PROBLEM TO BE SOLVED: To provide a wheelchair which has a simple configuration, which eliminates the risk of falling, and which can ascend/descend stairs and the like.SOLUTION: A wheelchair includes a serial link arm mechanism 3 which is provided on each of the front and rear of both side surfaces of a chair section 2, which has wheels 31 provided at leading ends and which has at least two degrees of freedom, and a processing section 7 which controls the serial link arm mechanism 3 so as to bring two or more of front wheels 4 and the wheels 31 on each of right and left sides into contact with ground.COPYRIGHT: (C)2014,JPO&INPIT【課題】簡易な構成で、転倒する恐れがなく、階段等を昇降可能とする。【解決手段】椅子部2の両側面の前後にそれぞれ設けられ、先端に車輪31を有し、少なくとも2自由度を有する直列リンクアーム機構3と、前輪4および車輪31のうち左右それぞれ2輪以上を接地させるよう直列リンクアーム機構3を制御する処理部7とを備えた。【選択図】図1
