Wellman, ParrisKrovi, VenkatKumar, VijayHarwin, William2023-05-222023-05-221995-12-012010-09-30https://repository.upenn.edu/handle/20.500.14332/39962A 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.GRASPEngineeringMechanical EngineeringArticle