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A proof-of-concept prototype walking chair for the disabled 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 walking on uneven terrain and circumventing obstacles. The important design considerations, the system design and an experimental prototype of a chair, are discussed. Redundancy in actuation enables the online optimization of tractive forces which enhances the adaptability of the system.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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Wellman et al. (2002) studied this question.
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