Back and forward moving scheme of front wheel raising for inverse pendulum control wheel chair robot

A power assist wheel chair robot by which a patient can climb over steps/curbs without any helper´s assistance is proposed. A patient can maintain inverse pendulum control of the wheel chair after raising its front wheels. Next, a patient can move to the step maintaining the inverse pendulum control, and can climb over the step being assisted by DC motor force. A light weight wheel chair system was optimally designed using small DC motors. The system required the patient´s assistance to start the front wheel raising. A new front wheel raising scheme is proposed in the paper, which does not require the patient´s assistance. The new scheme is using the back and forward moving scheme in which the wheel chair goes back first and then goes forward in order to start the front wheel raising.