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A 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. The authors' 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.
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Wellman et al. (1995) studied this question.
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