Abstract: An assistive wheelchair that provides stand-up capability, vertical height adjustment while seated, and independent toileting is disclosed. The assistive wheelchair includes a verticalization system to move the user from a sitting to a more vertical position by tilting the while maintaining the proper center of gravity through the use of actuators and multi-bar linkages. The verticalization system also allows the seat to move up and down without modifying its tilt angle in order to change the height of the seat. An opening system provides for transversal movement of the wheels, to increase the width of the base of the wheelchair in order to create a space wide enough between the wheels to fit over a lavatory. A trap door seat is also provided that is lowered and moved from under the wheelchair to provide an opening in the wheelchair main seat during toileting.