Based on energy consideration the rollover prevention energy reserve (RPER) of the SCWC was derived and used as an indication of the SCWC rollover stability.

• 为了进行爬楼梯轮椅的稳定性分析，文章中引入了基于能量考虑的阻翻能量裕量的概念来表征爬楼梯轮椅的翻转特性。