Design of a Standard Wheelchair Extension Using a Semi-automatic Crawler System for Stair Mobilization with PID Control for Motor Speed

In Peru, 2.76% of the population, equivalent to some 932,000 people, have motor disabilities and use wheelchairs. These people face accessibility problems due to the lack of inclusion in architecture, especially when using stairs. The research proposes to design a portable extension for wheelchairs, which allows users to go up and down stairs autonomously and safely, by means of a PID speed control. Although there are solutions such as ramps, lightweight chairs and motorized devices, most of them do not provide full autonomy to the user