Departmental Papers (MEAM)

Document Type

Journal Article

Subject Area


Date of this Version



Suggested Citation:
Wellman, P., V. Krovi, V. Kumar and W. Harwin. (1995). "Design of a Wheelchair with Legs for People with Motor Disabilities." IEEE Transactions on Rehabilitative Engineering. Vol. 3(4). pp. 343-353

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A proof-of-concept prototype wheelchair with legs for people with motor disabilities is proposed, with the objective of demonstrating the feasibility of a completely new approach to mobility. Our prototype system consists of a chair equipped with wheels and legs, and is capable of traversing uneven terrain and circumventing obstacles. The important design considerations, the system design and analysis, and an experimental prototype of a chair are discussed. The results from the analysis and experimentation show the feasibility of the proposed concept and its advantages.



Date Posted: 05 October 2010

This document has been peer reviewed.