GB2559786A

GB2559786A - Mobility apparatus

Info

Publication number: GB2559786A
Application number: GB1702654.3A
Authority: GB
Inventors: Conran Sebastian; Mitchell Harry
Original assignee: Inclusiviti Ltd
Current assignee: Paymentshub Ltd
Priority date: 2017-02-17
Filing date: 2017-02-17
Publication date: 2018-08-22
Anticipated expiration: 2037-02-17
Also published as: GB201702654D0; GB2559786B

Abstract

Disclosed is a powered mobility apparatus 1 comprising: a base 2; a plurality of wheels 5 rotatably mounted to the base; a chair 3 movably mounted to the base; an omnidirectional drive means connected to the wheels; and a motorised actuation means (65, figure 2) connected to the base and the chair. In use, the drive means is operable to move the apparatus transversely, and the actuation means is operable to adjust the height of the chair relative the base. The apparatus may also comprise a further motorised actuation means 4, operable to move the chair between deployed and folded / collapsed positions. The apparatus may further comprise a control means 9 connected to the further actuation means. The chair may be pivotally mounted to the base. The further motorised actuation means may comprise a tilt actuator, which may be connected to an automatic control means and one or more sensors. The automatic control means may respond to measurements from the sensors, and work to maintain the chair in a substantially upright orientation when the apparatus is operating on a sloped or inclined surface. The drive means may comprise a drive control means, and a swivel mechanism with a motor.

Description

(54) Title of the Invention: Mobility apparatus

Abstract Title: Mobility apparatus comprising an omnidirectional drive (57) Disclosed is a powered mobility apparatus 1 comprising: a base 2; a plurality of wheels 5 rotatably mounted to the base; a chair 3 movably mounted to the base; an omnidirectional drive means connected to the wheels; and a motorised actuation means (65, figure 2) connected to the base and the chair. In use, the drive means is operable to move the apparatus transversely, and the actuation means is operable to adjust the height of the chair relative the base. The apparatus may also comprise a further motorised actuation means 4, operable to move the chair between deployed and folded / collapsed positions. The apparatus may further comprise a control means 9 connected to the further actuation means. The chair may be pivotally mounted to the base. The further motorised actuation means may comprise a tilt actuator, which may be connected to an automatic control means and one or more sensors. The automatic control means may respond to measurements from the sensors, and work to maintain the chair in a substantially upright orientation when the apparatus is operating on a sloped or inclined surface. The drive means may comprise a drive control means, and a swivel mechanism with a motor.

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FIGURE 1

FIGURE 2

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FIGURE 5

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FIGURE 11

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FIGURE 13

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FIGURE 15

MOBILITY APPARATUS

This invention relates generally to mobility apparatus, particularly wheelchairs. More specifically, although not exclusively, this invention relates to powered wheelchairs having improved manoeuvrability in domestic settings.

Conventional wheelchairs must either be pushed or have their wheels manipulated manually, which can be challenging for some users as they require a certain degree of strength and will invariably cause fatigue when travelling relatively long distances or over sloped or otherwise challenging terrain. Whilst conventional wheelchairs are often collapsible for transportation, the mechanisms by which such collapsing is carried out often requires a certain degree of coordination and strength. This can be challenging for the occupant’s independence and limit those who can assist them.

Powered or motorised wheelchairs address some of these issues and are increasing in popularity, but they can be difficult to manoeuvre and transport. They generally have wide turning radiuses, limited flexibility in their direction of movement and limited control options. This can be challenging in some environments, particularly given their often bulky design resulting from the various motorised mechanisms, power storage requirements and extensive cushioning aimed at maximising the comfort of the occupant. Most standard domestic dwellings require extensive modifications to be made in order to accommodate such powered wheelchair designs.

The Applicant has observed that there is a need for a wheelchair that provides increased independence and ease of use.

Accordingly, a first aspect of the invention provides a mobility apparatus, e.g. a wheelchair, comprising a base to which a plurality of wheels are rotatably mounted, a chair movably mounted to the base, drive means, e.g. omnidirectional drive means, operatively connected to the wheels and/or an actuation means, e.g. a motorised actuation means, operatively connected to the base and to the chair, wherein, in use, the drive means is operable to move the apparatus transversely and/or the actuation means is operable to adjust the height of the chair relative to the base.

Thus, the invention provides additional freedom to a user by enabling sideways movement and/or adjustment of the height of the chair, which facilitates tasks generally reserved for individuals with full mobility. More particularly, height adjustment enables a user to adjust their height to an eye-level position even with a person to whom they are speaking. Height adjustment also enables a user to access items that would otherwise be out of reach, for example on a shelf or other raised surface. This height adjustment, coupled with omnidirectional movement, provides a vast improvement to a user’s mobility.

A user of the mobility apparatus according to the invention has been found to enjoy enhanced access to locations within their environment (for example to shelving which would otherwise be at too great a height). As will be appreciated, this enhanced ability to access locations (including oblique or transverse and/or raised locations) has been found to be of particular benefit to users of reduced or diminished capability, e.g. users who may obtain disabled status within the United Kingdom. Such a user may have required the assistance of a further person (e.g. a person of undiminished capability) to access a location using a prior art mobility apparatus. Using a mobility apparatus according to the invention, however, a user may not require such assistance.

As used herein, the term “transversely” as used herein refers to a sideways or lateral direction with respect to a user sat, in use, in the chair, for example a direction which is substantially orthogonal to a backward and/or forward direction thereof. It will be appreciated by one skilled in the art that an apparatus which is movable in a transverse or lateral direction is distinct from an apparatus in which the entire apparatus is rotatable about a vertical or substantially vertical axis and is then movable in a forward or backward direction. The omnidirectional drive means may be operable to cause one or more of the wheels to move the chair forward, backward and/or transversely, e.g. without rotating the apparatus about a vertical axis.

Similarly, the term “height” as used herein refers to a direction substantially perpendicular to a substrate contacted by the wheels of the apparatus.

The actuation means may be operable to adjust the height of the chair relative to the base between a first, or minimum, position or height and a second, or maximum, position or height. The distance between the base and the chair when the chair is at the second position may be at least or approximately 1.5 times the corresponding distance when the chair is in the first position. In embodiments, the distance between the base and the chair when the chair is at the second position may be at least or approximately 1.6, 1.7, 1.8, 1.9,

2.0, 2.1, 2.2, 2.3, 2.4, 2.5, 2.6, 2.7, 2.8, 2.9 or 3.0 times the corresponding distance when the chair is in the first position.

The actuation means may comprise a height actuation means. The apparatus may comprise a further actuation means, which may comprise a tilt or collapsing actuation means, hereinafter tilt actuation means. The further actuation means may be operable to cause the chair to move, in use, relative to the base between a deployed position or condition, for example in which a user can sit on the chair, and a collapsed position or condition, for example in which the chair lies against, adjacent and/or along the base, e.g. for transportation or storage.

A second aspect of the invention provides a mobility apparatus, e.g. a wheelchair, comprising a base to which a plurality of wheels are rotatably mounted, a chair movably mounted to the base, and an actuation means, e.g. a motorised actuation means, operatively connected to the base and to the chair, wherein the actuation means is operable to cause the chair to move, in use, relative to the base between a deployed position or condition, for example in which a user can sit on the chair, and a collapsed position or condition, for example in which the chair lies against, adjacent and/or along the base, e.g. for transportation or storage.

Thus, the invention enables the apparatus to be collapsed through automatic or motorised operation of an actuation means. This precludes the need for potentially challenging manipulation of the collapsing mechanism.

The apparatus according to the second aspect may comprise a drive means operatively connected to one or more of the wheels, which drive means may, but need not, be omnidirectional.

Each actuation means may comprise an actuator, which may be motorised or automated. In some embodiments, both the height actuation means and the tilt actuation means are provided by the same actuator, which may be motorised or automated. The tilt actuation means may be operable to cause the chair to move, in use, relative to the base from the deployed position or condition, hereinafter deployed position, to the collapsed position or condition, hereinafter collapsed position and/or vice versa.

The chair may be pivotally mounted to the base. The chair may be cantilevered to the base. In embodiments, the chair is pivotally mounted to the base held in the deployed position by the tilt actuation means, e.g. thereby to cantilever the chair. The apparatus or chair may comprise a back or back portion and/or a seat or seat portion. The back or back portion, hereinafter back, may be movably or pivotally connected to the base. The back may be upright and/or substantially perpendicular to the base, for example when the chair is in the deployed position. The back may lie against, adjacent and/or along the base, for example when the chair is in the collapsed position. The seat or seat portion, hereinafter seat, may be connected to and/or extend from the back.

The tilt actuation means may be operable to tilt the chair relative to the base, for example to one of a plurality of orientations. The tilt actuation means may be operable to tilt the chair relative to the base for assisting a user to sit on or stand from the chair and/or for maintaining the chair in a substantially upright or vertical position or condition when travelling over a sloped substrate or terrain. The tilt actuation means may be operable to tilt the chair toward and/or away from an orientation that is substantially perpendicular to the base. The tilt actuation means may be operable to tilt the chair forward or anteriorly and/or rearward or posteriorly.

Advantageously, the presence of an actuation means has been found to provide, in certain circumstances, a damping action against sudden movements, accelerations and/or decelerations of the apparatus. For example, when a user suddenly stops the apparatus from moving forward, the actuation means can provide a damping action to at least partially mitigate against the transfer of the forward momentum to the user of the apparatus. Moreover, it has been observed that both the tilt actuation means and the height actuation means provide desirable suspension characteristics.

The apparatus may also include a damping means, for example a damper. The damping means may be between the chair and the base or between the actuation means and the chair and/or the base or between the base and one or more of the wheels. The damping means may comprise one or more laminar damping means, which may be formed of a series of laminated resilient members or strips such as leaf springs, and/or one or more linear damping means, which may be formed of a compressible or expandable member such as a compression or tension spring.

In this way the damping means or damper provides a floating ride whereby unwelcome jarring of a user of the apparatus resulting from movement over uneven ground is substantially mitigated.

The apparatus may comprise a control means, which may comprise one or more control units, modules or controllers. The control means may be operatively connected to one or both actuation means, e.g. for operating the height actuation means to adjust the height of the chair or for operating the tilt actuation means to cause the chair to tilt and/or move between the deployed and collapsed positions. The apparatus or control means may comprise one or more sensors, e.g. for determining the orientation of the base. The one or more sensors may comprise one or more motion and/or orientation and/or position sensor(s), for example one or more gyroscope(s) and/or accelerometer(s) and/or geospatial position sensors. The control means may be operable or configured or programmed to cause the back or chair to tilt, in use, for example in response to data or measurements received by or from the one or more sensor(s) and/or for maintaining the chair in a substantially upright orientation. For example, the control means may be operable or configured or programmed to tilt, in use, the chair or back to maintain a predetermined orientation thereof, for example a substantially upright or seated or predetermined reclined orientation, such as when the apparatus is on a sloped or inclined or declined substrate, e.g. a hill or ramp.

The control means may be operatively connected to the drive means and/or may be operable or configured to operate the drive means, e.g. to cause the drive means to drive rotation of the wheels. The apparatus or control means may comprise an input means or device, for example one or more peripheral(s), joystick(s), control lever(s), knob(s), dial(s), switch(es) and/or button(s). The input means may be operatively connected to the control means by a wired or wireless connection, for example Bluetooth (RTM) communication or any other suitable wireless communication means.

Where the apparatus is operable to move between a deployed position or condition and a collapsed position or condition the apparatus may be automatically collapsible and/or deployable. Automatically operating the tilt actuation means to deploy and/or collapse the apparatus may comprise operating the tilt actuation means by way of wireless communication, for example by way of Bluetooth (RTM) communication or any other suitable wireless communication means. In alternative embodiments automatically operating the tilt actuation means to deploy and/or collapse the apparatus may comprise operating the tilt actuation means by way of wired communication. Automatically operating the tilt actuation means to deploy and/or collapse the apparatus may comprise wirelessly communication with the control means (where provided), for example by operation of a control device.

The chair may be described or defined at least in part by the seat and/or the back or part of the back. The tilt actuator may be operatively connected to the base and to the back or back part. The tilt actuator may be operable to cause the back to pivot or tilt, in use, relative to the base, e.g. to move the chair between the deployed and collapsed positions. The tilt actuator may be connected, e.g. pivotally connected, to each of the chair or back and the base at respective positions each of which is spaced from the connection between the back and the base. The tilt actuator may be operable to cause the back to pivot, in use, relative to the base between the deployed and collapsed or retracted positions. The back may extend substantially vertically and/or substantially perpendicularly or orthogonally relative to the base in the deployed position. The back may lie against, adjacent and/or along the base in the collapsed or retracted position. The tilt actuator may be operable to cause the back to pivot, in use, relative to the base from the deployed position to the collapsed or retracted position and/or vice versa.

The seat may be movably or pivotally connected to the back and/or movable between a deployed position and a collapsed or retracted position. The seat may be substantially perpendicular to the back, for example when the chair is in the deployed position. The seat may lie against, adjacent and/or along the back and/or base, for example when the chair is in the collapsed position. The seat may extend from the back, e.g. to describe and/or define the chair therewith, when in the deployed position. The seat may lie against, adjacent and/or along the back or the or a part of the back when in the collapsed or retracted position. The seat may be operable or configured to be in its deployed position when the chair is in its deployed position and/or to be in its collapsed or retracted position when the chair is in its collapsed position. The tilt actuator may be operable to cause the back to move, in use, relative to the base from its deployed position to its collapsed or retracted position when, e.g. only when, the seat is in its retracted position. The seat may be movable via the tilt actuator or a further actuator or alternatively may be movable manually between the deployed and collapsed or retracted positions.

The seat may be joined to the back by a joint, for example which may comprise an articulated or flexible joint. The seat may comprise a cushion, for example on an upper surface of the seat. The cushion may be fixed or removably attached to the seat or placed or placeable thereon. When the seat is moved into or to a collapsed or retracted position the joint may be configured to allow the seat to move to a position in which it is substantially parallel to the back, for example even when the cushion remains on or attached to the seat.

The apparatus may be powered or motorised, for example electrically powered or motorised. The tilt actuator may be powered or motorised, e.g. electromechanically, pneumatically or hydraulically powered. The tilt actuator may comprise a linear actuator, which may comprise any of a leadscrew, ball screw, planetary roller screw or any other suitable actuator.

The seat may be movable along the back, e.g. toward and/or away from the connection between the back and the base, to adjust the height of the chair. The back may comprise a first portion, e.g. a seat back portion, and a second portion, e.g. a base back portion. The first back portion may be movably or telescopically connected to the second back portion. The back may comprise one or more, e.g. a pair, of columns that are telescopically adjustable to adjust the height of the chair or to move the seat and/or first back portion toward or away from the base. A first end of the height actuator may be operatively connected to the first back portion and/or a second end of the height actuator may be operatively connected to the second back portion. The height actuator may be powered or motorised, e.g. electromechanically, pneumatically or hydraulically powered. The height actuator may comprise a linear actuator, which may comprise any of a leadscrew, ball screw, planetary roller screw or any other suitable actuator. The height actuator may comprise any one or more features of the first linear actuator. The one or more columns may be telescopically adjustable between the minimum height and the maximum height, e.g. of the chair. The minimum height may correspond to a first length L1 of the one or more columns. The maximum height may correspond to a second length l_2 of the columns. I_2 may be about 1.5, 1.6, 1.7, 1.8, 1.9,2.0,2.1,2.2, 2.3,2.4,2.5,2.6, 2.7, 2.8, 2.9or3.0Li.

The apparatus or chair may comprise one or more armrests, which may extend from and/or be connected to the back and/or the seat. The or at least one of the or each armrest may include a horizontal or first portion, which may extend from and/or be connected to the back. The or at least one of the or each armrest may include a vertical or second portion, which may extend from and/or be connected to the seat, e.g. a free end thereof. The or each armrest may be movably or pivotally connected to the back and/or to the seat. The horizontal or first portion of the or each armrest may be pivotally connected to the vertical or second portion thereof. The horizontal or first portion of the armrest may comprise a first end and a second end. The first end of the horizontal or first portion may be connected to the back. The vertical or second portion of the armrest may comprise a first end and a second end. The first end of the vertical or second portion may be connected to the seat and/or the second end thereof may be connected to the horizontal or first portion of the armrest, e.g. at or adjacent its second end.

The input means or device may be comprised in or mounted on and/or at least partially in one of the armrests. The input means or device may be located at or adjacent the second end of the horizontal or first portion of the armrest.

At least one of the base and chair, e.g. back and/or seat, may comprise one or more support elements or members, for example a pair of side elements or members and/or a pair of cross elements or members. At least one of the support elements or members may be hollow. The apparatus may additionally or alternatively include one or more housings, which may be mounted on or incorporated in one or more of the base and chair. One or more of the drive means, power source and/or control means may be housed within one or more of the housing(s) or hollow support element(s) or member(s) of the apparatus.

The apparatus may comprise a motorised mobility apparatus or wheelchair. The apparatus may comprise drive means, e.g. for causing the wheels to rotate. The apparatus may comprise one or more motors, e.g. electric or electromechanical motors, operatively connected to at least one of the wheels for driving its or their rotation. The apparatus may comprise a respective motor operatively connected to each wheel, for example via a gearbox. The apparatus may comprise a power source or energy storage means, e.g. one or more batteries.

The plurality of wheels may comprise a pair of wheels, e.g. front or rear wheels, which may be located on opposite sides of the apparatus. Each of the pair of wheels may be operatively connected to a respective end of one of the cross elements or members. In embodiments, the apparatus includes a motor on or at least partially housed within the cross element or member and operably connected to one or both of the pair of wheels, e.g. via a gearbox or respective gearbox. Preferably, the apparatus includes a respective motor operatively connected, e.g. via a gearbox, to each of the pair of wheels, which motor may be on or at least partially housed within the cross element or member.

The drive means may comprise one or more or a plurality of rollers, which may be rotatably mounted to one or more of the wheels. Each or at least one, preferably at least three and more preferably four, of the wheels comprise one or more, e.g. a plurality of, rollers rotatably mounted about its or their periphery. The rollers may be angled, for example they may have axes of rotation which are angled, e.g. at 45°, with respect to the axis of the wheel to which they are mounted. The roller axes may be orthogonal or substantially orthogonal to a radial dimension of the wheel to which they are mounted. The axes of the rollers of each wheel may be parallel to one another. The roller axes of a first wheel may be different or nonparallel to the roller axes of a second wheel, e.g. orthogonal or substantially orthogonal relative thereto.

The apparatus may comprise four wheels, e.g. two front wheels and two rear wheels. At least one or each of the wheels may comprise an omni or Mecanum wheel. Additionally or alternatively, two or more of the wheels may comprise swivel wheels, for example may be pivotable or swivellable about a vertical axis.

The drive means may comprise a motor or drive motor, which may be operatively connected to one or more of the wheels, e.g. for causing the wheel to rotate. In embodiments, the mobility apparatus comprises a control means operatively connected to the drive means, e.g. for controlling the drive means.

The drive means may comprise one or more casters or swivel mechanisms, which may be motorised. At least one of the wheels, for example the front and/or the rear wheels, may be mounted to or on the or a respective one of the casters or swivel mechanisms. At least one of the wheels, for example the front and/or the rear wheels, may be mounted to the base via the or a respective one of the casters or swivel mechanisms. The control means may be operable to control the orientation of the or each motorised caster or swivel mechanism. The drive means may be operatively connected to the control means. The drive means or control means may be configured or operable to cause or suitable for causing the or each or at least one of the caster-mounted wheels to pivot or swivel (e.g. about a vertical axis) relative to the caster or swivel mechanism.

The drive means may comprise a swivel mechanism to which one of the wheels is mounted and a motor operatively connected to the wheel mounted to the swivel mechanism for causing the wheel to rotate. In embodiments, the drive means comprises a pair of rear swivel mechanisms and a pair of rear motors, each of a pair of rear wheels of the apparatus being mounted to a respective one of the rear swivel mechanisms and each rear motor being operatively connected to a respective one of the rear wheels for causing the rear wheels to rotate. In embodiments, the drive means comprises a pair of front swivel mechanisms and a pair of front motors, each of a pair of front wheels of the apparatus being mounted to a respective one of the front swivel mechanisms and each front motor being operatively connected to a respective one of the front wheels for causing the front wheels to rotate. In embodiments, the pair of rear wheels or front wheels may be attached to the apparatus in a freely rotatable manner or may be otherwise attached to the apparatus in a non-driven or non-drivable manner. For example, the rear wheels may be driven by respective rear swivel mechanisms and rear motors, while the front wheels may be attached to the apparatus in a freely rotatable manner or may be otherwise attached to the apparatus in a non-driven or non-drivable manner.

The control means may be operable to control two or more or each of the motor and/or swivel mechanism of the wheels independently and/or in pairs, e.g. to provide omnidirectional movement of the apparatus on a substrate. The control means may be operable, e.g. when the input means receives a command for the apparatus to move forward or in a reverse direction, to cause all four wheels to rotate in the same direction, for example such that the apparatus to move in a forward or reverse direction. The control means may be operable, e.g. when the input means receives a command for the apparatus to translate or crab or move transversely or sideways or laterally, to cause the front wheels and/or the rear wheels to pivot or swivel (e.g. about a vertical axis) relative to the caster or swivel mechanism to point to or toward the transverse, sideways or lateral direction, and to cause the front wheels and/or the rear wheels to rotate in the transverse, sideways or lateral direction, for example such that the apparatus translates, crabs or moves transversely or sideways.

For purposes of this disclosure, and notwithstanding the above, it is to be understood that the control means may comprise one or more controllers, control units and/or control modules. Any controller(s), control units and/or control modules described herein may each comprise a control unit or computational device having one or more electronic processors. The controller may comprise a single control unit or electronic controller or alternatively different functions of the control of the system or apparatus may be embodied in, or hosted in, different control units or controllers or control modules. As used herein, the terms “control unit” and “controller” will be understood to include both a single control unit or controller and a plurality of control units or controllers collectively operating to provide the required control functionality. A set of instructions could be provided which, when executed, cause said controller(s) or control unit(s) or control module(s) to implement the control techniques described herein (including the method(s) described herein). The set of instructions may be embedded in one or more electronic processors, or alternatively, may be provided as software to be executed by one or more electronic processor(s). For example, a first controller may be implemented in software run on one or more electronic processors, and one or more other controllers may also be implemented in software run on or more electronic processors, optionally the same one or more processors as the first controller. It will be appreciated, however, that other arrangements are also useful, and therefore, the present invention is not intended to be limited to any particular arrangement. In any event, the set of instructions described herein may be embedded in a computerreadable storage medium (e.g., a non-transitory storage medium) that may comprise any mechanism for storing information in a form readable by a machine or electronic processors/computational device, including, without limitation: a magnetic storage medium (e.g., floppy diskette); optical storage medium (e.g., CD-ROM); magneto optical storage medium; read only memory (ROM); random access memory (RAM); erasable programmable memory (e.g., EPROM ad EEPROM); flash memory; or electrical or other types of medium for storing such information/instructions.

Within the scope of this application it is expressly intended that the various aspects, embodiments, examples and alternatives set out in the preceding paragraphs, in the claims and/or in the following description and drawings, and in particular the individual features thereof, may be taken independently or in any combination. That is, all embodiments and/or features of any embodiment can be combined in any way and/or combination, unless such features are incompatible. For the avoidance of doubt, the terms “may”, “and/or”, “e.g.”, “for example” and any similar term as used herein should be interpreted as non-limiting such that any feature so-described need not be present. Indeed, any combination of optional features is expressly envisaged without departing from the scope of the invention, whether or not these are expressly claimed. The applicant reserves the right to change any originally filed claim or file any new claim accordingly, including the right to amend any originally filed claim to depend from and/or incorporate any feature of any other claim although not originally claimed in that manner.

Embodiments of the invention will now be described by way of example only with reference to the accompanying drawings in which:

Figure 1 is a perspective view of a mobility apparatus according to an embodiment of the invention with the chair shown in a fully deployed condition;

Figure 2 is a perspective view of the mobility apparatus of Figure 1 shown from the back;

Figure 3 is a perspective view of the mobility apparatus of Figures 1 and 2 with the chair shown in a raised position;

Figure 4 is a similar view to that of Figure 3 shown from the back;

Figure 5 is a perspective view of the mobility apparatus of Figures 1 to 4 shown tilted on an uphill slope;

Figure 6 is a rear perspective view of the mobility apparatus of Figures 1 to 5 shown tilted on a flat surface;

Figures 7 and 8 are perspective views of the mobility apparatus of Figures 1 to 6 with the chair in a partially collapsed condition, shown from the front and back respectively;

Figure 9 is a side view of the mobility apparatus of Figures 1 to 7 with the chair shown in a fully collapsed condition;

Figures 10 and 11 are perspective views of the collapsed mobility apparatus of Figure 9;

Figure 12 is a perspective view of a mobility apparatus according to another embodiment of the invention with the chair shown in a fully deployed condition;

Figure 13 is a perspective view of the mobility apparatus of Figure 12 shown from the back;

Figures 14 and 15 illustrate similar views to those of Figures 12 and 13 respectively with the wheels shown in a sideways orientation.

Referring now to Figures 1 and 2, there is shown a motorised mobility apparatus 1, which is in the form of a wheelchair in this embodiment. The mobility apparatus 1 includes a base io 2, a chair 3 movably mounted to the base 2, an actuator 4 connected to the base 2 and to the chair 3, four wheels 5 mounted to the base 2 and a control system 9 for controlling operation of the mobility apparatus 1.

The base 2 includes first and second side support members 20a, 20b, which are joined is adjacent their ends by first and second lateral support members 20c, 20d. The base 2 also includes front and rear cross members 21a, 21b that run parallel to the lateral support members 20c, 20d and join the ends of the side support members 20a, 20b. The front and rear cross members 21a, 21b are in the form of straight elongate hollow tubes. A footrest extends from the front of the base 2 for a user (not shown) to rest their feet upon, when seated in the apparatus 1. The footrest 22 includes a foot support member 24a, which is parallel to the front cross member 21a and is attached thereto by a connection sleeve 23, with a connection member 24a therebetween. The connection sleeve 23 is rotatably attached to the front cross member 21a.

The chair 3 includes a back 6, a seat 7 and a pair of armrests 8. The back 6 includes a first back portion 60 adjustably mounted to a second back portion 61 via a pair of telescoping columns 62. Each column 62 includes an outer tube 62a forming part of the first back portion and a cooperating inner tube or pole 62b forming part of the second back portion 61. The telescoping columns 62 are configured such that the outer tube 62a may slidably move over and along the length of the inner tube or pole 62b. The back 6 includes a back cushion 63 mounted to the first back portion 60 for supporting the back of a user (not shown) in use. The back 6 is pivotally connected to the base 2 at a lower end of the second back portion by pivots 64.

As illustrated more clearly in Figures 7 to 11, the back 2 is pivotally movable between retracted and deployed conditions. In the deployed condition, the back 6 extends orthogonally (or vertically) from the base 2. In the retracted condition, the back 6 lies along and against the base 2.

The seat 7 includes a support frame 70 and a seat cushion 71 configured to support a user (not shown) when the mobility apparatus 1 is in a deployed condition and in use. The support frame 70 is in the form of a hollow frame in this embodiment and the seat cushion 71 is removably mounted to the support frame 70 by hook and loop fastening means. The seat 7 is pivotally connected to the back 6 at mounting pivots 72 on the first back portion 60. The seat 7 is movable between a retracted position, in which it lies along and against the back cushion 63, and a deployed position. The seat 7 extends from the back 6 substantially perpendicularly when in a deployed position, thereby defining the chair 3, as shown in Figures 1 and 2. The seat 7 has a free end 73 which is distal from the back 6 when in the deployed position.

Each armrest 8 includes a first, armrest portion 80 pivotally connected to the first back portion 60 and a second, support portion 81 pivotally connected to the seat frame 70 and to the first portion 80. The armrest portion 80 has a first end 80a pivotally connected to the first back portion 60 of the back 6 and a second, free end 80b. The second armrest portion 81 has a first end 81a pivotally connected to the seat frame 70 of the seat 7 adjacent its free end 73 and a second end 81b pivotally connected to the first armrest portion 80 adjacent its free end 80b.

As illustrated more clearly in Figures 7 to 11, the seat 7 and armrests 8 are movable together between retracted and deployed conditions. In the deployed condition, the seat 7 and first, armrest portions 80 of the armrests 8 extend orthogonally (or horizontally) from the first back portion 60. In the retracted condition, the seat 7 lies along and against the first back portion 60 with the armrests 8 lying parallel and alongside the seat 7.

When the seat 7 and armrests 8 are in their retracted condition and the back is in its retracted condition, the chair 3 is fully collapsed. When the seat 7 and armrests 8 are in their deployed condition and the back is in its deployed condition, the chair 3 is deployed. The chair 3 may also be configured to move to an posterior orientation, whereby it extends at an obtuse angle, which is discussed in more detail below.

The actuator 4 in this embodiment is a motorised, electrically powered worm drive linear actuator, although a person skilled in the art will appreciate that other actuators 4 may be suitable. The actuator 4 has a first end 40, which is pivotally connected to the front-most lateral support member 20c of the base 2, and a second end 41, which is pivotally connected to the second back portion 61 of the back 6. The connection between the second end 41 of the actuator 4 and the second back portion 61 is spaced from the pivotal connection 64 between the base 2 and the back 6 at a distance that is considerably less than the distance between the front-most lateral support member 20c and the pivotal connection 64 to create a mechanical advantage.

The actuator 4 is operable to cause the chair 3 to move, in use, relative to the base 2 between its deployed and retracted conditions.

The back 6 also includes a second actuator 65 with first and second ends 65a, 65b. The first end 65a (shown more clearly in Figure 4) is connected to the top of the first back portion 60 and the second end 65b is connected to the second back portion 61. The second actuator 65 in this embodiment is a motorised, electrically powered worm drive linear actuator, although a person skilled in the art will appreciate that other actuators 65 may be suitable.

The second actuator 65 is operable to cause the first back portion 60 of the chair 3, along with the seat 7 and armrests 8, to move, in use, relative to the first back portion 61 to adjust the height of the chair 3 relative to the base 2.

The wheels 5 are omni-directional wheels 5, which include a pair of front wheels 50a, 50b and a pair of rear wheels 51a, 51b. Each wheel 5 is operatively and rotatably connected to an end of a respective one of the cross members 21a, 21b. The mobility apparatus 1 includes individual drive motors (not shown) connected directly to each of the wheels 5 via a gearbox (not shown) for driving their rotation. Each motor and gearbox is housed within one of the cross members 21a, 21b.

Each of the wheels 5 includes a plurality of rollers 52 rotatably mounted about its periphery. The rollers 52 have axes of rotation which are angled with respect to the axis of the wheels 5 to which they are mounted, where the angle is 45° in this embodiment (although the skilled person will appreciate that other angles may also be desirable). The axes of rotation of the rollers 52 on the left front wheel (as seen by a user seated in the chair 3) 50a are parallel to the axes of the rollers 52 on the right rear wheel 51b and the axes of rotation of the rollers 52 on the right front wheel 51a are parallel to the axes of the rollers 52 on the left rear wheel 51a. However, the axes of rotation of the rollers 52 on the left front and rear right wheels 50a, 51b are orthogonal to the axes of the rollers 52 on the right front and rear left wheels 50b, 51a. Thus, the direction of the rollers 52 alternates from left to right on each consecutive wheel 5 about the periphery ofthe base 2, such that the mobility apparatus 1 can achieve omnidirectional movement through the selection of the relative direction of rotation of each wheel 5.

The mobility apparatus 1 also includes a control system 9 including an input joystick 90 with a button 91 thereon and a control unit (not shown), which is operatively connected to the actuators 4, 65 and to the drive motors (not shown) for controlling their operation. The joystick 90 is mounted to one of the armrests 8 adjacent the free end 80b of the first armrest portion 80. The control unit (not shown) is operatively connected to the joystick 90 to receive input signals, in use, from a user (not shown). The control unit (not shown) may include a single or multiple control units or modules, in this embodiment, the control system 9 includes multiple sensors for sensing motion, orientation and the geospatial position ofthe mobility apparatus 1, e.g. gyroscope(s) and/or accelerometer(s) and/or geospatial position sensors.

The mobility apparatus 1 also includes a power source (not shown), such as batteries, which is operatively connected to the electrical components ofthe mobility apparatus 1 for providing them with a source of electrical power, in use. The power source may be housed within the cross members 21a, 21b or any other housing or hollow support element on or of the mobility apparatus 1.

In use, the control system 9 is operable to control each wheel 5 independently or in pairs. When the joystick 90 is operated to generate a command for the mobility apparatus 1 to move in a forward or reverse direction (e.g. a user moves the joystick 90 relatively forward or backward) the control system 9 causes all four wheels 5 to rotate in the same direction. In this way the mobility apparatus 1 is moveable in a forward or reverse direction.

The control system 9 is also operable when the joystick 90 is operated to generate a command for the mobility apparatus 1 to rotate (e.g. by a twisting force), to cause both the front wheel 50a and the rear wheel on the first side of the mobility apparatus 1 to rotate in a common, first direction and to cause both the front wheel 50b and the rear wheel 51 b on the second side of the mobility apparatus 1 to rotate in a common, second direction, opposite from the first direction. Thus, the mobility apparatus 1 rotates about an axis perpendicular to a substrate on which it is moving (e.g. a vertical axis).

The control system 9 is also operable, when the joystick 90 is operated to generate a command for the mobility apparatus 1 to translate or crab or move transversely or sideways (e.g. by sideways movement), to cause the front wheel 50a on the first side and the rear wheel 51b on the second side to rotate in a common, first direction and to cause the front wheel 50b on the second side and the rear wheel 51a on the first side to rotate in a common, second direction different or opposite the first direction. Thus, the mobility apparatus 1 translates, crabs or moves transversely or sideways in the selected direction.

The height of the chair 3 may also be adjusted relative to the base 2 of the mobility apparatus 1 (as shown in Figures 3 and 4). An input by a user to the joystick 90 (e.g. an axial pulling or pushing forcing) may cause the control system 9 to actuate the second actuator 65 in order to move the chair 3 up or down relative to the base 2. The outer tubes 62a of the columns 62 slide telescopically with respect to the inner tubes or poles 62b to enable the adjustment whilst providing support and stability to the chair 3 relative to the base 2. It is also envisaged that the footrest 22 may be rotated about the front cross member 21 a of the base 2, for example by a motor (not shown) located within the front cross member 21a and operatively connected to the control system 9. In this way, the distance between the footrest 22 and the chair 3 may be substantially maintained during height adjustment of the chair 3. A user may therefore continue to find support from the footrest 22 regardless of the height to which the chair 3 is adjusted relative to the base 2.

The orientation of the chair 3 may be adjusted relative to the base 2 of the mobility apparatus 1 (Figures 5 and 6). An input by a user to the joystick 90 (e.g. by pressing the button 91 and moving the joystick 90 forward or backward) may cause the control system 9 to actuate the first actuator 4 in order to tilt the chair 3 relative to the base 2. The input may cause the chair 3 to move from the deployed condition (shown in Figures 1 and 2) toward the collapsed condition (shown in Figures 9 to 11). In order to move the chair 3 to the collapsed condition shown in Figures 9 to 11, the seat 7 and armrests 8 must be moved manually to their retracted condition in this embodiment, although motorised movement is also envisaged. Deployment of the mobility apparatus 1 from a collapsed condition to a deployed condition entails a reversal of the above-described steps.

This is particularly beneficial for users and/or carers with limited manoeuvrability, such as elderly, disabled, or otherwise frail individuals. Advantageously, movement of the mobility apparatus 1 into a collapsed condition may be achieved without significant manual manipulation which may otherwise prove too challenging to those of limited or reduced physical capabilities. Moreover, the mobility apparatus 1 in its collapsed condition has a low profile and may therefore by more readily stored in a convenient location, for example under a bed or in a compartment (e.g. the boot) of a motor vehicle. In embodiments the mobility apparatus 1 may be moved into a collapsed condition and/or into a deployed condition via wireless communication by way of Bluetooth communication. The or a user of the mobility apparatus 1 may operate a control device (not shown) to wireless transmit a command to the control system 9 to collapse or deploy the mobility apparatus 1. In embodiments the command may be transmitted by wired connection to the control system 9.

In addition, the tilt control described above may also be used to tilt the chair forward or anteriorly and/or rearward or posteriorly. Beneficially, in the tilted condition shown in Figures 5 and 6 the chair 3 is relatively easier for a user to sit down onto or to stand up therefrom. The orientation of the chair 3 may also be tilted posteriorly, that is in a reclined orientation which the user may find more comfortable. Additionally, tilting of the chair 3 relative to the base 2 as described above aids a third party who may be assisting (or otherwise moving) a user to sit or stand or otherwise move from the chair 3.

The control system 9 in this embodiment is also configured to operate the actuator 4 automatically in response to data received from the sensors (not shown). More specifically, the control system 9 is configured to tilt automatically the chair 3 with respect to the base 2 in order to maintain a predetermined orientation thereof, for example a substantially upright or seated orientation. This arrangement is particularly advantageous when the mobility apparatus 1 encounters a sloped or inclined surface (e.g. a hill or a ramp).

Referring now to Figures 12 to 15, there is shown a mobility apparatus 100 according to another embodiment of the invention similar to the mobility apparatus 1 according to the embodiment described above, wherein like references depict like features that will not be described herein. The mobility apparatus 100 according to this embodiment differs from that of the previous embodiment in that the omni-directional wheels 5 are replaced with swivelling wheels 105 and the base 102 includes a tray 120 for receiving and supporting articles thereon.

The wheels 105 include a pair of front wheels 150a, 150b and a pair of rear wheels 151a, 151b. Each of the wheels 150a, 150b, 151a, 151b includes a swivel motor 152 that is operatively connected to the control system 9 for rotating the wheel about a vertical axis to control its orientation, thereby providing a motorised caster 152.

In use, the aforementioned inputs received via the joystick 90 and button 91 control the orientation of each wheel 150a, 150b, 151a, 151b by motorised swivelling of said wheels about a vertical axis V toward the direction of intended movement of the mobility apparatus 100. The wheels 150a, 150b, 151a, 151b are then driven to rotate in the appropriate direction to enable the mobility apparatus 100 to be manoeuvred accordingly.

It will be appreciated by those skilled in the art that several variations to the aforementioned embodiments are envisaged without departing from the scope of the invention. For example, although the actuator 4 is described as being a worm drive linear actuator 4 this need not be the case and the actuator 4 may instead be any suitable type of actuator 4, for example a leadscrew, ball screw or planetary rollers screw actuator. Additionally or alternatively, although the power source is described as being housed within the cross members 21a, 21b or any other housing or hollow element on or of the mobility apparatus 1 this need not be the case and the power source may additionally or alternatively be mounted or attached to an outer surface of any of the components of the mobility apparatus 1.

Additionally or alternatively, although the mobility apparatus 100 shown in Figures 12 to 15 is described as having a swivel motor 152 included in each of the wheels 150a, 150b, 151a, 151b this need not be the case and instead only the front wheels 150a, 150b or only the rear wheels 151a, 151b may include a swivel motor 152. Additionally or alternatively, in use, the orientation of only the front wheels 150a, 150b or the rear wheels 151a, 151b may be altered by motorised swivelling to said wheels. Where only the front wheels 150a, 150b include a swivel motor the rear wheels 151a, 151b may be attached to the mobility apparatus 100 in a freely rotatable manner via a caster (not shown), for example the rear wheels 151a, 151b may be non-driven or non-drivable. Where only the rear wheels 151a,

151b include a swivel motor the front wheels 150a, 150b may be attached to the mobility apparatus 100 in a freely rotatable manner via a caster (not shown), for example the front wheels 150a, 150b may be non-driven or non-drivable.

Additionally or alternatively, although the seat 7 of the mobility apparatus 1 shown in Figures 1 to 11 is described as being pivotally connected to the back 6 at mounting pivots 72 this need not be the case and instead the seat 7 of the mobility apparatus 1 shown in Figures 1 to 11 and/or the seat 7 of the mobility apparatus 100 shown in Figures 12 to 15 may be connected to the back 6 by an articulated or flexible joint. In this way, the seat cushion 71 io may remain mounted to the support frame 70 even when the mobility apparatus 1, 100 is in a fully collapsed condition.

Additionally or alternatively, the mobility apparatus 1 shown in Figures 1 to 11 or the mobility apparatus 100 shown in Figures 12 to 15 may include one or more leaf springs, for example located between the seat 7 and the base 2, 102 and/or between the wheels 50a, 50b, 51a, 51b, 150a, 150b, 151a, 151b and the base 2, 102. In embodiments one or more other dampers may be included in addition or alternatively, for example one or more compression springs.

It will also be appreciated by those skilled in the art that any number of combinations of the aforementioned features and/or those shown in the appended drawings provide clear advantages over the prior art and are therefore within the scope of the invention described herein.

Claims

1. A mobility apparatus comprising a base to which a plurality of wheels are rotatably mounted, a chair movably mounted to the base, omnidirectional drive means

5 operatively connected to the wheels and a motorised actuation means operatively connected to the base and to the chair, wherein, in use, the drive means is operable to move the apparatus transversely and the actuation means is operable to adjust the height of the chair relative to the base.

io

2. Mobility apparatus according to claim 1 comprising a further motorised actuation means operatively connected to the base and to the chair and operable to cause the chair to move, in use, relative to the base between a deployed position in which a user can sit on the chair and a collapsed position in which the chair lies against, adjacent and/or along the base for transportation or storage.

3. Mobility apparatus according to claim 2 comprising a control means operatively connected to the further actuation means for causing the chair to move between the deployed and collapsed conditions.

20

4. Mobility apparatus according to claim 2 or claim 3, wherein the chair is pivotally mounted to the base held in the deployed position by the further actuation means, thereby to cantilever the chair.

5. Mobility apparatus according to any one of claims 2 to 4, wherein the motorised

25 actuation means comprises a height actuator and the further motorised actuation means comprises a tilt actuator, the tilt actuator being operable to tilt the chair relative to the base to one of a plurality of orientations anteriorly and/or posteriorly relative to the deployed position.

30

6. Mobility apparatus according to claim 5 comprising a control means operatively connected to the tilt actuator and one or more sensors operatively connected to the control means, wherein the control means is configured to cause the chair to tilt, in use, in response to measurements received from the one or more sensors for maintaining the chair in a substantially upright orientation when the apparatus is on a

35 sloped or inclined or declined substrate.

7. Mobility apparatus according to claim 6, wherein the one or more sensors comprise one or more of a gyroscope, an accelerometer and/or a geospatial position sensor.

8. Mobility apparatus according to any preceding claim comprising a control means operatively connected to the drive means, the drive means comprising a swivel mechanism to which one of the wheels is mounted and a motor operatively connected to the wheel mounted to the swivel mechanism for causing the wheel to rotate.

9. Mobility apparatus according to claim 7, wherein the drive means comprises a pair of rear swivel mechanisms and a pair of rear motors, each of a pair of rear wheels of the apparatus being mounted to a respective one of the rear swivel mechanisms and each rear motor being operatively connected to a respective one of the rear wheels for causing the rear wheels to rotate.

10. Mobility apparatus according to claim 7 or claim 8, wherein the drive means comprises a pair of front swivel mechanisms and a pair of front motors, each of a pair of front wheels of the apparatus being mounted to a respective one of the front swivel mechanisms and each front motor being operatively connected to a respective one of the front wheels for causing the front wheels to rotate.

11. Mobility apparatus according to claim 8 or claim 9, wherein the control means is operable to control each motor and/or swivel mechanism of the wheels independently and/or in pairs to provide omnidirectional movement of the apparatus on a substrate.

12. Mobility apparatus according to any preceding claim, wherein the chair comprises a back pivotally connected to the base, the back being substantially perpendicular to the base when the chair is in the deployed condition and lying against, adjacent and/or along the base when the chair is in the collapsed condition.

13. Mobility apparatus according to claim 12, wherein the chair comprises a seat pivotally connected to the back, the seat being substantially perpendicular to the back when the chair is in the deployed condition and lying against, adjacent and/or along the back or base when the chair is in the collapsed condition.

14.

15.

Mobility apparatus according to claim 13, wherein the seat is moveable toward or away from the base for adjusting the height of the chair.

Mobility apparatus according to claim 14, wherein the back comprises first and second back portions, the first back portion being movably and/or telescopically connected to the second back portion.

Intellectual

Property

Office

Application No: GB1702654.3 Examiner: Mr David Smitten