Design and construction of a cycling-based wheelchair prototype

In this paper, a design and construction of a cycling-based wheelchair prototype with leg-exoskeletons are proposed with product considerations for persons who have lower limb problems. For the conceptual and mechanical design, an exoskeleton linkage attached to wheelchair is designed carefully for comfortable considerations to users. Particularly, functional flowchart and control is proposed to enable the prototype to help users to move around and to exercise simultaneously. In addition, two prototypes built in the years of 2015 and 2017 are shown and compared to describe the characteristics of the solutions. At last, the product considerations are analyzed according to our design.