Based on the linked source; automatically prepared and checked against the original report.
Design and controls
The proposed wheelchair combines a rear stair-negotiation mechanism with dual 12-volt linear actuators and differential-drive 24-volt brushless hub motors. A NodeMCU ESP8266 controller supports wireless communication through the Blynk interface, while the broader platform incorporates mechatronic mobility control, obstacle detection, IoT monitoring and GPS-based tracking.
Experimental performance
In reported tests, the prototype negotiated stairs with risers measuring 150–180 millimetres and treads measuring 250–300 millimetres. It completed 10 of 10 unloaded trials and seven of 10 trials carrying a 70-kilogram occupant. The study also reports 45-millisecond obstacle-detection latency, GPS accuracy within ±2.5 metres, remote-command response of about 180 milliseconds, and Wi-Fi connectivity over 15–30 metres.
Sustainability and limitations
The authors estimate fabrication costs of USD 350–450 and a five-year, scaled total cost of ownership of USD 555–735, described as 82% below commercial benchmarks. They also estimate 180 kilograms of embodied carbon and 78% recyclability through LiFePO4 battery recovery. Projected quality-of-life gains span all four WHOQOL-BREF domains, but the record is a preprint and the loaded stair trials achieved 70% success.
