Design of a novel, one-sided, pedal-activated wheelchair.

The present paper proposes the design of a novel, one-sided, pedal-activated wheelchair for patients with hemiplegia or hemiparesis. The design comprises a planetary hub transmission, which is embedded in the hub of the wheelchair, with drive, neutral, and reverse modes. The paper first discusses the structural characteristics and motion transmission of the wheelchair, and then presents the motion design of the hub transmission, followed by assembly and testing of the prototype. The results confirm that the proposed wheelchair and hub transmission can meet users' demands, thus improving comfort and independence.