There are companies out there that make wheel chair lifts, and human lift seats, that attach to the sides of RVs. S & S Mobility Products, http://www.coachlift.com/,makes a nice seat lift that could be used indoors and out. It requires very little modification to the RV. I visited them at the end of December '05. If we ever decide to go with a 5er I think I will adapt the Lectra Aid for the interior steps as well as the outside access. A wheelchair lift requires a door wider than most RVs come with, and may require major changes to the RV floor plan and frame.
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