Abstract
The problem of the aging society has become more serious, and the use rate of the mobile auxiliary equipment such as wheelchair has increased. Moreover, the situation of the ground on which such wheelchairs run becomes complicated by the urbanization progress, and especially, for the rough terrain and the obstacle, the elderly and the their caregivers meet difficulties to pass through due to such as the distance and the external force. According to this situation, a new mobility device adapted to various running environments is required. This research has proposed a deformable wheel to overcome these issues. The deformation wheel was designed to be able to run in the rough plane such as a step, and it runs only by the rotation motion of the wheel, with the expansion mechanism with the variable diameter hub added, while retaining the performance of the circular wheel which can run on the high efficiency and high speed in the plane.
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