A ramp is the basic type of an assisting device for wheelchair users. Although the height of a ramp is an important design element, it has not been considered in prior studies. Therefore, in this study, the ramp slope and height are considered as independent variables. To analyze the effects of the slope and height, five levels of slope (1:6, 1:8, 1:10, 1:12 and 1:14) and three levels of height (15 cm, 30 cm and 45 cm) are considered. For the dependent variables, the total time and velocity were considered as performance measures, pulse rate changes and EMG signals of four related muscles (extensor carpi radialis, triceps brachii, anterior deltoid and posterior deltoid) were considered as physiology measures, and perceived discomfort while ascending and descending were considered as perceived discomfort measures. As a result, differences among performance, physiological characteristic and perceived discomfort for the five slopes increased as the height increased. Additionally, slope effects were minor when the height was low (15 cm). In summary, there was no significant difference between 1:10 and 1:12 (as suggested by ADAAG). In addition, slope effects were minor at a low height; thus, a slope of 1:8 can be recommended if the installation space for a gentler ramp is not sufficient.