Transformable Wheelchair–Exoskeleton Hybrid Robot
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  • Release Date: 2023-03-29
  • exoskeletons
  • wheelchair
  • sit-to-stand motion
  • differential driving
Video Introduction

This video is adapted from 10.3390/robotics12010016

A novel wheelchair–exoskeleton hybrid robot that can transform between sitting and walking modes. The lower-limb exoskeleton uses planetary-geared motors to support the hip and knee joints. Meanwhile, the ankle joints are passive. The left and right wheel modules can be retracted to the lower legs of the exoskeleton to prepare for walking or stepping over obstacles. The chair legs are designed to form a stable sitting posture to avoid falling while traveling on smooth surfaces with low energy consumption. Skateboard hub motors are used as the front driving wheels along with the rear caster wheels.

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Chaichaowarat, R.; Prakthong, S.; Thitipankul, S. Transformable Wheelchair–Exoskeleton Hybrid Robot. Encyclopedia. Available online: (accessed on 13 April 2024).
Chaichaowarat R, Prakthong S, Thitipankul S. Transformable Wheelchair–Exoskeleton Hybrid Robot. Encyclopedia. Available at: Accessed April 13, 2024.
Chaichaowarat, Ronnapee, Sarunpat Prakthong, Siri Thitipankul. "Transformable Wheelchair–Exoskeleton Hybrid Robot" Encyclopedia, (accessed April 13, 2024).
Chaichaowarat, R., Prakthong, S., & Thitipankul, S. (2023, March 29). Transformable Wheelchair–Exoskeleton Hybrid Robot. In Encyclopedia.
Chaichaowarat, Ronnapee, et al. "Transformable Wheelchair–Exoskeleton Hybrid Robot." Encyclopedia. Web. 29 March, 2023.