Analysis of front wheel raising and inverse pendulum control of power assist wheel chair robot

A power assist wheel chair robot by which a patient can climb over steps/curbs up to about 10cm without any helper's assistance is proposed in this paper. 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. The modeling and analysis of the front wheel raising and inverse pendulum control are presented in this paper.