THE PARALIFT:

A HUMAN-POWERED WHEELCHAIR LIFT FOR VANS

MEIE 4701-4702

Final Report

The ParaLift:
A Human-Powered Wheelchair Lift for Vans
Final Report
Design Advisor: Prof. Jim Papadopoulos
Design Team
Christopher Balino, Ovilia Hanafiah
Jerry Kim, Nelly Nganga, Alyanna Tenorio

December 8, 2015

Department of Mechanical and Industrial Engineering

College of Engineering, Northeastern University
Boston, MA 02115

THE PARALIFT:
A HUMAN-POWERED WHEELCHAIR LIFT FOR VANS

Design Team
Christopher Balino, Ovilia Hanafiah
Jerry Kim, Nelly Nganga, Alyanna Tenorio
Design Advisor
Prof. Jim Papadopoulos

Sponsor
Paul Bowers

Abstract
Paul Bowers, a paraplegic wheelchair user and activist for the disabled community, dislikes his wheelchair
vehicle lift because it is noisy, slow, and expensive. Current regulations for wheelchair vehicle lifts designed for extremely heavy loads that are appropriate for a public service - are not necessary for most
paraplegic users who drive their own vehicles. Therefore, he requested a human-powered lift that is
smoother, simpler, lighter, and more ergonomic. The team has worked closely with Paul to determine the
best lift alternative: a ParaLift design that enables a high-functioning paraplegic wheelchair user to board
a platform parallel to the vehicle, complete a pull-up motion using an overhead bar to raise himself and the
lift to the level of the vehicles floor, swivel himself into the vehicle, and stow the lift away. A system of
counterbalance weights will be used to facilitate the manual lift of the user, platform and wheelchair. Entry
through the passenger-side door makes it usable in any parking space and avoids traffic. After establishing
a final design, the main components of the lift were fabricated. The lift will be sent for testing and evaluation
at the Landsberger Rehabilitation Engineering Lab, which focuses on assistive devices for the disabled
community, at California State University Los Angeles.
Keywords: Wheelchair, Lift, Counterbalance, Vehicle, Paraplegic, Disabled

Table of Contents
1

Introduction ............................................................................................................................................7

Problem Statement .........................................................................................................................7

Goals, Specifications, and Sponsor Needs .....................................................................................7

Background ............................................................................................................................................8

2.1.1

Patents U.S. 5806632 A Spring Assisted Deployment System .......................................8

2.1.2

Patents U.S. 4664584 A Rotary wheelchair lift ...............................................................9

2.1.3

Previously Published Work....................................................................................................9

Literature Search ............................................................................................................................8

Key Theories and Technologies...................................................................................................10

2.2.1

Regulations ..........................................................................................................................10

2.2.2

Existing Products Vans and Wheelchair ...........................................................................11

2.2.3

Existing Products Lifts ......................................................................................................13

2.2.4

Existing Counterbalance Mechanisms Weights................................................................14

2.2.5

Existing Counterbalance Mechanisms Springs .................................................................15

2.2.6

Platform Leveling and Rotating Mechanisms......................................................................18

Initial Design Phase .............................................................................................................................19

Initial Sketches .............................................................................................................................19

Mock-up Sessions ........................................................................................................................20

Final Design Phases .............................................................................................................................21

Operating Procedure ....................................................................................................................21

CAD Modeling and Design .........................................................................................................28

4.2.1

Column .................................................................................................................................29

4.2.2

Weight Counterbalance System ...........................................................................................29

4.2.3

Platform................................................................................................................................31

4.2.4

Sliders ..................................................................................................................................34

4.2.5

A-Bar Connection from Platform to Column ......................................................................35

4.2.6

Grab Bar ...............................................................................................................................36

Calculations and Finite Element Analysis (FEA) ........................................................................37

IRB Activity .................................................................................................................................42

Future Work .........................................................................................................................................43

Wheelchair Acquisition ............................................................... Error! Bookmark not defined.

Van Model ................................................................................... Error! Bookmark not defined.

3

Multi-Level Locking Mechanism ................................................................................................43

Platform Gripping System ...........................................................................................................43

Slider Stopper System ..................................................................................................................43

Further Evaluation at Landsberger Rehabilitation Lab ................................................................44

Project Management ............................................................................................................................44

Intellectual Property .............................................................................................................................44

Description of Problem ................................................................................................................44

Proof of Concept ..........................................................................................................................45

Progress to Date ...........................................................................................................................45

Individual Contributions ..............................................................................................................45

References ............................................................................................................................................45

Appendix ..............................................................................................................................................47

Appendix A: Honda Element Design Requirements ...................................................................47

Appendix B: Purchase orders per assembly and system ..............................................................48

List of Figures
Figure 1 Patent U.S. 5806632 A: spring assisted deployment system........................................................9
Figure 2 Portion of FMVSS 571 ...............................................................................................................10
Figure 3 Relevant dimensions for ramp & lift conversions in typical vehicles ........................................12
Figure 4 (Left to right) under-the-vehicle, swing/rotary, and platform lifts19 ..........................................13
Figure 5 - Braun Swing-A-Way ...............................................................................................................14
Figure 6 - Weight Counterbalance System ..................................................................................................15
Figure 7 Gas spring ...................................................................................................................................15
Figure 8 Torsion spring in garage door application ..................................................................................16
Figure 9 Force vs. total length for extension springs ................................................................................17
Figure 10 Schematic of a zero-length spring system, where y, s, b, and a are sides of the triangle created
by a pivot, m is mass, and g is gravity .........................................................................................................17
Figure 11 Parallelogram leveling mechanism...........................................................................................18
Figure 12 Turntable bearing......................................................................................................................18
Figure 13 Torsion spring design ...............................................................................................................19
Figure 14 Counterweight design ...............................................................................................................19
Figure 15 Column and spring design ........................................................................................................20
Figure 16 Zero-length spring and parallelogram design ...........................................................................20
Figure 17 Mockup lift ...............................................................................................................................21
Figure 18 Step 1 of entry ..........................................................................................................................22
Figure 19 Step 2 of entry ..........................................................................................................................22
Figure 20 Step 3 of entry ..........................................................................................................................23
Figure 21 Step 4 of entry ..........................................................................................................................23
Figure 22 Step 5 of entry ..........................................................................................................................23
Figure 23 Step 6 of entry ..........................................................................................................................24
Figure 24 Step 7 of entry ..........................................................................................................................24
Figure 25 Step 8 of entry ..........................................................................................................................24
Figure 26 Step 9 of entry ..........................................................................................................................25
Figure 27 Step 1 of exit .............................................................................................................................25
Figure 28 Step 2 of exit .............................................................................................................................25
Figure 29 Step 3 of exit .............................................................................................................................26
Figure 30 Step 4 of exit .............................................................................................................................26
Figure 31 Step 5 of exit .............................................................................................................................26
Figure 32 Step 6 of exit .............................................................................................................................27
Figure 33 Step 7 of exit .............................................................................................................................27
Figure 34 Step 8 of exit .............................................................................................................................27
Figure 35 Step 9 of exit .............................................................................................................................28
Figure 36 Complete assembly with and without wheelchair ....................................................................28
Figure 37 Detail of column .......................................................................................................................29
Figure 38 Stowed configuration................................................................................................................30
Figure 39 Deployed configuration ............................................................................................................30
Figure 40 Lifted configuration ..................................................................................................................31
Figure 41 Top view of platform ................................................................................................................31
Figure 42 Dimensions calculated from swinging motion .........................................................................32
Figure 43 Bottom view of platform ..........................................................................................................32
Figure 44 - A-support connected to base plate ............................................................................................33
Figure 45 - Detail of base plate ....................................................................................................................33
Figure 47 Magnified view of stowing slider ............................................................................................34
Figure 46 Lifting slider and stowing slider on column .............................................................................34
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Figure 48 Three slider configurations .......................................................................................................35

Figure 49 - A-Bar connection to attach platform to the column ..................................................................36
Figure 50 - Isometric view of grab bar hinge connections ..........................................................................37
Figure 51 - Grab bar (perpendicular to column) ..........................................................................................37
Figure 52 FBD of A-Bar and Platform system .........................................................................................38
Figure 53 Stowing slider stress analysis ...................................................................................................39
Figure 54 Stowing slider displacement analysis .......................................................................................40
Figure 55 Platform stress analysis (in psi) ................................................................................................41
Figure 56 Platform displacement analysis (in inches) ..............................................................................42
Figure 57 Van model ................................................................................ Error! Bookmark not defined.
Figure 58 Gantt chart ................................................................................................................................44
Figure 59 General dimensions of the 2011 Honda Element (in inches) ...................................................47

List of Tables

Table 1 Relevant dimensions for ramp & lift conversions in popular minivans (in inches)7 ...................12
Table 2 Abilities Expo survey data ...........................................................................................................43
Table 3 General dimensions of the 2011 Honda Element (in inches), ......................................................47
Table 4 Slider and column assembly purchase order................................................................................48
Table 5 Weight counterbalance system purchase order ............................................................................48
Table 6 Platform system purchase order ...................................................................................................49
Table 7 A-Bar Connection Assembly Purchase Order .............................................................................50
Table 8 Grab Bar Assembly Purchase Order ............................................................................................51

1 Introduction
Paul Bowers is a Northeastern University alumnus currently living in Los Angeles, CA. Since surviving a
motorcycle accident and becoming a paraplegic wheelchair user over 10 years ago, Paul has become a
visionary, activist, and lobbyist for disabled mobility. He serves as a board member for Backbones, Echo
Park Neighborhood Council, and Global Mobility USA, all of which are organizations that connect,
mobilize, educate, and advocate for people with disabilities. He has been involved with research conducted
by the Veterans Association, the University of California, Los Angeles (UCLA), and Harvard Universitys
Spaulding Rehabilitation Hospital. Paul has also lobbied for legislation such as the Workforce Innovation
and Opportunity Act (WIOA), which passed in the U.S. House of Representatives and Senate.

Problem Statement

Paul drives a Ford Econoline E-150 cargo van retrofitted with a Braun Swing-A-Way wheelchair lift to
board his van. Once inside, Paul wheels to the steering wheel and drives from his wheelchair. Because the
lift is powered hydraulically, Paul dislikes how loud it is and how long it takes him to board his vehicle,
attracting unwanted attention to him whenever he drives. Furthermore, the Swing-A-Way is a very heavy
and obtrusive system that is actually no longer offered in the U.S. and Canada due to recent legislation.
Current regulations for wheelchair vehicle lifts - designed for extremely heavy loads that are more
appropriate for a public transportation service - are not necessary for most private vehicles, let alone
wheelchair users that drive their own vehicle. Again, hydraulic-powered lifts that are currently offered on
the market are expensive, slow, and obtrusive. The goal of this project is to help manual wheelchair users
by devising a less conspicuous mechanism to climb into their self-driven vehicle. Specifically, the
wheelchair lift should be an ergonomic, human-powered mechanism that is smoother, lighter, simpler, and
quieter.

Goals, Specifications, and Sponsor Needs

As a T3-T4 paraplegic, Paul is paralyzed from the waist down, but still retains full control of his arms and
has a high degree of upper body strength. The design will take advantage of the wheelchair users upper
body strength to perform a modest-force pull-up motion to rise up to the level of the van floor and easily
enter it. The lift must also deploy to all levels, such as ground, curb, and intermediate positions. A
counterbalance system will be used to allow these level changes.
The wheelchair lift must account for the following design factors, in order of increasing importance: cost,
noise, size, speed, ease of use, and safety. The lift will be designed for passenger-side entry into the van by
a single operator (i.e. the wheelchair user), and it must be low-noise and low-powered. The wheelchair lift
must be a fraction of the cost of current hydraulic-powered lifts. While typical van conversions cost $15,000
to an upwards of $30,000, including body and chassis work, the cutting and lowering of the floor, the cost
of the lift itself, and installation, the designed ParaLift must cost less than $5,000 to manufacture. In terms
of size, the lift must be easily stowed, installable into common wheelchair-converted minivans with sliding

doors, such as the Toyota Sienna, Dodge Grand Caravan, and Chrysler Town & Country, and allow for use
in regular parking-lot spaces and curbside street parking. With regard to speed, the lift will be more than
twice as fast as current lifts, taking 1 minute to operate when entering or exiting the vehicle. In addressing
safety, the lift must incorporate design features that are addressed in regulations for level-changing
mechanisms and boarding devices, such as the Federal Motor Vehicle Safety Standards and the Americans
with Disabilities Act Accessibility Guidelines. These safety features include, but are not limited to, visual
and/or audible sensors to indicate appropriate alignment of the wheelchair on the platform, safety lips at
the edges of the platform, and safety locks to prevent the lift from engaging when boarding or dismounting,
and when the lift is not in use.
This lift is currently intended for research purposes only and will not be commercially available. The lift
system developed for this project will be sent for evaluation to the Landsberger Rehabilitation Lab at
California State University, Los Angeles (CSULA) where it will be evaluated by their design team. The
several state and federal regulations regarding the implementation and use of lifts in vehicles will be taken
into consideration when designing the lift. Paul has requested for the design to not be limited or restricted
by certain regulations, but the team will work closely with him and the Landsberger Lab to determine the
exact design specifications in terms of compliance. In a larger context, Paul and the design team envision
that the development of this human-powered ParaLift could spark a needed conversation about the disabled
community and their needs.

2 Background
In order to better understand the components to a successful design, it was first necessary to conduct a
thorough background search encompassing products that are currently available along with their associated
patents and regulations. This also included researching other lifting mechanisms to determine which parts
can be integrated into the wheelchair lift.

Literature Search

While several patents exist for wheelchair vehicle lifts, the lack of wheelchair vehicle lift technology in
published literature demonstrates the need for such a product. The following patents contain some ideal
features for the ParaLift design.
2.1.1

Patents U.S. 5806632 A Spring Assisted Deployment System

This patent outlines a wheelchair lift with a specific stow-away platform: a dual-parallelogram-type lift
with a lever assembly, a sliding block for lifting the platform, and several gas springs to move the platform
from a horizontal to a vertical position. However, this leveling spring-assisted system, seen in Figure 1, is
hydraulically powered, like most wheelchair lifts currently on the market.1

Figure 1 Patent U.S. 5806632 A: spring assisted deployment system

2.1.2

Patents U.S. 4664584 A Rotary wheelchair lift

While this lift is powered hydraulically, the lift encompasses several features that demonstrate potential for
a human-powered lift design. This patent highlights a platform that has a horizontal extension that can
accommodate wheelchairs of various sizes and types, but has a maximum size of 25.98 inches wide x 46
inches long. It also comes with a switch box that allows the user to control the motions of the lift, such as
raising, lowering, and rotating in and out of the van. The safety latch lever is responsible for the deployment
and retraction of handrails and platform safety lips, the latter of which prevents the user from falling off of
the platform. Along with a rotary system, these safety features and functionalities can contribute to the
functionality and compactness of the design.2
2.1.3

Previously Published Work

Again, little published research exists on wheelchair lifts for vans. The design for autonomous docking of
a smart wheelchair was found through a product called the Automated Transport and Retrieval System
(ATRS), which provides a robotics and automation technologies-based solution to auto-mobility for power
wheelchair users who are able to transfer. The ATRS design features a drivers seat that lowers to the
ground for the wheelchair user, who can then transfer from their wheelchair to the drivers seat and be lifted
up into the car. The powered wheelchair is then programmed through Light Detection and Ranging
(LIDAR) to roll to the rear of the car, where it boards a platform that is stowed in the trunk.3 The ATRS,
however, reinforces the notion that current technology is extremely slow and expensive. Further, because
it uses a rear-entry platform, it limits parking spaces for wheelchair users. Finally, the system is intended
for users with a powered, instead of manual, wheelchair.
9

Key Theories and Technologies

The regulations governing the use of wheelchair lifts were heavily inspected, along with existing wheelchair
lifts and wheelchair-accessible vehicles. The ParaLift design also considered several mechanisms to
implement counterbalance and platform systems.
2.2.1

Regulations

Wheelchair vehicle lifts are regulated by the following bodies: Americans with Disabilities Act (ADA);
Americans with Disabilities Act Accessibility Guidelines (ADAAG); American National Standards
Institute (ANSI); American Society of Mechanical Engineers (ASME); Department of Transportation
(DOT); National Highway Traffic Safety Administration (NHTSA); and Federal Motor Vehicle Safety
Standards and Regulations (FMVSS), enforced by the NHTSA.
Pauls preferred wheelchair lift series, Swing-A-Way by Braun International, was one of many affected
by the passing of FMVSS 571 Platform Lift Systems for Accessible Motor Vehicles, Platform Lift
Installations on Motor Vehicles4 as seen in Figure 2. In summary, subsections 403 and 404 of FMVSS 571
dictate that wheelchair lifts, in addition to prior regulations, include the following safety features: handrails;
a threshold warning signal; retaining barriers; minimum platform dimensions; maximum size limits for
platform protrusions and gaps between the platform and the vehicle floor or ground; and interlocks "to
prevent accidental movement of a lift and the vehicle on which a lift is installed.5

Figure 2 Portion of FMVSS 571

Lift-makers were adversely affected by the interlock stipulation in particular, forced to either modify their
current offerings to comply with this legislation or discontinue their product line in the US. Because Braun
could not meet this interlock requirement in a cost-effective manner, they discontinued their products in the
U.S., including the Swing-A-Way, leaving many customers disgruntled.
10

The ADA provides regulations for vehicles with level-change mechanisms or boarding devices, such as
lifts or ramps. The following ADA requirements were treated as recommendations, rather than rules. The
design load of the lift shall be at least 600 lb. Working parts, such as the mechanisms lifting the load, shall
have a safety factor of at least six, meaning that the total lift capacity must be at least 3600 lb. Non-working
parts, such as the platform, frame, and attachment hardware, shall have a safety factor of at least three. The
controls shall be interlocked with the vehicle brakes, transmission, or door to ensure that the vehicle cannot
be moved when the lift is not completely stowed. The lift shall deploy to all levels, such as ground, curb,
and intermediate positions. The lift shall have an emergency mechanism to lower the platform to ground
level with a lift occupant, and raising and stowing the empty lift in the event of power failure. No part of
the platform shall move at a rate exceeding 6 inches/s during lowering and lifting an occupant, and shall
not exceed 12 inches/s during deploying or stowing.6
The lift platform shall be equipped with safety lips/barriers to prevent the wheels of a wheelchair from
rolling off the platform. Each side of the lift platform that extends beyond the vehicle in its raised position
shall have a barrier of minimum 1.5 inches high. The platform surface shall be free of any protrusions over
0.25 inches high and shall be slip resistant. The platform shall have a minimum width of 28.5 inches, a
minimum clearance width of 30 inches measured from 2 inches above the platform surface to 30 inches
above the platform, and a minimum clearance length of 48 inches measured from 2 inches above the surface
of the platform to 30 inches above the surface of the platform. The entrance ramp, or loading-edge barrier
used as a ramp, shall not exceed a slope of 1:8, measured on level ground, for a maximum rise of 3 inches,
and the transition from roadway or sidewalk to ramp may be vertical without edge treatment up to 0.25
inches. The lift platform, not including the entrance ramp, shall not deflect more than 3 (exclusive of
vehicle roll or pitch) in any direction between its unloaded position and its position when loaded with 600
lb. The lift shall permit both inboard and outboard facing of wheelchair users.
Platforms on lifts shall be equipped with handrails on two sides that move in tandem with the lift. Handrails
shall have a usable component at least 8 inches long, with the lowest portion a minimum 30 inches above
the platform and the highest portion a maximum 38 inches above the platform. The handrails shall be
capable of withstanding a force of 100 lb concentrated at any point on the handrail without permanent
deformation of the rail or its supporting structure.
2.2.2

Existing Products Vans and Wheelchair

Wheelchair conversions, adaptations and additions, such as ramp or lift, are predominantly made to the
following minivans: Toyota Sienna, Honda Odyssey, Chrysler Town & Country, and Dodge Grand
Caravan, all of which share precise specifications and dimensions. Reference Figure 3 and
Table 1, for specific, corresponding dimensions relevant to both ramp and lift conversions.

11

Figure 3 Relevant dimensions for ramp & lift conversions in typical vehicles7
Table 1 Relevant dimensions for ramp & lift conversions in popular minivans (in inches)7

Description (all values in inches)

Honda

Chrysler and Dodge

56.5-59.0

58.0

Floor to ceiling height

Passenger sliding door opening height

55.0

54.5

Floor to overhead console

N/A

57.0

Passenger sliding door opening width

31.5

31.5

Cargo area length (rear z to firewall along floor)

85.0

84.0

Ground clearance ground effect

6.0

7.0

Ramp length

51.5

50.0

Ramp width (inside wall to inside wall)

30.0

30.0

Cargo area width when closed (door to door/door

to ramp)

65.0

66.5

Ground clearance lowest point (exhaust)

5.0

5.5

Cargo area length (rear sofa to clip-in base)

54.0

54.5

The Toyota Sienna, Honda Odyssey, Chrysler Town & Country, and Dodge Grand Caravan all measure an
11-inch drop from the floor of the minivan to the ground. All models measure between 54-59 inches in
floor to ceiling height, passenger sliding door opening height, and floor to overhead console. For an average,
adult wheelchair user who measures a height of 50 inches in his or her chair,8 these models provide just
enough overhead clearance such that a wheelchair user is not hitting his or her head on the ceiling. Similarly,
all four models have a 31.5 inch-wide passenger sliding door opening, again providing just enough
clearance for an average wheelchair user that measures 31 inches wide.

12

A typical conversion to make a van wheelchair accessible, costing $15,000 to an upwards of $30,000,
involves body and chassis work, installation of hand controls and switches, the cutting and lowering of the
floor, the cost of the lift itself, and more. Often times, unless he or she qualifies for a state-funded payment
option or is independently wealthy, the wheelchair user limits their conversions to used vehicles.
Initially, Paul requested that the lift be designed for a Honda Element for a number of reasons. The Element
features a wide door entrance because of its forward and rear suicide doors, ample front headroom, large
cargo space, and individual rear seats that recline, fold up, and are removable. Perhaps most importantly,
Paul can sit in the car without any car conversions or modifications, meaning his head does not brush the
ceiling and the floor does not have to be cut and lowered. However, upon speaking to Paul again, he then
changed his design requirements to a typical minivan, as mentioned previously, for logistical reasons.
General dimensions of the 2011 Honda Element are included in Appendix A.
2.2.3

Existing Products Lifts

Lifts can be powered by a variety of means: hydraulic, electric, mechanical, gravity, or a combination of
each. The most common type is a combination of hydraulic and electric, such as the Swing-A-Way.
Hydraulic systems are advantageous because they allow for heavier steel construction and higher lift
capacity. The hydraulic lift mechanism is operated by the electrical component, which controls the height
and swivel of the system.
There are a number of different types of lifts, such as rotary/swing, platform, and under-the-vehicle seen in
Figure 4. Rotary or swing lifts have a single vertical post supporting a platform that shifts out of the van
and descends to the ground. Platform lifts (otherwise known as folding lifts or folding platform lifts) fold
out from a frame that is mounted to the van and lowers to the ground. The under-vehicle lift includes a
platform installed underneath the body of the van. When activated, the platform comes out from under the
van and rises to the level of the vehicles floor.

Figure 4 (Left to right) under-the-vehicle, swing/rotary, and platform lifts19

In terms of entry, side entry lifts are designed typically for people in wheelchairs who intend on being the
primary driver. Rear-entry lifts are mainly designed for people who have companions with them who can
assist them by wheeling their wheelchair to the rear of the vehicle after the wheelchair user has transferred
from the wheelchair to a seat in the vehicle.
The top two makers of lifts are Braun and Vantage Mobility International (VMI)/Ricon. Their combined
portfolios are comprised mostly of hydraulic platform lifts, either single-post platform or dual-post, offering
13

features that highlight easy stowing, compact size, and unobstructed doorways.9,10 In addition, most lifts
share the following features of interest: automatic or electric roll stops that assure the wheelchair stays in
place during the lifts operation; threshold sensor mats installed inside of the van to warn users against
exiting if the lift is not level with the floor of the van; integrated manual backup systems that provide a
manual backup pump within the drivers reach and allow the platform to be raised and lowered manually
in case of a power failure; bridging mechanisms that allow the wheelchair user to safely board the lift from
sidewalks or inclines because the platform remains level throughout; and either handheld, on-lift, or remote
controls that assist with lift operations.
The Swing-A-Way Series by Braun International is a hydraulic-powered lifting mechanism, as shown in
Figure 5. It has a unique design that allows the wheelchair user to board the lift parallel to the car (inboarding). This minimizes the amount of space needed to operate the lift because the wheelchair user only
needs as much space as the front car door will need when it is fully exposed. The rotary mechanism also
allows this design to be more compact. The platform is also extendable and foldable so that it can be used
with scooters and longer wheelchair models while still maintaining a compact design. This model, however,
is no longer offered in the U.S. as of 2003, due to new requirements instituted by the NHTSA (Ref 2.2.1).
In summary, this new ruling disqualified Swing-A-Way as an approved wheelchair lift because it did not
include an interlocking system that "prevents accidental movement of a lift and the vehicle on which a lift
is installed," a required regulation under FMVSS 403.11

Figure 5 - Braun Swing-A-Way

2.2.4

Existing Counterbalance Mechanisms Weights

A counterbalance using weights is one option to consider, shown in Error! Reference source not found.. Similar
o how a see-saw works, the use of weights to counterbalance the weight of the wheelchair user will make
it easier for users to pull themselves up and push themselves down. Using a counterweight system that
reduces the users effort, the user need only lift (when entering) or push down (when exiting) the difference
between their weight and the counterweight. A counterweight that is about equal to 60% of the lift and
users weight would be connected to the platform using pulleys and cables. While effective, a weight system
would require an appropriate amount of space in the car and design.
14

Figure 6 - Weight Counterbalance System

The use of pulleys will not only allow for a compact design but will also reduce the effort required to lift
and lower the user. Using multiple pulleys will increase the mechanical advantage of the system, allowing
for a more compact design, as well as reducing the force required to raise and lower the platform in
comparison to just using one pulley.
2.2.5

Existing Counterbalance Mechanisms Springs

Springs are another way to accomplish a counterbalance system. Several types of springs exist, such as gas,
torsion, and extension springs. Gas springs consist of a rod attached to a piston within a tube filled with
compressed nitrogen, as seen in Figure 7.12 The piston compresses the gas within the tube and stores
potential energy, and this energy can then be used to lift the device it is attached to, such as an office chair
or the hood of a car. The main issue with this type of spring is that the pressure inside the tube is dependent
upon the ambient temperature. Thus, the spring would exert a different force in a colder environment than
it would in a warmer one, which is undesirable for this ParaLift application.

Figure 7 Gas spring13

15

Torsion springs are commonly used in applications such as clothespins and garage doors. These types of
springs store potential energy as they twist, which can be useful in places where space is minimal. Torsion
springs in garage door systems help the lifting and lowering of the garage door by affording more control
over these operations. As shown in Figure 8, the torsion spring is connected to a cable drum on both sides
of the garage door, where the cables are attached to the bottom of the door itself. When the door is in its
open position (lifted), the spring is untwisted, and then twists as it is lowered. This helps the user lower the
garage door with more control as the spring counteracts the force of gravity. Conversely, the potential
energy stored in the spring is then helpful for lifting so the user does not have to lift the entire weight of the
door. The main advantages of this type of spring are that is it widely available and it is compact enough to
fit in a vehicle.

Garage door
Figure 8 Torsion spring in garage door application14

Extension springs are springs that are initially coiled and store potential energy as they are stretched. Closewound extension springs, in which the coils are touching, have an initial tension, which must be overcome
before the spring starts to stretch.
One special type of extension spring is a zero-length spring. Zero-length springs are somewhat of a
misnomer because it is physically impossible to have a spring that is, in fact, zero-length. What this really
means is that the plot of force versus total length of the spring extrapolates down to the origin where there
is zero force at zero length.15 A comparison of a few different types of extension springs is shown in Figure
9. The blue curve depicts a regular extension spring with no initial tension, which starts to stretch
immediately upon applying a force. Two curves for different close-wound springs, with an initial tension,
are shown in red to highlight their range. The curve for a zero-length spring is shown in green, and this is
essentially a modified version of a close-wound spring such that it would have zero force if it were at zero
length. This can be accomplished by adding longer hooks to a close-wound spring or other modifications
that can change the initial length of the spring.

16

Figure 9 Force vs. total length for extension springs

The main reason that a zero-length spring is useful is that it can be used to balance a specified weight at
any position as shown in Figure 10. This particular type of setup is quite versatile as certain physical
parameters can be changed to alter the amount of weight that can be counterbalanced. For example, by
changing the anchor points of the spring (i.e. the length of y or b), the system can be fine-tuned to balance
different weights at the end of the beam. This concept can be applied to a wheelchair lift system such that
the wheelchair user can be balanced at any point along the lift path.

Figure 10 Schematic of a zero-length spring system, 16 where y, s, b, and a are sides of the triangle created by
a pivot, m is mass, and g is gravity

17

Upon further consideration, however, the use of springs was found to be difficult, as they require geometric
compensation to apply a constant force and would have to lift a load of at least 200 lb. A weight
counterbalance was chosen because of its ease of use in adjusting the system for different loads.
2.2.6

Platform Leveling and Rotating Mechanisms

There are two main types of leveling mechanisms that can be used for the lift application. The first is to
have the platform raise and lower via a column, with a straight up and down motion. This is perhaps the
most straightforward method, but will require careful stress analysis to determine the best placement for
the lowering mechanism. The other method uses two parallelogram/four-bar components as shown in
Figure 11. This consists of equal length bars attached to a vertical wall in a rectangular or parallelogram
configuration. As the platform moves along its lift path, it remains level because of this geometry. This can
also help with reducing stress concentrations about the lifting point by adding to the number of linkages in
the system.

Figure 11 Parallelogram leveling mechanism17

In terms of rotation, the platform must be able to slide and/or swivel into and out of the vehicle. A turntable
bearing, as seen in Figure 12, or a Lazy Susan mechanism would enable this motion. The platform could
also be rotated about the steel column of the system. Both options must consider the geometry associated
with the platforms rotation motion when the van is parked in a parking lot with another vehicle next to it.

Figure 12 Turntable bearing

18

3 Initial Design Phase

Initial design phases were established with initial sketches and several mock-up sessions. These sketches
formed a basis for a final design, while the mock-up sessions helped to identify key design issues.

Initial Sketches

Drawing inspiration from the concepts of weights and springs, the following sketches show early
counterbalance lift designs. Figure 13 and Figure 14 both stem from the garage door application
and envision the lift attached to cables; these cables lie on tracks that are on the ceiling of the car
and on each side of the passenger door. Figure 13 uses a torsion spring to help lessen the load of
the wheelchair lift rising and lowering, while Figure 14 employs counterweights to effectively
balance the wheelchair lift. Both designs involve accessible materials, however the use of a torsion
spring would provide more space than the use of counterweights in the vehicle.

Figure 13 Torsion spring design

Figure 14 Counterweight design

Figure 15 depicts springs and a steel column installed into the vehicle. The platform would rotate about the
column and then descend to the ground for the wheelchair user to board.
19

Figure 15 Column and spring design

Figure 16 shows a design allowing the platform to remain level throughout the rising and lowering motion
of the lift. This is accomplished using the parallelogram mechanism, which is counterbalanced by a zerolength spring. Figure 16 depicts the design of a zero-length spring with a parallelogram leveling mechanism
for the platform.

Figure 16 Zero-length spring and parallelogram design

Mock-up Sessions

After drawing out and specifying the different counterbalance options, different systems using the initial
design sketches above were mocked up to further refine the lift design. The mock-up process helped with
understanding how the system would be integrated into the users car and daily usage. It also identified
different key issues that would never have been realized without this process, such as identifying the
orientation of how the user is to onboard the platform, the amount of maneuvering required to board the
wheelchair platform, and the ergonomics of lift design.
During this process, the final operating procedure was established for the wheelchair lift and users
interaction with the system. Using small-scale cardboard pieces and duct tape, the wheelchair platform and
20

motion of the wheelchair lift was developed. It was realized that using the Honda Element butterfly doors
required extra, unwanted maneuvering and more space to use the wheelchair lift when the car is parked
right next to another car. Designing for a van with a sliding door easily solved this problem.
Upon further discussion with Paul, the proposed van with an automated sliding door was integrated into
the design. With this, a second mock-up session was scheduled. During this mock-up session, as seen in
Figure 17, the final procedure for the user interaction was decided and a final design and concept was
realized, both to be modeled using Computer-Aided Design (CAD) and analyzed for failures.

Grab bar

Car doors

Steel
column

Wheelchair
Platform

Figure 17 Mockup lift

4 Final Design Phases

The final design of a counterweight system and slider assemblies allow a paraplegic user to enter the van
by completing a pull-up. This solution provides a faster, quieter, and less expensive alternative for single
operators/independent wheelchair users. Initial stages of a final design were first established through the
clarification of the lifts operating procedure. CAD models of the final design, calculations and analyses,
and Institutional Review Board (IRB) activity were then completed.

Operating Procedure

To summarize the operating the procedure of the ParaLift for entry, the vans automatic sliding door will
open and the platform will slide partially outside of the vehicle. The user will use a hooked gripping tool to
rotate the platform parallel to the vehicle and deploy the platform down to ground level. After stowing the
gripping tool, the user will board the platform. Using the locking grab bar, the user will operate a
counterbalance release and complete an assisted pull-up to become level with the van floor, then rotate 90

21

into the van. The user is able to wheel to the steering wheel, slide the platform inwards, and close the vans
automatic door. The user follows a similar procedure, in reverse, to exit the vehicle.
In detail, the lift is operated according to the following procedure:

1. As seen in Figure 18, the user approaches the van via the passenger side (opposite the
drivers side) and uses the remote key fob to open the sliding door automatically. This
feature is included as an option on many wheelchair-converted minivan models.

Figure 18 Step 1 of entry

2. A motor or spring-assisted mechanism slides the lift outward. At this point, the platform is still
perpendicular to the van, as shown in the top-view of figure. The grab bar is also lowered by this
motion, as shown in the side-view in Figure 19.

Figure 19 Step 2 of entry

3. The user then uses a hooked gripping tool to rotate the platform 90, as shown in Figure 20. The
grab bar is also rotated by this motion, until it is oriented perpendicular to the van.

22

Figure 20 Step 3 of entry

4. The platform can then be lowered by applying a small amount of force until it locks into place at
ground level in Figure 21. This locking mechanism will also lower the safety lip at the rear of the
platform (closest to the rear of the car) and allow the user to board the platform.

Figure 21 Step 4 of entry

5. The user then wheels onto the platform as seen in Figure 22.

Figure 22 Step 5 of entry

23

6. The user can now operate the lift by depressing and disengaging the brakes and performing a pullup motion in Figure 23. The brakes are one of the safety mechanisms that prevent inadvertent
operation of the lift because they require both handles to be depressed.

Figure 23 Step 6 of entry

7. As seen in Figure 24, once at van-level, the user can rotate into the vehicle in 30 increments. The
bar can be locked into place at 30, 60, and 90 for ease of operation.

Figure 24 Step 7 of entry

8. Once fully rotated, the lift locks into place and the front safety lip is lowered. The user can then
lock the bar vertically and wheel into the van to the drivers area as seen in Figure 25.

Figure 25 Step 8 of entry

24

9. The lift is then stowed using the remote-operated motor, or by pulling the lift fully into the car, and
the sliding door is automatically closed using the remote key fob, seen in Figure 26.

Figure 26 Step 9 of entry

In order to disembark, the operating procedure is similar to above but in reverse order:
10. The door is automatically opened using the remote key fob and the lift is slid outward in Figure 27.

Figure 27 Step 1 of exit

11. The user then wheels backward onto the lift before lowering the grab bar into its horizontal position
in Figure 28.

Figure 28 Step 2 of exit

25

12. Shown in Figure 29, the user then rotates himself by pushing outward on the grab bar. Once again,
the grab bar is able to rotate and lock at 30 increments.

Figure 29 Step 3 of exit

13. Once fully rotated (i.e. oriented parallel to the van), the user can then depress and disengage the
brakes and push upward to lower himself down to ground level, as seen in Figure 30.

Figure 30 Step 4 of exit

14. At ground level, the rear safety lip then lowers, and the user can wheel backward off of the platform
in Figure 31.

Figure 31 Step 5 of exit

26

15. The user can then raise the platform using his gripping tool and an auxiliary counterbalance system
that is specially designed to counterbalance only the weight of the platform, as seen in Figure 32.

Figure 32 Step 6 of exit

16. The cane is then used to rotate the platform partially into the van, to be oriented in a perpendicular
position, in Figure 33.

Figure 33 Step 7 of exit

17. Shown in Figure 34, the user then presses a button on his key fob to operate the stowing motor that
slides the platform fully into the van. Alternately, the user can manually slide the platform into the
van with little force.

Figure 34 Step 8 of exit

27

18. The user then uses the remote key fob to automatically close the sliding door in Figure 35.

Figure 35 Step 9 of exit

CAD Modeling and Design

The recommended design concept includes a column, weight counterbalance system, sliding system
composed of a lifting slider and stowing slider, platform, and grab bar. Figure 36 shows the complete
assembly.

Column for
translation
and rotation

Grab
bar

Cable
force

Lifting
slider
Stowing
slider

Platform

Figure 36 Complete assembly with and without wheelchair

Unless otherwise stated, all steel components are 6061-T6 aluminum. Alloy 6061-T6 is the most common
grade of aluminum because of its good machinability and weld ability. The connection from the base plate
to the A-Bar were welded together to create a connection and withstand the moments when the platform is
28

loaded. The platform system, sliders and column assembly and grab bar mechanisms are being bolted
together with screws and nuts.
4.2.1

Column

A steel column anchors the wheelchair lift system into the car. The anchor also serves as the foundation for
the platforms translation and rotation. Steel was chosen because of its strength and low cost. The column,
with a 0.25 wall thickness, stands 55 inches, as seen in Figure 37, to accommodate the height from the van
floor to the ceiling. The raw materials that were used for this assembly can be seen in Table 4, Appendix
B: Purchase orders per assembly and system. Table 4 also includes the unit price and total price of the
column and slider asemblies.

Column
1.5

55

Lifting
slider

Figure 37 Detail of column

4.2.2

Weight Counterbalance System

The weight counterbalance was chosen over a spring system because of its ease of use, adaptibility and low
maintainence. A two-weight system will be implemented that will correspond to the lifting slider and
stowing slider. The counterbalance system attached to the lifting slider will have total weights of 300 lb,
ideally made up of n=5 50-lb weights, n=4 15-lb weights, n=3 10-lb weights, and n=2 5-lb weights, so that
the user can adjust the counterbalance system to their weight.
The weight of 300 lb was chosen because this weight reflects how much an average person on a wheelchair
will weigh along with the platforms weight. However, for demonstration purposes and logistics, buckets
29

filled with weights will be used. The counterbalance system attached to the stowing slider will have a total
weight of 25 lb attached to it, enough to counterbalance the platform system itself without any passenger
on the system. The following figures display sketches of the weight counterbalance system in each
configuration: stowed in Figure 38, deployed in Figure 39, and lifted in Figure 40. The two pulleys attached
using a cable will allow the weights to slide up and down smoothly.
The raw materials that are used to assemble the pulley and wire assembly of this weight counterbalance
system is show in Table 5, Appendix B: Purchase orders per assembly and system. Table 5 also includes
the unit prices and total price of the pulley and wire assembly.

Column
Lifting slider

Stowing slider

Platform
Figure 38 Stowed configuration

Figure 39 Deployed configuration

30

Figure 40 Lifted configuration

4.2.3

Platform

As seen in Figure 41, the platform is 28 inches wide, 45 inches long, and 0.19 inches thick. Safety lips line
the platforms rectangular perimeter to prevent the users wheels from rolling off of the platform. Another
form of a safety lip, essentially a square 0.5-inch bar, acts as an additional rear support on the underside of
the platform. This rear support is made of 6061-T6511 aluminum, which offers a high strength-to-weight
ratio. The forward portion of the platform, where the users feet will lie, is rounded to reduce material.
Safety lips

31.7

0.19

Figure 41 Top view of platform

This loss of material also accommodates the 44-inch door opening of most passenger vans. The swinging
and rotating motions of the platform into and out of the van door restrict the design of the platform. Figure
42 illustrates relevant dimensions of the platform to not only account for door width but also allow for
maximum rotation. The swinging distance of the lift is measured from the column to the widest point on
the platform.

31

Figure 42 Dimensions calculated from swinging motion (in inches)

Figure 43 shows the bottom view of the platform. The base plate is welded to two support beams, seen in
Figure 44, which connect the platform to the lifting and stowing sliders on the steel column via horizontal
beams.

Safety lips
Sliding rails

Base plate

26.4

Figure 43 Bottom view of platform

32

Horizontal
beams

A-support
Base plate

Figure 44 A-support connected to base plate

As seen in Figure 45, the base plate, which is 1 inch thick, includes 0.4-inch recessed grooves for the sliding
rails and their corresponding frelon-lined sleeve bearing carriages. Once the platform is rotated into the
van, the frelon-lined guide rails allow the platform to slide in and stow away. The full list of raw materials
used to assemble the platform system can be seen in Table 6 in Appendix B: Purchase orders per assembly
and system, which presents the unit price and total sum of the costs for this specific assembly.
13
7.25

12.0

28.25
1

1.65

7.25

Figure 45 - Detail of base plate

33

4.2.4

Sliders

The design consists of two sliders: a lifting slider and stowing slider, as seen in Figure 47 and magnified
in Figure 47. The lifting slider is counterbalanced to selectable weights for the user and platform, while the
stowing slider, also counterbalanced, stows the lift in the car after parking. The lifting slider is supported
by Teflon flange bearings on the column that require no lubrication.
On the stowing slider, the PTFE-lined sleeve bearing carriages, with threaded through-holes, translate up
and down the stowing slider guide rail. The sleeve bearings in these carriages can handle harsh conditions,
such as dirt, water, impact, and vibration. The carriages and guide rail are also made of corrosion-resistant
materials and do not require lubrication. The raw materials used to create the following figures can be found
in Table 6, Appendix B: Purchase orders per assembly and system. Table 6 shows the unit cost and total
price for the completion of the slider and column assembly.

Column
Teflon flange
bearing

Column
55.0

2.75
0.79
Stowing slider
carriage

Stowing
slider

2.36

Lifting
slider

30.0

Stowing slider
rail

Figure 47 Magnified view of

stowing slider

Figure 47 Lifting slider and

stowing slider on column

These sliders have three different configurations shown in Figure 48: lifted, when the user and platform are
level with the floor of the van; deployed, when the empty platform is level with the ground; and stowed,
when the lifting slider remains low but the empty platform is level with the floor of the van.

34

Stowing
slider

Lifting
slider

Platform

Lifted position
(lifter up)

Deployed position
(lifter down)

Stowed position
(lifter down)

Figure 48 Three slider configurations

4.2.5

A-support

The A-bar connection, or A-support, consists of 4 hollow rectangular aluminum tubes with a 0.19inch wall thickness. These serve as horizontal beams that connect the stowing slider rail and
carriages to the A-support. The 4 hollow rectangular tubes are welded together to provide a secure
connection for the platform to the sliders and support column. Figure 49 shows an isometric view
of the A-support and each dimension of the 4 aluminum tubes. This structure will absorb most of
the moments and forces due to the mass that will be applied on to the platform system. The raw
materials needed to weld these A-support together can be found in

35

Table 7

in Appendix B: Purchase orders per assembly and system.

26.23
2

24

Figure 49 A-support connection to attach platform to the column

4.2.6

Grab Bar

The grab bar mechanism consists of 4 components as seen in Figure 50 and Figure 51, which present a
block that attaches to the column, a hinge that would allow the grab bar to fold up and down, a block that
will attach the bar to the hinge, and a rod that will act as the grab bar.
The column connection block will secure the grab bar to the column and resist vertical forces so that it will
allow the user to complete a pull-up and lift himself up to his vehicle floor. The column connection block
will also allow the user to rotate himself into the vehicle from his lifted position (parallel to the vehicle).
The raw materials used to assemble the grab bar mechanism can be found in Table 8 in Appendix B:
Purchase orders per assembly and system.
The user is in a secured lifting position when the grab bar is perpendicular to the column; this will prevent
the user from rolling off the platform. When the bar is parallel to the column, the user is able to wheel off
of the platform and into his drivers seat when he has lifted himself up onto his vehicle.
36

Hinge

0.98

Column connection
block

1.00

4.00

Figure 50 Isometric view of grab bar hinge connections

Connection
blocks

Grab bar

Figure 51 Grab bar (perpendicular to column)

Calculations and Finite Element Analysis (FEA)

Figure 52 displays a free body diagram (FBD) for the platform system.

37

Hinge
connection
block

Figure 52 FBD of A-Bar and Platform system

Equations 1-8 were used to determine relevant dimensions of the platform, lifting slider, and stowing slider.

=
=

(1)
(2)
(3)

9
12
>
*+,-.1;/1673/ =
64
+> ->
A+,,+B CD,-E.F-CG, =
64
=
=
*+,-./012345673/ =

(4)
(5)
(6)
(7)
(8)

Where is stress, M is moment, c is distance from the neutral axis, I is area moment of inertia, P is pressure,
a is area, h is height, b is base, d is diameter, do is outer diameter, di is inner diameter, E is Youngs modulus,
is strain, is density, m is mass, and v is volume.
These equations led to the assignment of 6061-T6 aluminum. FEA was used to evaluate the strength and
displacement of each design component in a worst case scenario. In the case of the stowing slider, this
represents forces pushing up at the junction of the stowing slider carriage and beams.
After applying a load of 200 lb on the platform and accounting for gravity, Figure 53 shows that the yield
strength of the stowing slider assembly is acceptable. The factor of safety F.S. at the weakest point is found
using Equation 9:
38

Q
B
Where Sm is allowable working unit stress and Sw is working stress.
. . =

(9)

Figure 53 Stowing slider stress analysis

Based on the FEA, the stowing slider shows an acceptable yield strength.
After applying the same load, Figure 54 shows that the maximum displacement of the stowing slider
assembly, 0.06604 inches, is also acceptable. The maximum displacement is located at the rear end of the
base plate.

39

Figure 54 Stowing slider displacement analysis

40

A front load of 80 lb and a rear load of 150 lb, on the platform, as seen in Figure 55, shows that the yield
strength of the platform assembly is acceptable based on the FEA, in terms of stress.

Figure 55 Platform stress analysis (in psi)

With the same load applied, Figure 56 shows that the displacement of the platform, located at the rear right
end of the platform, is acceptable at 0.7242 inches. This is acceptable for the platform assembly.

41

Figure 56 Platform displacement analysis (in inches)

IRB Activity

The design needs to be tested for a proof of concept and viability of design. To do this, the lift was initially
planned to be tested by Paul Bowers and the design team. However, testing will continue after this phase I.
Since there is a possible risk of injury, a request was submitted to the IRB for evaluation. The request
included the potential risks (both physical and psychological) of the experiment, the prevention/safety
mechanisms in place, and the possible benefits of the research, among other factors for approval. It also
required the completion of a National Institute Health training course in Protecting Human Research
Participants by all members of the team. The study involves the participant in a wheelchair completing the
following entry procedure with a van model: rolling onto a ground-level platform, activating a
counterbalance release, using a 30 lb arm force to rise upward 10-14, using arm action to rotate
themselves and the platform 90 into the makeshift vehicle, engaging the safety lock, and performing the
procedure in reverse to simulate exit. Sandbags may be used as a dummy weight to simulate the wheelchair
user.

42

Jack Price from Environmental Health & Safety reviewed and approved the safety of our testing procedure.
Nan Regina, director of Human Subject Research Protection (HSRP), was also contacted to assess the
survey conducted at the Boston Abilities Expo on September 18-20, 2015. This event draws thousands of
disabled persons and their families making it an ideal location to survey relevant populations. The survey
was accepted, allowing the group to obtain information and preferences from wheelchair users. Data from
this experiment is presented in Table 2.
Table 2 Abilities Expo survey data

Subject
1
2
3
4
5
6
7

Age Range
20-29
30-39
0-19
50+
20-29
40-49
30-39

Disability
Paraplegic
Paraplegic
Paraplegic
Paraplegic
Paraplegic
Paraplegic
Paraplegic

Vehicle Lift Comments

Loud/conspicuous, rear entry
No space for other passengers
No space for other passengers
Loud, no space for other passengers
Loud, very slow, insufficient headroom
Expensive, space-consuming, one way boarding
Heavy, slow, prefer crank/hand-operation to be faster

5 Future Work
Because this project serves to deliver a phase I prototype, future work must be done to complete the design
in full. The following sections describe the design changes, modifications, and refinements necessary to
bring the ParaLift to a commercial level.

Multi-Level Locking Mechanism

The current design would benefit from a variable-type connection system that will lock platforms at
different ground levels to account for slopes and un-leveled ground/curb sides. The small-slider will need
a variable connection system to the large slider that is able to lock on different levels of deployment. A
step-lock system could be a possibility for this mechanism.

Platform Gripping System

A future model of the design could include an alternative to the hooked gripping tool for platform stowing.
The benefit of getting rid of the gripping tool is allowing the operator to use the lift even if they do not have
the gripping tool available. This could be done by adding a small motor to the platform that may be
integrated to the motor that is first used to slide the platform partially outside of the vehicle. Another
improvement is to design an extendable platform that allows the user to carry additional objects on the
platform as well. The design must accommodate this additional load.

Slider Stopper System

Stoppers should be implemented to the sliders so that the users will have a higher level of safety as opposed
to the bike brakes alone that are currently being implemented. This other form of safety will allow users for
better assurance that, in case the bike brake malfunctions, the system has a solid mechanical piece that is
43

capable of withstanding the weight applied to the platform. The slider stoppers can potentially be made out
of high friction material/tube.

Further Evaluation at Landsberger Rehabilitation Lab

After the implementation of the platform gripping system and multi-level locking mechanism, this design
will be ready for rigorous evaluation and testing. The Landsberger Rehabilitation Lab at CSULA, which
specializes in the development of assistive devices and technologies for the disabled, will be evaluating the
safety and feasibility of implementation of this design. Paul Bowers, as a lobbyist and activist for the
disabled community, will be using this proof of concept and new product to lobby for more effective
regulations. The evaluation and feasibility of this proof of concept design and new product introduction
will have a strong impact on the quality of lives for future generations of independent and able-bodied
paraplegics.

6 Project Management
Figure 57 shows a screenshot of the Gantt chart depicting project phases and milestones.

Figure 57 Gantt chart

7 Intellectual Property

Description of Problem

The problem statement is to design a human-powered wheelchair lift capable of lifting a paraplegic
wheelchair user, operated by a single user (the wheelchair user). This lift must be lighter, faster, more
ergonomic, and less expensive than current powered wheelchair lifts currently available in the U.S.
44

Proof of Concept

The design takes safety, ease of use, speed, size, noise, and cost into consideration. The steel column, lifting
slider, and stowing slider allow for the lifting and lowering of the platform. The user facilitates lifting and
rotating motion by taking advantage of his upper body strength to not only pull himself up or push himself
down, but also rotate himself in and out of the vehicle using the grab bar. These motions will be tested in
the lab. The slider and column, A-bar connection, platform and pulley systems have been machined
assembled. The implementations of these designs mark the end of Phase 1.

Progress to Date

A final design has been completed, consisting of a column, lifting slider, stowing slider, platform, grab bar,
and counterbalance system. The design has been created using CAD, evaluated through FEA, and
fabricated.

Individual Contributions

Christopher Balino Research into spring mechanisms, and initial designs involving the use of zero-length
springs, handlebars, brakes. Parallelogram lifting mechanisms to ensure a leveled platform lifting motion.
Design of column, lifting slider, stowing slider, platform, and grab bar.
Ovilia Hanafiah Research into Swing-A-Way, current lift types, international wheelchair regulations.
FBDs, poster and report write up, initial designs of counterbalance system.
Jerry Kim Federal/state regulation and inspection research, modeling and machining of parts.
Nelly Nganga Counterbalance research, focusing on weight counterbalance systems. Initial sketches
depicting potential designs. Van model.
Alyanna Tenorio Research into existing products and the van types/dimensions. Sketches, initial, and
final design components. FBDs, poster and write up.

8 References
1. Spring assist system for gravity deployment of stowed platform wheelchair lifter, US Patent and
Trademark Office, US5806632A, Web. The Braun Corporation
2. Rotary wheelchair lift, US Patent and Trademark Office, US4664584A, Web. The Braun
Corporation
3. Gao, C., Miller, T., Spletzer, J.R., Hoffman, I., Panzarella, T., Autonomous docking of a smart
wheelchair for the Automated Transport and Retrieval System (ATRS), Journal of Field Robotics,
25:4-5, 203-222. April 2008. DOI: 10.1002/rob.20236
4. 524 CMR: Board of Elevator Regulations, Massachusetts Court System, Web. Accessed 29 July
2015. Available: <http://www.mass.gov/>
5. Automotive Safety Issues for Persons with Disabilities, NHTSA. Web. Accessed 20 July 2015.
Available: <http://www.nhtsa.gov/cars/rules/adaptive/index.html>
45

6. Figuring out FMVSS 403 & 404, Mobility Management, Web. Accessed 30 July 2015. Available:
<http://mobilitymgmt.com/>
7. Part 38 Accessibility Specifications for Transportation Vehicles, U.S. Department of
Transportation Federal Transit Administration, Web. Accessed 16 July 2015. Available:
<http://www.fta.dot.gov/12876_3905.html>
8. Minivan Dimensions, Rollx Vans, Web. Accessed 18 July 2015. Available:
<http://www.rollxvans.com/minivan-dimensions/>
9. Making your Home Wheelchair Friendly, 1-800 Wheelchair.ca, Web. Accessed 10 July 2015.
Available: <http://www.1800wheelchair.ca/>
10. Easily Enter and Exit Your Adaptive Vehicle with a Wheelchair Lift, Adaptive Mobility Solutions,
Web. Accessed 15 July 2015. Available: < http://www.nmeda.com/what-to-buy/lifts/>
11. Perr, A., Barnicle, K., Van Lifts: The Ups and Downs and Ins and Outs, Team Rehab Report,4:49,
1993.
12. BraunAbility Wheelchair Accessible Vehicles and Wheelchair Lifts BraunAbility, Web. Accessed
20 July 2015. Available: <https://www.braunability.com/>
13. VMI/Ricon Wheelchair Lifts, Vantage Mobility, Web. Accessed 19 July 2015. Available:
<http://www.vantagemobility.com/>
14. NHTSA: 49 CFR Part 571 Federal Motor Vehicle Safety Standards; Platform Lift Systems for
Accessible Motor Vehicles, Platform Lift Installation on Motor Vehicles; Final Rule
15. How do gas springs work? Industrial Gas Springs, Web. Accessed 11 July 2015. Available:
<http://www.industrialgassprings.com/>
16. Image Courtesy: Titan Engineered Product Systems, Web. Accessed 14 July 2015. Available:
<http://www.titaneps.com/>
17. Image
Courtesy:
Joe
Wilde,
Web.
Accessed
30
July
2015.
Available:
<http://www.joewilde.com/images/big/closeup_torsion_spring.JPG>
18. Peters, R.D., Physics of the Zero-Length Spring of Geoscience, Mercer University Dept. of Physics,
Web. Accessed 29 July 2015. Available: <http://physics.mercer.edu/earthwaves/zero.html>
19. Image Courtesy: University of Oklahoma, Web. Accessed 29 July 2015. Available:
<http://principles.ou.edu/grav_ex/zero-spring.gif>
20. Image Courtesy: Vex Robotics, Web. Accessed 29 July 2015. Available: <http://vexrobotics.com/>

46

9 Appendix

Appendix A: Honda Element Design Requirements

Figure 58 and Table 3 depicts the relevant dimensions of the Honda Element. To note, the Honda Element
was discontinued after its 2011 model because of competition from similar vehicles offered by other
manufacturers, rivalry within the automaker's own product line, and a dwindling market share for SUVs
overall.

Figure 58 General dimensions of the 2011 Honda Element (in inches)

Table 3 General dimensions of the 2011 Honda Element (in inches)18,19

Dimension

Overall
Length/
Width

2011 Honda
169.9 / 71.6
Element LX

Overall
Wheelbase
Height

70.4

101.4

Track
(Front/
Rear)

62.1 / 62.3

47

Ground
Head Room
Shoulder
Clearance
(Front/Middle/
Room
(at curb
Rear)
(front)
height)
6.9

43.3 / 39.1 /
38.0

57.1

Appendix B: Purchase orders per assembly and system

Table 4 Slider and column assembly purchase order

Item

QTY

PART
NUMBER

DESCRIPTION

COST
EACH

TOTAL

9056K34

Multipurpose 6061 Aluminum Tube 2-3/4

OD, 1-3/4 ID, .50 Wall Thickness, 3ft.
Length

$141.75

$141.75

9867K13

Guide Rail, 20 mm Width, for 63 mm Width

PTFE-Lined Sleeve Bearing Carriage
1000mm Length

$110.00

$110

9867K3

PTFE-Lined Sleeve Bearing Carriage,

Threaded Through-Hole, for 20 mm Rail
Width

$56.62

$113.24

7767T78

Low-Carbon Steel Tubing, 1.5" OD, 1" ID,

.250" Wall Thickness 6 Length

$94.72

$94.72

2706T46

Ultra-Low-Friction Dry-Running Sleeve

Bearing, Flanged, PTFE, for 1-1/2" Shaft
Diameter

$42.49

$84.98

Total

$544.69

Table 5 Weight counterbalance system purchase order

Item

QTY

PART
NUMBER

DESCRIPTION

COST
EACH

TOTAL

3099T38

Steel Pulley for Wire Rope Mounted

Pulley, for 1/4" Rope Diameter

$12.54

$12.54

1
(10ft)

3461T48

Type 18-8 Stainless Steel Wire Rope, 7x7,

3/16" Diameter, 740 lb. Load Capacity 10 ft.

$11.70

$11.70

16175A22

$3.91

$3.91

1 (1
ft)

8982K61

$18.47

$18.47

Total

$46.62

Unfinished Steel Surface-Mount Hinge

without Holes Nonremovable Pin, 2-1/2"
High, 2-1/2" Wide, .120" Thick
Multipurpose 6061 Aluminum 90 Degree
Angle, 1/4" Thick, 3" x 3" Legs (1ft. length)

48

Table 6 Platform system purchase order

Item

QTY

PART
NUMBER

DESCRIPTION

COST
EACH

TOTAL

N/A

Aluminum Bare Sheet 6061 T6 Thickness

.19 36x48"

$176.86

$176.86

N/A

Aluminum Bare Plate 6061 T651 1

thickness Custom Size: 13.1 x 28"

$278.77

$278.77

9880K13

$93.80

$187.60

9880K3

$41.44

$165.76

1
(100
pack)

91290A124

Black-Oxide Class 12.9 Socket Head Cap

Screw Alloy Steel, M3 Thread, 22mm
Length, 0.50mm Pitch

$8.91

$8.91

90592A085

Steel Hex Nut Class 8, M3x0.5 Thread

Size, 5.5mm Wide, 2.4mm High

$0.88

$0.88

91502A106

Blue Alloy Steel Socket Head Cap Screw

M3 Thread Size, 14mm Long, 0.5mm Pitch

$9.76

$9.76

6546K47

Multipurpose 6061 Aluminum Rectangular

Tube 1/16 wall thickness, Height x
Width. 6ft Length

$10.21

$10.21

6
7

1
(100
pack)
1
(100
pack)
1

Guide Rail, 15mm Wide, for Frelon-Lined

Sleeve-Bearing Carriage 670mm Length
Frelon-Lined Sleeve-Bearing Carriage,
Threaded Through-Hole, for 15 mm Rail
Width

Total

49

$838.75

Table 7 A-support connection assembly purchase order

Ite
m

QT
Y

PART
NUMBER

DESCRIPTION

COST EACH

TOTAL

$6.95

$6.95

N/A

Extruded Aluminum Square

Tube 6061 T6 Height 2, Wall
.125, Internal Height 1.75, 1
AMS-QQ-A 200/8, ASTM B221

N/A

Extruded Aluminum Bare

Square 6061 T6511 Height .5,
3 ASTM B221

$4.28

$4.28

N/A

Extruded Aluminum Rectangle

Tube 6061 T6 1x2 Thickness
.125, Length 2
AMS-QQ-A 200/8, ASTM B221

$9.45

$9.45

6546K24

Multipurpose 6061 Aluminum

Rectangular Tube 3/16 wall
thickness 2x2

$77.25

$77.25

Total

50

$97.93

Table 8 Grab bar assembly purchase order

Item

QTY

1 (10 pack)

1 (100 pack)

1 (10 pack)

1 (5 pack)

PART
NUMBER

DESCRIPTION

STOCK?

COST
EACH

TOTAL

91290A202

Black-Oxide Class 12.9

Socket Head Cap Screw
Fully Threaded, Alloy
Steel, M6 Thread, 35 mm

Yes

$5.08

$5.08

90695A038

Class 04 Steel Thin Hex

Nut - DIN 439B Zinc
Plated, M6x1 Thread Size,
10mm Wide, 3.2mm High

Yes

$2.92

$2.92

91290A204

Black-Oxide Class 12.9

Socket Head Cap Screw
Fully Threaded, Alloy
Steel, M6 Thread, 45 mm

Yes

$5.52

$5.52

Yes

$7.02

$7.02

91251A016

Black-Oxide Alloy Steel

Socket Head Cap Screw
1/2"-20 Thread, 1-1/2"
Length

Yes

$5.62

$5.62

6436K23

Two-Piece Clamp-on Shaft

Collar (for 1-1/2 Diameter,
Black Oxide Steel)

Yes

$8.37

$16.74

Yes

$17.85

$17.85

Yes

$8.54

$8.54

Yes

$1.18

$4.72

6498K554

9056K36

9282K127

1555A1

Rod Clevis with Pin for 2"

& 2-1/2" Bore Size Round
Body Air Cylinder

Multipurpose 6061
Aluminum Tube, 1" OD,
.125" Wall Thickness, 3 ft.
length
Cushioned Grip, Round,
Fits 15/16"-1-3/64" OD,
21" Overall Length
Bracket Zinc-Plated Steel,
T-Shape, 2-1/2" Long
Connects vertical to
horizontal (Hinge)

Total

51

$80.75

Spring assist system for gravity deployment of stowed platform wheelchair lifter, US Patent and Trademark Office,
US5806632A, Web. The Braun Corporation
2

Rotary wheelchair lift, US Patent and Trademark Office, US4664584A, Web. The Braun Corporation

Gao, C., Miller, T., Spletzer, J.R., Hoffman, I., Panzarella, T., Autonomous docking of a smart wheelchair for the
Automated Transport and Retrieval System (ATRS), Journal of Field Robotics, 25:4-5, 203-222. April 2008. DOI:
10.1002/rob.20236
4

Automotive
Safety
Issues
for
Persons
with
Disabilities,
NHTSA.
Web,
Available:
<http://www.nhtsa.gov/cars/rules/adaptive/index.html>
5
Figuring out FMVSS 403 & 404, Mobility Mangement, Web. Available: <http://mobilitymgmt.com/>
6
Part 38 Accessibility Specifications for Transportation Vehicles, U.S. Department of Transportation Federal
Transit Administration, Web. Available: <http://www.fta.dot.gov/12876_3905.html>
7

Minivan Dimensions, Rollx Vans, Web. Available: <http://www.rollxvans.com/minivan-dimensions/>

Making
your
Home
<http://www.1800wheelchair.ca/>

Wheelchair

Friendly,

1-800

Wheelchair.ca,

Web.

Available:

BraunAbility Wheelchair Accessible Vehicles and Wheelchair Lifts BraunAbility, Web. Available:
<https://www.braunability.com/>
10

VMI/Ricon Wheelchair Lifts, Vantage Mobility, Web. Available: <http://www.vantagemobility.com/>

11

NHTSA: 49 CFR Part 571 Federal Motor Vehicle Safety Standards; Platform Lift Systems for Accessible Motor
Vehicles, Platform Lift Installation on Motor Vehicles; Final Rule
12

How do gas springs work? Industrial Gas Springs, Web. Available: <http://www.industrialgassprings.com/>

13

Image Courtesy: Titan Engineered Product Systems, Web. Available: <http://www.titaneps.com/>

14

Image Courtesy: Joe Wilde, Web. Available: <http://www.joewilde.com/images/big/closeup_torsion_spring.JPG>

15

Peters, R.D., Physics of the Zero-Length Spring of Geoscience, Mercer University Dept. of Physics, Web.
Available: <http://physics.mercer.edu/earthwaves/zero.html>
16

Image Courtesy: University of Oklahoma, Web. Available: <http://principles.ou.edu/grav_ex/zero-spring.gif>

17

Image Courtesy: Vex Robotics, Web. Available: <http://vexrobotics.com/>

18

Easily Enter and Exit Your Adaptive Vehicle with a Wheelchair Lift, Adaptive Mobility Solutions, Web.
Available: < http://www.nmeda.com/what-to-buy/lifts/>
19

Perr, A., Barnicle, K., Van Lifts: The Ups and Downs and Ins and Outs, Team Rehab Report,4:49, 1993.

52