Adaptive mobility system
First Claim
1. A wheelchair, comprising;
- a frame having first and second side members and a seat supported therebetween;
a pair of front wheels mechanically connected to said frame and rotatable about a first axis and a pair of rear wheels mechanically connected to said frame and rotatable about a second axis, said front and rear wheels being supported upon a surface; and
first and second articulated limbs having a proximal end, said proximal end of the first articulated limb being rotatably connected to said first side member and said proximal end of the second articulated limb being rotatably connected to said second side member, the first and second articulated limbs being rotatable about a substantially vertical axis, each of the first and second articulated limbs having a distal end for contacting said surface to provide a tractive force between said wheelchair and said surface, each of the first and second articulated limbs being articulable to position the distal end at a location forward of the front wheels and a location rearward of the rear wheels.
1 Assignment
0 Petitions
Accused Products
Abstract
A wheeled mobility system, such as a wheelchair, having articulated limbs for providing a tractive force between the mobility system and a surface. The articulated limbs provide tractive locomotive forces under abnormal operating conditions wherein wheeled locomotion is inhibited by an obstacle or the like. Controlled drive motors coupled to the articulated limbs and the wheels of the mobility system provide for redundant actuation of the limbs and wheels. The wheeled mobility system is inherently omni-directional, provides superior mobility in difficult terrain or soil conditions, such as sand, clay, gravel and rocks, and further provides for surmounting of obstacles, such as steps, ditches and rocks. The limbs also give the chair versatility and allow it to be re-configured to satisfy the comfort requirements of the user. The limbs can further be used as a manipulator in order to perform tasks such as reaching for objects or pushing open doors.
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Citations
33 Claims
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1. A wheelchair, comprising;
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a frame having first and second side members and a seat supported therebetween; a pair of front wheels mechanically connected to said frame and rotatable about a first axis and a pair of rear wheels mechanically connected to said frame and rotatable about a second axis, said front and rear wheels being supported upon a surface; and first and second articulated limbs having a proximal end, said proximal end of the first articulated limb being rotatably connected to said first side member and said proximal end of the second articulated limb being rotatably connected to said second side member, the first and second articulated limbs being rotatable about a substantially vertical axis, each of the first and second articulated limbs having a distal end for contacting said surface to provide a tractive force between said wheelchair and said surface, each of the first and second articulated limbs being articulable to position the distal end at a location forward of the front wheels and a location rearward of the rear wheels. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A mobility system for transporting a payload on a surface, comprising:
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a frame for supporting the payload; a plurality of locomotion members mechanically connected to said frame for supporting said frame upon said surface, said locomotion members actuated to provide a motive force between said frame and said surface; and at least one articulated limb having a proximal end mechanically connected to said frame and a distal end for contacting said surface to provide a tractive force between said frame and said surface, the articulated limb being rotatable about a substantially vertical axis and articulable to position the distal end at a location forward and a location rearward of the locomotion members. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25)
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26. A wheelchair, comprising;
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a frame having first and second side members and a seat supported therebetween; a pair of front wheels mechanically connected to said frame and rotatable about a first axis and a pair of rear wheels mechanically connected to said frame and rotatable about a second axis, said front and rear wheels being supported upon a surface; first and second articulated limbs comprising a first segment rotatably connected to a second segment by an articulated joint and having a proximal end, said proximal end of the first articulated limb being rotatably connected to said first side member and said proximal end of the second articulated limb being rotatably connected to said second side member, each of the first and second articulated limbs having a distal end for contacting said surface to provide a tractive force between said wheelchair and said surface; a first electric motor electromechanically coupled to said first segment of each of said first and second articulated limbs for actuating said first segment and a second electric motor electromechanically coupled to said second segment of each of said first and second articulated limbs for actuating said second segment; and a platform rotatably connected to each of said first and side members, each of said first and second articulated limbs and a corresponding one of said first and second electric motors mounted on a corresponding one of said platforms.
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27. A mobility system for transporting a payload on a surface, comprising:
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a frame for supporting the payload; a plurality of locomotion members mechanically connected to said frame for supporting said frame upon said surface, said locomotion members actuated to provide a motive force between said frame and said surface; at least one articulated limb having a proximal end mechanically connected to said frame and a distal end for contacting said surface to provide a tractive force between said frame and said surface; and at least one actuator platform rotatably connected to said frame, the proximal end of at least one of said articulated limbs rotatably connected to the platform. - View Dependent Claims (28, 29, 30, 31, 32)
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33. A mobility system for transporting a payload on a surface, comprising:
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a frame for supporting the payload; a plurality of locomotion members mechanically connected to said frame for supporting said frame upon said surface, said locomotion members actuated to provide a motive force between said frame and said surface; and at least one articulated limb having a proximal end mechanically connected to said frame and a distal end for contacting said surface to provide a tractive force between said frame and said surface, wherein said articulated limb articulates in three degrees of freedom.
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Specification