful
80kg Unsuccessful

No load Successful
20kg Successful
30kg Successful
40kg Successful
On stairs (350)
45kg Successful
50kg Successful
55kg Successful
60kg Unsuccessful
5.1 ADVANTAGES AND DISADVANTAGES
5.1.1 ADVANTAGES
 The wheelchair can be used to climb up or climb down the stairs.

 The seat can be tilted to the required angle.
 The wheelchair can climb stairs up to 7 inches in rise.
 The operation of the wheelchair is easy.
 The wheelchair is economical compared to the products in the existing market.
5.1.2 DISADVANTAGES
 The wheelchair is heavy.

 The capacity of the motor required to climb the stairs is high.
 The battery capacity required to run the motor the motor is more.
 The width of the wheelchair is more than the usual wheelchairs.
5.2 APPLICATIONS
 Hospitals and public places
 Institutions and office
 Industries
 Home

5.3 ENGINEERING PRACTICES

5.3.1 HUMAN SAFETY
 The wheelchair is designed such that it can sustain loads up to 1500N i.e. ~150kg.
 The motor speed is very low so that the person on the wheelchair does not feel any
jerks or any imbalances. Also the wheel design is such that there will be reduction in
vibration during the ascent and descent of stairs.
 Seat tilting mechanism is provided to reduce the tendency of slipping of the person
sitting on the wheelchair during ascent.
5.3.2 ENVIRONMENTAL IMPACT
 The wheelchair uses electric motor, so there are no harmful impact on the
environment.
 The wheels which used are made out of wood which is environment friendly and does
not cause any damage to the stairs.
5.3.3 ETHICAL PRACTICES
 All four of us in the project team contributed equally to the project.

 There was no backstabbing or blaming on any team member.
 The design of the wheelchair is based on available standards.
 The details of other stair-climbing wheelchairs discussed are based on the available
literature
5.3.4 COST CONSIDRERATION
 The imported stair-climbing wheelchair available is very costly to buy for a middle-
class people, where as our wheelchair is cost effective and parts are easily replaceable
and available in the market.

CHAPTER 6
BILL OF MATERIALS
The details of the particulars and their respective costs are as shown in the table 6.1
Table 6.1 Bill of materials
SL. UNIT TOTAL

PARTICULARS DESCRIPTION QUANTITY
NO. COST(Rs) (Rs)
25.4mm, 1.6mm wall
1 MS PIPE 12.5kg 60 750
thickness
2 PLYWOOD 19mm thickness 4x3sqft 40 480
3 GEAR MOTOR 180 watts, 24 V 1 4000 4000
4 REDUCTION BOX 40:1 1 6000 6000
5 BATTERY 12 V, 7.6 A 2 650 1300
PLUMMER
6 17 mm, 19mm ID 6 225 1350
BLOCK
7 CHAIR NA 1 1000 1000
TILTINNG
8 NA 1 400 400
MECHANISM
9 MS ROD  19mm 5kg 60 300
10 MS BLOCK NA 2kg 60 120
CHAIN &
11 33 teeth 2 sets 700 1400
SPROCKET
12 FASTENERS NA NA 300 300
13 LABOUR NA NA 4000 4000
14 MISCELLENEOUS NA NA 1000 1000
TOTAL Rs.22400

CHAPTER 7
CONCLUSIONS
The design of the wheelchair is compact and hence is able to move about in almost all the stairs
that we find at institutions, offices, industries and also at some homes. The design is made very
safe and there is no chance of failure of the frame and wheels under normal conditions
According to the tests conducted, the stair climbing wheelchair has a capacity of carrying a
load of 100kgs on flat surface. It has the ability to ascend a flight of stairs of 35-degree elevation
carrying a weight of 55kgs.

CHAPTER 8
FUTURE SCOPE
 The frame weight can be reduced by using high strength lightweight materials such as
composites, carbon fibre.
 The wheelchair can be automated by using electronics so that it will automatically sense
and climb the stairs.

REFERENCES
[1] M. A. (2006, Oct. 01). Professor Ernesto Blanco: A Lesson in Creative Engineering.
Available: http://mitadmissions.org/blogs/entry/ professor_ernesto_blanco_a_les
[2]Manuscale.(2013,Oct.01).’United Spinal' Techguide. Available:

http://www.usatechguide.org/itemreview.php?itemid=1612
[3] S. Sharma. (2012,Oct.01). Vardaan: stair climbing wheelchair. Available:

http://www.techpedia.in/award/project-detail/VARDAAN-A-Convertible-Manual-Stair-
Climbing-Wheelchair
[4] l. Nayar. (2012,oct.02). Where the pedal meets the mettle. Available:
http://photo.outlookindia.com/images/gallery/20120612/wheelchair_iit_k_20120625.jpg
[5] S. S. f. E. B. a. Innovation. (2008, Oct. 01). The first manual stair-climbing wheelchair in
the world. Available: http://www.enterprise-europe-
network.ch/marketplace/index.php?file=bbs-
show.php&bbsref=08%20CZ%200746%200IRD
[6] T. S. d. Liberta. (Oct. 14). Scoiattolo 2000. Available: http://www.tgr.it/
[7] Y. Sugahara, N. Yonezawa, and K. Kosuge, "A novel stair-climbing wheelchair with
transformable wheeled four-bar linkages," in Intelligent Robots and Systems (IROS), 2010
IEEE/RSJ International Conference on, 2010, pp. 3333-3339.
[8] TGR. (2009, Oct. 01). Scoiattolo 2000/E. Available:

https://www.youtube.com/watch?v=pm0695001Y8
[9] I. Technology. (2013, Oct. 01, 2013). iBOT 4000 mobility system without fold-flat-seating
user manual. Available: http://www.ibotnow.com/ manuals_without_foldflat.html
[10] Unlimited Wheelchair Observer. (2013, Oct. 01, 2013). OB-EW-001 Maximus. Available:
http://www.observer-mobility.com/obew01.html
[11] AAT The Stairclimber People. (2008, Oct. 01). The Universal Stair Climber C-max.
Available: http://www.aatgb.com/cmax_u1_powered_ stairclimber.html
[12] J. Y. S. Hirose, "Zero Carrier: A Novel Eight Leg-Wheels Hybrid Stair Climbing Mobile
Vehicle," Journal of Robotics and Mechatronics, vol. 17, pp. 44-51, 2004.

[13] Y. Jianjun and S. Hirose, "Research on leg-wheel hybrid stair-climbing robot, Zero
Carrier," in Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on,
2004, pp. 654-659.
[14] TopChair. (2012, 09/10/2013). TopChair User Guide. Available:

http://www.topchair.fr/en/documentations/
[15] F. Barlin. (2007, Oct. 01). The new topchair stair climbing wheelchair ready for
commercialization. Available: http://www.sibaya.com/index.php/ topchair-stair-climbing-
wheelchair-ready-for-commercialization/ 119
[16] TGR Strumenti di Liberta. (Oct. 01). Explorer is the only one able to help ensure the total
independence to whom uses it. Available: http://www.tgr.it/?portfolio=explorer
[17] Lehner Lifttechnik. (2006, Oct. 01). Stairmax mobile Stairlift User Manual. Available:
http://www.lehner-lifttechnik.at/en/download
[18] J. Vlk, "Driving System for passing fly-over obstacles by invalid chair," US Patent US
7,394,023 B2, 2009.
[19] J. Chaves-Posse. (2010, Oct. 01). Zenith Wheelchair. Available:

http://www.coroflot.com/jopi/zenith-wheelchair
[20] AmeriGlide Accessibility Solutions. (Oct. 01). AmeriGlide Wheelchair Stair Climber.
Available: http://www.ameriglide-wayne-nj.com/item/AmeriGlide-AG-CLIMBER.html

ANNEXURE – I
PROGRAMME OUTCOMES (POs)
AND
PROGRAMME SPECIFIC OUTCOMES (PSOs)
I. PROGRAM OUTCOMES (POs)
1. Engineering knowledge: Apply the knowledge of mathematics, science, engineering

fundamentals, and an engineering specialization to the solution of complex engineering
problems.
2. Problem analysis: Identify, formulate, review literature, and analyze complex
engineering problems reaching substantiated conclusion using first principles of
mathematics, natural sciences, and engineering sciences.
3. Design/development of solutions: Design solutions for complex engineering problems
and design system components or processes that meet the specified needs with
appropriate consideration for the public health and safety, and the cultural, societal, and
environmental considerations.
4. Conduct investigation of complex problems: Use research-based knowledge and
research methods including design of experiments, analysis, and interpretation of data,
and synthesis of the information to provide valid conclusions.
5. Modern tool usage: Create, select, and apply appropriate techniques, resources, and
modern engineering and IT tools including prediction and modelling to complex
engineering activities with an understanding of the limitations.
6. The engineer and Society: Apply reasoning informed by the conceptual knowledge to
access social, health, safety, legal and cultural issues and the consequent responsibilities
relevant to the professional engineering practices
7. Environment and sustainability: Understand the impact of professional Engineering
solutions in societal and environmental context, and demonstrate the knowledge of, and
need for sustainable development.
8. Ethics: Apply ethical principles and commit to professional ethics and responsibilities
and norms of Engineering practice.

9. Individual and teamwork: Function effectively as an individual, and as a member or

leader in diverse teams, and in multidisciplinary settings
10. Communication: Communicate effectively on complex engineering activities with the
engineering community and with society at large, such as, being able to comprehend
and write effective reports and design documentation, make effective presentations, and
give and receive clear instructions.
11. Project management and Finance: Demonstrate knowledge and understanding of the
Engineering and Management principles and apply these to one's own work, as member
and leader in a team, to manage projects and in multidisciplinary environments.
12. Life-Long learning: Recognize the need for, and have the preparation and ability to
engage in independent and lifelong learning in the broadcast context of technological
change.
II. PROGRAM SPECIFIC OUTCOMES (PSOs)
1. Applied principles of basic science, mathematics, machine design, manufacturing,

thermal engineering and management to solve real life mechanical engineering
problems.
2. Use professional engineering practices and Strategies for the development, operation
and maintenance of mechanical system/ processes.
PO and POS Mapping:
PO1 PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 PO10 PO11 PO12 PSO1 PSO2
3 3 3 3 2 2 3 3 3 3 2 3 3 2
Correlations: 3- High 2 – Medium 1 - Low
After completing the project work, we were able to acquire the above shown program outcomes
and program specific outcomes.

ANNEXURE – II
PROJECT PHOTOS
Isometric view of the wheelchair
Front view of the wheelchair

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CONTENTS

 Lower limb disabled people

1.1.2 TYPES OF WHEELCHAIR

Department of Mechanical Engineering, VVCE, Mysuru Page 1

1.1.2.1 Manual self-propelled wheelchair

Figure 1.1: Manual self-propelled wheelchair

1.1.2.2 Manual attendant-propelled wheelchairs

An attendant-propelled wheelchair is generally similar to a self-propelled manual wheelchair,

Figure 1.2: Manual attendant-propelled wheelchair

1.1.2.3 Powered wheelchairs

An electric-powered wheelchair, commonly called a "power chair" is a wheelchair which

Department of Mechanical Engineering, VVCE, Mysuru Page 2

Figure 1.3: Powered wheelchair

1.1.2.4 Mobility scooters

Figure 1.4: Mobility scooter

1.1.2.5 Single-arm drive wheelchairs

Department of Mechanical Engineering, VVCE, Mysuru Page 3

Figure 1.5: Single arm drive wheelchair

1.1.2.6 Reclining wheelchairs

Figure 1.6: Reclining wheelchair

1.1.2.7 Sports wheelchairs

Department of Mechanical Engineering, VVCE, Mysuru Page 4

Figure1.7: Sports wheelchair

1.1.2.8 All-terrain wheelchairs

Figure 1.8: All-terrain wheelchair

Department of Mechanical Engineering, VVCE, Mysuru Page 5

Each step is composed of tread and riser.

The part of the stairway that is stepped on. It is constructed to the

Department of Mechanical Engineering, VVCE, Mysuru Page 6

The following stair measurements are important:

Figure 1.9: Stair terminologies

Department of Mechanical Engineering, VVCE, Mysuru Page 7

1.2.1 STANDARD STAIR SIZE

Figure 1.10: Standard stair size

Department of Mechanical Engineering, VVCE, Mysuru Page 8

2.1 MANUAL WHEELCHAIRS WITH STAIR-CLIMBING

Figure 2.1 Ernesto Blanco's Wheelchair Climbing a Staircase [1]

Department of Mechanical Engineering, VVCE, Mysuru Page 9

Figure 2.2 Manuscale Wheelchair [2]

Department of Mechanical Engineering, VVCE, Mysuru Page 10

Figure 2.3 Vardaan Manual Stair-Climbing Wheelchair [3]

Department of Mechanical Engineering, VVCE, Mysuru Page 11

Figure 2.4 Stairbike Climbing a Staircase [5]

Figure 2.5 Zenith 3D Model [19]

Department of Mechanical Engineering, VVCE, Mysuru Page 12

2.2 POWER WHEELCHAIRS WITH STAIR-CLIMBING

2.2.1 WHEELCHAIRS THAT USE WHEELS OR WHEEL CLUSTERS

Figure 2.6 TGR Scoiattolo 2000 Wheelchair [6]

Department of Mechanical Engineering, VVCE, Mysuru Page 13

Figure 2.7 Independence iBOT 4000 Mobility System

Department of Mechanical Engineering, VVCE, Mysuru Page 14

Figure 2.8 OB-EW-001 Observer Maximus [10]

2.2.2 WHEELCHAIRS AND WHEELCHAIR CARRIERS THAT USE

Figure 2.9 Zero Carrier Wheelchair [12]

Department of Mechanical Engineering, VVCE, Mysuru Page 15

Figure 2.10 C-MAX U1 Climbing a Staircase [11]

2.2.3 WHEELCHAIRS AND WHEELCHAIR CARRIERS THAT USE A

Figure 2.11 TopChair Wheelchair Descending a Staircase [14]

Department of Mechanical Engineering, VVCE, Mysuru Page 16

Figure 2.12 TGR Explorer Powered Wheelchair [16]

Figure 2.13 Stairmax Wheelchair Carrier [17]

Department of Mechanical Engineering, VVCE, Mysuru Page 17

• To fabricate a stair-climbing wheelchair for differently-abled person with lower limb