Development of Stair Climbing Machine with Using Linkage

In order to assist stair climbing movement for ALS patients and patients with spinal cord injury, we are developing a stair climbing machine. Although most stair climbing machine adopt crawler mechanism, crawler system has some problems such as damaging floor and slip dropping. Therefore, we adopt linkage mechanism for stair climbing. This device also has advantage that users can keep their posture horizontally．In this paper, we describe this device’s mechanism which can transfer its center of gravity in a horizontal direction.