Abstract
Obstacles such as ramps, steps and irregular floor surfaces are commonly encountered in homes, offices and other public spaces. These obstacles frequently limit the daily activities of people who use mobility aids. In this paper, a new offsetting mechanism for climbing a step while reducing the required horizontal climbing force and its step-climbing wheel prototype are proposed. Specifically, the proposed wheel allows to integrate into an existing personal assist devices. The proposed step-climbing wheel can help to reduce this limitation. The physical and mental burdens of caregivers and medical staff can also be reduced by making the users of the mechanism more self-sufficient. This paper provides details on this offsetting mechanism and its prototype. The mechanism is analyzed mathematically and its functionality is verified by experiments using a prototype.
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