本研究目標為設計與製作一新型電動輪椅，其底座由單一馬達搭配單向軸承與蝸輪減速機的電動腳輪模組共四組所驅動，由於每一模組皆具獨立前進與轉向之能力，使輪椅可側向平移，以克服室內狹小空間的限制，增加輪椅的機動性，並較傳統使用萬向輪方式約可減少30%的秏電量。另外，為避免乘坐者因久坐而產生褥瘡，配合輪椅的上下兩部分，而設計一坐姿變換機構，可經由滾珠螺桿轉動，移動兩部分間的接點，調整乘坐者的坐姿。再加上前後輪距的改變，不僅增加可變換的角度，更可調整輪椅的重心位置，避免落於前後輪外而傾倒。

In this thesis, the development of a new type of power wheelchair is presented. This wheelchair’s chassis equips 4 power-steered- standard-wheel modules, which makes wheelchair can move in any direction, including lateral translation, not only overcomes the limitation of indoor space, but also increases the wheelchair’s mobility. Moreover, the wheel module is very energy efficient; compared to the traditional omni-wheels, this module can save about 30% energy. On the other hand, to avoid press sore due to long periods of sitting, a new reclining system is utilized. Because the wheelchair could be separated into up-part and down-part, when moving the link of two parts by a ball-screw could adjust users’ sitting posture. Besides, the distance between front wheels and rear wheels can also adjust users’ sitting posture, making not only increasing the angle of seat-changed but also adjust wheelchair’s position of gravity center, avoiding gravity center not between front wheels and rear wheels what could lead to wheelchair fall down.

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