A strategy for step climb using wheelie on a one hand drive wheelchair with a triple ring

We have been produced a one hand drive wheelchair, which has the original manipulation mechanism with a triple ring and power assist units. In this wheelchair, some assist functions realize comfortable drive. In this paper, we newly develop an assist function of the one hand drive wheelchair, which realizes a step climb by using wheelie. We propose a strategy for the step climb using the manipulation mechanism and the assist unit. The usefulness of the proposed assist function is verified by experiments using a prototype.