Abstract
In this paper, a walker that enables disabled or elderly people to rehabilitate outdoors is proposed. This walker has a pair of rotary cross arms with passive wheels, which allow it to get over steps. The user can travel safely because this walker is passive and cannot move unintentionally with driving force. The walker has a small turning circle because the rotary cross arms with wheels are located in front of the body; therefore it has good maneuverability. This paper presents the conceptual design of the walker and proposes two traveling modes according to the states of the rotary cross arms: 1-wheel mode and 2-wheels mode. The former is suitable for traveling indoors and on an asphalt surface. The latter is designed for traveling on bumpy outdoor surfaces such as pavement with interlocking bricks. In the case of the 1-wheel mode, each arm begins to rotate automatically if the angle of the arm is over the threshold. The maneuverability of the walker is also discussed through simulations. Results obtained from experiments demonstrate that an elderly person can travel stably indoors or outdoors, and can climb a step of 3.6 cm height indoors.
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