An automated
wheelchair for moving over a contact surface. The automated
wheelchair includes an operator chair for seating the
wheelchair operator, a control computer, an operator
input device for transmitting operator inputs to the control computer, and two
wheelchair wheels for propelling the wheelchair. Each wheelchair wheel includes extendable and retractable spokes. The extension and retraction of each
spoke is controlled by a motor. At the ends of each
spoke are
contact sensor devices. The control computer is programmed to receive inputs transmitted from the
contact sensor devices to generate a
terrain profile. The control computer generates and sends control signals to each
spoke motor in response to the operator inputs and in response to the
terrain profile generated by the
contact sensor devices. In a preferred embodiment the contact sensor devices are
pressure sensor devices. Also in a preferred embodiment, rotatable pneumatic wheels are attached to both ends of each spoke. Preferably, a
brake is applied to at least one pneumatic wheel per wheelchair wheel while the wheelchair is moving over the contact surface. Preferably, the automated wheelchair is capable of moving over a variety of contact surface types, including: a set of
stairs with uniform rise to run ratio, a set of
stairs with non-uniform rise to run ratio, a set of straight
stairs, a set of curved stairs, over a curb or over rough
terrain.