Completely Accessible Self-Controlled Electronics Wheelchairs Motor Driver to Stabilization of Acceleration of Gravity

Consider of the rapidly aging populations in present danger, in order to contribute the accessible living environment for aging and disable people, with the completely self-controlled mobility regardless of the height difference, such as the stairs, the threshold, the gap. We now develop the electronics wheelchairs driver with parallel of the three-wheels plus one pair of aid-wheel. This study is to solve the problem of acceleration of gravity while the wheelchairs loaded. The main task is to keep the wheelchairs well balanced and stable.