本研究目標為設計與製作新式電動輪椅腳輪，電動輪椅底座將由後輪與前輪兩種腳輪模組所驅動。前輪主要功能是使整台輪椅具備轉向能力。後輪是使輪椅前進以及側向平移，以克服室內狹小空間的限制，增加輪椅的機動性。本文創新兩種不同後輪的電動腳輪模組，分別為第二代與第三代。兩代輪子皆僅用一顆馬達，且藉由使用單向軸承，使得輪子均有前進及自旋二個自由度，和傳統使用萬向輪的設計比較，此設計具有節省能源及容易控制的優點。

The objective of this paper is to develop innovative wheels for the powered wheelchair. This wheelchair’s chassis is equipped with two types of wheel modules. The main function of the front wheel modules is turning, and that of the rear wheel modules is moving forward or sideways so as to overcome the small interior space constraints and to increase the mobility of the wheelchair. Two generations of the rear wheel modules were developed. They both use one motor to achieve two-degree-of-freedom motion by taking the advantage of the one-way bearing. Compared to the traditional omni-wheel design, the wheel module developed in this research is energy-saving and easy to control.

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