Many wheelchair users are accompanied by an attendant, but most prior studies did not consider this fact. This study investigated effects of ramp slope on wheelchair velocity and subjective discomfort considering both the wheelchair occupant and the attendant while ascending with the occupant facing forward, descending with the occupant facing forward, and descending with the occupant facing backward. Forty (20 male, 20 female) participants were dividing into four groups: male – male (attendant – occupant), male – female, female – male, female – female. To evaluate the usability of the ramp, analysis considered the four levels of user group and five levels of the ramp slope (1:6, 1:8, 1:10, 1:12 and 1:14) as independent variables, and mean wheelchair velocity, attendants’ physical discomfort, and occupants’ psychological anxiety as dependent variables. Considering the opinions of both the attendant and the occupant, 1:12 was recommended as the appropriate ramp slope. Furthermore, when descending a ramp, the occupant should be able to look forward.