This paper discusses a cooperative strategy that enables a wheelchair and a wheeled robot to climb and descend a step. In this method, not only does the robot assist the wheelchair user, but also the user assists the robot to overcome the step. The research indicates the feasibility of this new cooperative strategy between a physically disabled person and a personal robot that is not designed for high-level performance. The two vehicles (the wheelchair and the wheeled robot) are connected by a simple link mechanism, the two connecting positions of which are free joints. This method is especially affected by the link positions. A numerical calculation clarifies the combinations of the two link positions to avoid a collision between each vehicle and to overcome a step at the same time. The result of the simulations indicate that it is necessary to change the link positions to climb and descend a step safely. The experimental results show that this method is effective.
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