WO2020016360A1

WO2020016360A1 - Mobility device

Info

Publication number: WO2020016360A1
Application number: PCT/EP2019/069376
Authority: WO
Inventors: Jonas Jähkel
Original assignee: Permobil Ab
Priority date: 2018-07-19
Filing date: 2019-07-18
Publication date: 2020-01-23
Also published as: TW202011917A

Abstract

A mobility device (l) comprising: a main frame (3), a median to lateral motion transfer assembly comprising: an elongated body support member (13b), an elongated rotation transfer member (13c) configured to rotate relative to the body support member (13b), a first lateral motion transfer member configured to be fixedly connected to the rotation transfer member (13b), a second lateral motion transfer member configured to be fixedly connected to the rotation transfer member (13b), a lateral first upper body support rotational drive member configured to be driven by the first lateral motion transfer member, a lateral second upper body support rotational drive member configured to be driven by the second lateral motion transfer member, the first upper body support rotational drive member and the second upper body support rotational drive member being configured to rotate about a drive member axis (A6) offset from the central longitudinal axis (A2) of the rotation transfer member (13c), a first connection interface rotationally fixedly connected to the first upper body support rotational drive member, a second connection interface rotationally fixedly connected to the second upper body support rotational drive member; and an upper body support (13h) having a first upper body support connection interface and a second upper body support connection interface, the first connection interface being configured to be detachably connected rotationally fixed to the first upper body support connection interface and the second connection interface being configured to be detachably connected rotationally fixed to the second upper body support connection interface, thereby enabling detachable connection of the upper body support (13h) to the median to lateral motion transfer assembly.

Description

MOBILITY DEVICE

TECHNICAL FIELD

The present disclosure generally relates to mobility devices.

BACKGROUND

Mobility devices such as wheelchairs typically have a chassis on which the seating system is arranged and from which the wheels are suspended. The seating system includes the seat, the backrest and the armrests.

Typically, the position of the backrest may be set by means of an actuating device. The chassis is generally bulky, since it among other things contains the large battery pack, which is centrally arranged. Moreover, there are requirements on a certain amount of ground clearance, while at the same time the seat height should be as low as possible. Additionally, a tilt/lift system for the seating system may be arranged centrally. Due to these circumstances, the actuating device is normally arranged laterally on one side of the chassis. Since force has to be transmitted from one side to control the backrest, the backrest is generally designed to have a very high torsional stiffness in order to withstand this force. As a result, the physical dimension and weight of the wheelchair is adversely affected. Additionally, the force transfer from one side to the backrest provides complexity to the wheelchair.

SUMMARY

In view of the above, a general object of the present disclosure is to provide a mobility device which solves or at least mitigates the problems of the prior art.

There is hence provided a mobility device comprising: a main frame, a median to lateral motion transfer assembly comprising: an elongated body support member which has a central longitudinal axis which is parallel with a median plane of the mobility device, the body support member being pivotally connected to the main frame via a medial pivot connection, an elongated rotation transfer member configured rotate relative to the body support member, the rotation transfer member having a central longitudinal axis which extends transversally relative to the central longitudinal axis of the body support member, a first lateral motion transfer member configured to be fixedly connected to the rotation transfer member, a second lateral motion transfer member configured to be fixedly connected to the rotation transfer member, a lateral first upper body support rotational drive member configured to be driven by the first lateral motion transfer member, a lateral second upper body support rotational drive member configured to be driven by the second lateral motion transfer member, the first upper body support rotational drive member and the second upper body support rotational drive member being configured to rotate about a drive member axis offset from the central longitudinal axis of the rotation transfer member, a first connection interface rotationally fixedly connected to the first upper body support rotational drive member, a second connection interface rotationally fixedly connected to the second upper body support rotational drive member; and an upper body support having a first upper body support connection interface and a second upper body support connection interface, the first connection interface being configured to be detachably connected rotationally fixed to the first upper body support connection interface and the second connection interface being configured to be detachably connected rotationally fixed to the second upper body support connection interface, thereby enabling detachable connection of the upper body support to the median to lateral motion transfer assembly, wherein rotation of the rotation transfer member about its central longitudinal axis in a first direction causes the upper body support to rotate in the first direction a corresponding amount about the drive member axis.

In conventional wheelchairs, the backrest cannot be designed to have pivot points coinciding with the hip joint of a user. More complex solutions are therefore necessary for pivoting the backrest. Further, as previously noted the backrest must be made very torsionally stiff. Due to the design with the elongated body support member being arranged in the median plane of the mobility device the first and the second upper body support rotational drive members are hip joint drive members. The drive member axis is therefore in level with and coincides with or essentially coincides with the hip joint of a user. The drive member axis is a hip joint axis, about which the upper body support member is configured to rotate.

The complexity with regards to rotational control of the upper body support may thereby be greatly reduced. As a result, the upper body support does for example not have to be torsionally stiff but can be made mechanically flexible. The upper body support can therefore be made leaner and be provided closer to the body of the user. The footprint of the mobility device hence becomes smaller.

The first upper body support connection interface and the second upper body support connection interface enable detachment or removal of the upper body support from the median to lateral motion transfer assembly and hence from the mobility device. Different type of upper body supports may hence in a simple manner be connected to the median to lateral motion transfer assembly.

The mobility device may be a wheelchair or mobility aid device, a personal transporter or personal mobility device.

The rotation transfer member may extend transversely through the body support member.

The main frame may have an elongated shape. The main frame may have a central longitudinal axis which coincides with the median plane, i.e. the mid- sagittal plane, of the mobility device.

According to one embodiment the body support member and the rotation transfer member have the shape of a T, with the body support member forming the base of the T and the rotation transfer member forming the top of the T. Thus, power transfer from a medial location may be provided bilaterally to the first lateral motion transfer member and to the second lateral motion transfer member.

According to one embodiment the first upper body support connection interface and the second upper body support connection interface are the only points of connection for connecting the upper body support to the rest of the mobility device.

According to one embodiment the upper body support comprises a back support member.

According to one embodiment the back support member is mechanically flexible.

According to one embodiment the upper body support includes a movement restriction means attached to the back support member, wherein the fabric is configured to be worn by a user.

According to one embodiment the movement restriction means forms an upper body garment to restrain a user towards the back support member.

According to one embodiment the upper body garment is a vest.

According to one embodiment the back support member is divided into two lateral parts configured to be moved laterally relative to each other to adjust the width of the back support member.

One embodiment comprises a leg rest provided on the main frame or pivotally connected to the main frame, wherein rotation of the leg rest relative to the body support member causes the rotation transfer member to rotate.

According to one embodiment the upper body support comprises a neck support. According to one embodiment the first lateral motion transfer member is connected to a first lateral end of the rotation transfer member and the second lateral motion transfer member is connected to a second lateral end of the rotation transfer member.

According to one embodiment the mobility device is a wheelchair.

According to one embodiment the main frame is an elongated structure having a central longitudinal axis which coincides with the median plane of the mobility device.

There is according to a second aspect of the present disclosure provided a mobility device system comprising: a mobility device according to the first aspect, and a plurality of different types of upper body supports, each having a first upper body support connection interface and a second upper body support connection interface, which upper body supports are configured to be interchangeably attached to the first connection interface and the second connection interface of the mobility device.

According to one embodiment each upper body support is configured for different user requirements.

Generally, all terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein. All references to "a/an/the element, apparatus, component, means, etc. are to be interpreted openly as referring to at least one instance of the element, apparatus, component, means, etc., unless explicitly stated otherwise.

BRIEF DESCRIPTION OF THE DRAWINGS

The specific embodiments of the inventive concept will now be described, by way of example, with reference to the accompanying drawings, in which:

Fig. l schematically shows a perspective view of an example of a mobility device; Fig. 2 schematically shows a perspective view of a simplified model of the mobility device in Fig. l;

Fig. 3a schematically depicts a perspective view of an example of a symmetric rotation transfer assembly;

Fig. 3b shows a top view of the rotation transfer assembly in Fig. 3a;

Fig. 4 shows another example of a symmetric rotation transfer assembly;

Fig. 5 is a block diagram of components of a mobility device;

Figs 6a-6c schematically shows various positions which the mobility device may obtain;

Figs 7a- 7c show various perspective views of an example of a median to bilateral power transfer assembly housing;

Fig. 8 is a front view of an example of a mobility device with a laterally offset main frame and body support member; and

Figs 9a-9d depict various examples of upper body supports.

DETAILED DESCRIPTION

The inventive concept will now be described more fully hereinafter with reference to the accompanying drawings, in which exemplifying

embodiments are shown. The inventive concept may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided by way of example so that this disclosure will be thorough and complete, and will fully convey the scope of the inventive concept to those skilled in the art. Like numbers refer to like elements throughout the description.

Fig. 1 shows a perspective view of an example of a mobility device 1. The mobility device 1 is shown in a first position. The mobility device 1 may be a mobility device for a disabled user. The mobility device 1 may in a sense be seen as a new type of wheelchair which replaces existing types of wheelchairs. The mobility device l comprises a main frame 3, drive wheel swing arms 5, of which only one is visible, drive wheels 7, rear wheel swing arms 9, rear wheels 11, a body support system 13, and a leg rest 15.

The exemplified main frame 3 has an elongated shape. The main frame 3 is an essentially beam-like structure. The main frame 3 has a central

longitudinal axis which coincides with the median plane, i.e. the mid-sagittal plane, of the mobility device 1.

The drive wheel swing arms 5 are pivotally connected to the main frame 3. Each drive wheel 7 is connected to a respective drive wheel swing arm 5. The mobility device 1 furthermore comprises wheel motors, not shown. Each wheel motor is configured to drive a respective drive wheel 7. Each wheel motor may for example be incorporated in a respective wheel hub. The mobility device 1 also comprises a control system which is configured to control the wheel motors.

The rear wheel swing arms 9 are pivotally connected to the main frame 3. In the present example, the mobility device 1 comprises two identical rear wheel swing arms, but could alternatively comprise a single rear wheel swing arm with a single rear wheel connected to it or with two rear wheels connected to it. The mobility device 1 may comprise a rear wheel arm actuating device, not shown, configured to control a rear wheel swing arm angle between the rear wheel swing arms 9 and the main frame 3 independently of control of the wheel motors.

The mobility device 1 furthermore comprises one or more batteries. The batteries are configured to drive the mobility device 1, e.g. to drive the wheel motors, leg rest actuating device, and body support member actuating device disclosed herein. The one or more batteries may for example be lithium batteries or lithium ion batteries, but any other battery type with similar power/volume unit performance is suitable for this purpose. The body support system 13 is pivotally connected to the main frame 3 via a medial pivot connection 17. According to the example shown in Fig. 1, the body support system 13 comprises a seat 13a.

Fig. 2 schematically depicts a simplified model of the mobility device 1. The seat 13a has been removed to expose components of the body support system 13. The body support system 13 comprises an elongated body support member 13b, an elongated rotation transfer member 13c, an elongated first support structure 13d and an elongated second support structure i3e. The seat 13a is normally arranged on the body support member 13b. The body support system 13 further comprises a first armrest I3f, a second armrest I3g and an upper body support 13I1. The leg rest 15 may also form part of the body support system 13.

The first support structure 13d extends between a first end of the rotation transfer member 13c and the upper body support 13I1. The second support structure i3e extends between a second end of the rotation transfer member 13c and the upper body support 13I1. The rotation transfer member 13c may be contained in an elongated rotation transfer member housing 14, shown in Fig. 1. The first support structure 13d and the second support structure I3e may be fixedly connected to the rotation transfer member housing 14 shown in Fig. 1. The first support structure 13d and the second support structure I3e may be rotationally fixed relative to the rotation transfer member housing 14. The rotation transfer member housing 14 may also be rotationally fixed relative to the body support member 13b.

The body support member 13b may be an essentially beam-like structure. The body support member 13b has a central longitudinal axis At which coincides with the median plane of the mobility device 1. The body support member 13b is pivotally connected to the main frame 3 via the medial pivot

connection 17. In particular, a first end portion of the body support member 13b is pivotally connected to the main frame 3 via the medial pivot

connection 17. The body support member 13b hence extends longitudinally in a direction away from the medial pivot connection 17 in the median plane of the mobility device 1.

The rotation transfer member 13c is configured to rotate relative to the body support member 13b. The rotation transfer member 13c is hence able to rotate freely relative to the body support member 13b. The rotation transfer member 13c is rotatably connected relative to the body support member 13b and extends through the body support member 13b in a second end portion of the body support member 13b. The rotation transfer member 13c has a medial rotational connection 16 with the medial pivot connection 17. The body support member 13b and the rotation transfer member 13c form the shape of a T with the body support member 13b forming the base of the T and the rotation transfer member forming the top of the T.

The rotation transfer member 13c extends transversally with respect to the central longitudinal axis At of the body support member 13b. The rotation transfer member 13 has a central longitudinal axis A2 which intersects the central longitudinal axis At of the body support member 13b at a right angle.

The leg rest 15 may have an elongated shape. The leg rest 15 is pivotally connected to the main frame 3 via the same medial pivot connection 17 which pivotally connects the main frame 3 and the body support member 13b. The pivot connection between the leg rest 15 and the main frame 3, and the pivot connection between the body support member 13b and the main frame 3 are hence about the same pivot axis.

The exemplified mobility device 1 comprises a leg rest actuating device 21 pivotally connected to the main frame 3 and to the leg rest 15. The leg rest actuating device 21 is configured to control a pivot motion of the leg rest 15 relative to the main frame 3. The leg rest actuating device 21 is hence configured to control a leg rest pivot angle a between the leg rest 15 and the main frame 3. The leg rest pivot angle a may for example be the angle between central longitudinal axis A3 of the main frame 3 extending through the medial pivot connection 17, and a central longitudinal axis A4 of the leg rest 15. Alternatively, the leg rest pivot angle a may be for example be defined as the angle of the central longitudinal axis A4 of the leg rest 15 in a coordinate system of the main frame 3, which has its origin in the centre of the median pivot connection 17.

The exemplified mobility device 1 comprises a body support member actuating device 23. The body support actuating device 23 is pivotally connected to the main frame 3 and to the body support member 13b. The body support member actuating device 23 is configured to control a pivot motion of the body support member 13b relative to the main frame 3. The body support member actuating device 23 is hence configured to control a body support member angle b between the body support member 13b and the main frame 3. The body support member angle b may for example be the angle between the central longitudinal axis A3 of the main frame 3 extending through the medial pivot connection 17, and the central longitudinal axis At of the body support member 13b. Alternatively, the body support member angle b may for example be defined as the angle of the central longitudinal axis At of the body support member 13b in a coordinate system of the main frame 3, which has its origin in the centre of the median pivot connection 17.

The leg rest 15 is in a rotation transfer connection with rotation transfer member 13c. Pivoting of the leg rest 15 by means of the leg rest actuating device 21 causes corresponding rotation of the rotation transfer member 13c. The leg rest 15 and the rotation transfer member 13c hence form part of a rotation transfer assembly which is symmetric. In particular, medial pivot motion of the leg rest 15 relative to the main frame 3 is transferred bilaterally by means of the rotation transfer member 13c.

The leg rest could alternatively be fixedly arranged to the main frame. The leg rest could for example comprise two leg supports which extend from the elongate body that forms the main frame.

Figs 3a and 3b show an example of a rotation transfer assembly for the mobility device 1. In this example, rotational motion transfer is provided by means of a chain or belt system connecting rotational drive members. The leg rest 15 is connected to the main frame 3 via the medial pivot connection 17. The leg rest 15 has a first rotational drive member 25. The first rotational drive member 25 is fixed to the leg rest 15. In particular, the first rotational drive member 25 is rotationally fixed relative to the leg rest 15. The first rotational drive member 25 may for example be a sprocket or a friction drive wheel.

The rotation transfer member 13c is in this example provided with a second rotational drive member 27. The second rotational drive member 27 is fixed to the rotation transfer member 13c. In particular, the second rotational drive member 25 is rotationally fixed relative to the rotation transfer member 13c. The second rotational drive member 27 may for example be a sprocket or a friction drive wheel.

The first rotational drive member 25 is interconnected with the second rotational drive member 27 such that rotation of the first rotational drive member 25 is transferred to the second rotational drive member 27. The first rotational drive member 25 may for example be interconnected with the second rotational drive member 27 by means of a chain, belt or similar means 29. In the case of a chain, the first and the second rotational drive members 25 and 27 may be sprockets, and in the case it is a belt, they may be friction drive wheels. The chain, belt or similar means may be arranged inside the body support member 13b.

In operation, when the leg rest 15 is pivoted by the leg rest actuating device 21, the first rotational drive member 25, which is fixed to the leg rest 15 causes movement of the chain, belt or similar means, which in turn causes the second rotational drive member 27 to rotate. This rotation is the same amount as the amount of pivoting of the leg rest 15. Since the second rotational drive member 27 is rotationally fixed to the rotation transfer member 13, the rotation transfer member 13c is also rotated. In case of leg supports extending from the main frame, the first rotational drive member could be fixed to the main frame. Relative rotational movement between the main frame and the body support member would in this case cause movement of the chain, belt or similar means.

The rotation transfer assembly is in this example provided with a first lateral motion transfer member 31 fixed to the rotation transfer member 13c and a second lateral motion transfer member 33 fixed to the rotation transfer member 13c. The first lateral motion transfer member 31 is rotationally fixed to a first lateral end of the rotation transfer member 13c and the second lateral motion transfer member 33 is rotationally fixed to the second lateral end of the rotation transfer member 13c. The first lateral motion transfer member 31 is a third rotational drive member, for example a sprocket or a friction drive wheel. The second lateral motion transfer member 33 is a fourth rotational drive member, for example a sprocket or a friction drive wheel.

In Fig. 3a the interior of the first support structure 13d and the second support structure I3e is shown. The exemplified rotation transfer assembly comprises a first upper body support rotational drive member 35 which is interconnected with the first lateral motion transfer member 31. These components may be contained in the first support structure 13c. The first upper body support rotational drive member 35 may for example be a sprocket or a friction drive wheel. The first upper body support rotational drive member 35 is interconnected with the first lateral motion transfer member 31 by means of a chain, belt or similar means 36. The first upper body support rotational drive member 35 is fixedly connected to the upper body support I3h. The first upper body support rotational drive member 35 may in particular be rotationally fixed relative to the upper body support I3h. Hence, when the rotation transfer member 13c is being rotated, the first lateral motion transfer member 31 is also rotated, causing the chain, belt or similar means 36 connecting the first lateral motion transfer member 31 and the first upper body support rotational drive member 35 to move. The first upper body support rotational drive member 35 is hence rotated. The rotation transfer assembly also comprises a second upper body support rotational drive member 37 which is interconnected with the second lateral motion transfer member 33. These components may be contained in the second support structure i3e. The second upper body support rotational drive member 37 may be a sprocket or a friction drive wheel. The second upper body support rotational drive member 37 is interconnected with the second lateral motion transfer member 33 by means of a chain, belt or similar means 38. The second upper body support rotational drive member 37 is fixedly connected to the upper body support i3h. The second upper body support rotational drive member 37 may in particular be rotationally fixed relative to the upper body support i3h. Hence, when the rotation transfer member 13c is being rotated, the second lateral motion transfer member 33 is also rotated, causing the chain, belt or similar means 38 connecting the second lateral motion transfer member 33 and the second upper body support rotational drive member 37 to move. The second upper body support rotational drive member 37 is hence rotated.

Since the first upper body support rotational drive member 35 is fixed to the upper body support i3h and the second upper body support rotational drive member 37 is fixed to the upper body support i3h, the upper body support i3h is also rotated.

Fig. 4 shows another example of a rotation transfer assembly for the mobility device 1. In this example, the rotational motion transfer is provided by means of a linkage system 30. The leg rest 15 is connected to the main frame 3 via the medial pivot connection 17. The body support member 13b is pivotally connected to the main frame 3 via the medial pivot connection 17. The linkage system 30 includes a first link member 22 pivotally connected to the main frame 3 via the medial pivot connection 17. The first link member 22 may in particular have one end which is pivotally connected to the main frame 3 via the medial pivot connection 17. The first link member 22 extends along the leg rest 15, preferably along the median plane of the mobility device 1, and is pivotally connected to the leg rest 15 at a second end of the first link member 22. The linkage system 30 comprises a second link member 26 having a longitudinal extension along the medial plane of the mobility device 1, and which is fixedly connected to the rotation transfer member 13c at a first end of the second link member 26. The linkage system 30 also comprises a third link member 28 extending parallel with the body support member 13b and which at one end is connected to the second end of the second link member 26. The third link member 28 is connected to the first link member 22 at its other end, such that a parallelogram is formed by the body support member 13b, the first link member 22, the second link member 26 and the third link member 28. Thus, when the leg rest 15 is pivoted by the leg rest actuating device 21 the first link member 22 is pivoted about the medial pivot connection 17, causing the third link member 28 to move. The second link member 26 is thereby moved, causing rotation of the rotation transfer member 13c.

The exemplified linkage system 30 furthermore has a first lateral motion transfer member 31’ fixedly connected to a first lateral end of the motion transfer member 13c. The first lateral motion transfer member 31’ is hence rotationally fixed relative to the motion transfer member 13c. The first lateral motion transfer member 31’ is a fourth linkage member. The fourth linkage member forms part of a first lateral sub-linkage 39 forming a parallelogram. The backrest i3h may be fixedly connected to sixth linkage member 43 of the first lateral sub-linkage 39. The first lateral sub-linkage 39 may for example be contained in the first support structure 13.

The linkage system 30 has a second lateral motion transfer member 33’ fixedly connected to a second lateral end of the motion transfer member 13c. The second lateral motion transfer member 33’ is hence rotationally fixed relative to the motion transfer member 13c. The second lateral motion transfer member 33’ is a fifth linkage member. The fifth linkage member forms part of a second lateral sub-linkage 41 forming a parallelogram. The upper body support i3h may be fixedly connected to seventh linkage member 45 of the second lateral sub-linkage 41. In operation, when the rotation transfer member 13c is being rotated due to interaction with the leg rest 15 which is being pivoted, the first lateral motion transfer member 31’ and the second lateral motion transfer member 33’ follow the rotation of the rotation transfer member 13c, causing a change in the configuration of the parallelograms of the first lateral sub-linkage 39 and the second lateral sub-linkage 41. The upper body support 13I1 will thereby be pivoted with the same amount as the pivot motion of the leg rest 15, which may be an angle Da of the leg rest pivot angle a.

In a variation of the examples described above, the first armrest i3f and the second armrest I3g may also be moved concurrently with the upper body support 13I1. The two armrests I3f and I3g may hence according to this example be fixed relative to the upper body support 13I1. The first armrest i3f and the second armrest i3g are thereby subjected to the same rotation or pivoting as the upper body support 13I1 when the leg rest 15 is being pivoted.

Fig. 5 shows a block diagram of certain components related to the control of the mobility device 1. The mobility device 1 may in particular comprise a control system 47. The control system 47 is configured to control the leg rest actuating device 21 and the body support member actuating device 23. In particular, the control system 47 is thereby able to control the leg rest pivot angle a and the body support member angle b. The control system 47 is able to control the leg rest actuating device 21 and the body support member actuating device 23 simultaneously if so required, e.g. to set the mobility device 1 in one of various positions that the mobility device 1 is capable to obtain. Some examples of these positions are shown in Figs 6a-6c. The control system 47 may be programmed to provide certain restrictions of the number of positions that the mobility device 1 can obtain. For example, in case the mobility device 1 is in the position shown in Fig. 6b with the leg rest 15 pushed forward, and the user provides an input to control the body support member actuating device 23 to obtain a full standing position of the mobility device 1 as shown in Fig. 6c, the control system 47 may control the leg rest actuating device 21 to be moved towards the main frame 3 for reasons of safety. Fig. 7a depicts a median to bilateral power transfer assembly housing 49. The median to bilateral power transfer assembly housing 49 includes the body support member 13a, the rotation transfer member housing 14, the first support structure 13d and the second support structure i3e. These four components form a single rigid housing structure, i.e. the median to bilateral power transfer assembly housing 49. The body support member 13a, the rotation transfer member housing 14, the first support structure 13d and the second support structure i3e are hence fixedly connected relative to each other.

The first upper body support rotational drive member 35 is provided with a first connection interface 51. The first connection interface 51 is rotationally fixed relative to the first upper body support rotational drive member 35.

The second upper body support rotational drive member 37 is provided with a second connection interface 53. The second connection interface 53 is rotationally fixed relative to the second upper body support rotational drive member 37.

The body support member 13b, the rotation transfer member 13c, the first lateral motion transfer member 31, the second lateral motion transfer member 33, the first upper body support rotational drive member 35 and the second upper body support rotational drive member 37 form a median to lateral motion transfer assembly.

The first connection interface 51 and the second connection interface 53 are for detachably attach the upper body support 13I1. In particular, the upper body support 13I1 is configured to be attached to and detached from the median to lateral motion transfer assembly by means of the first connection interface 51 and the second connection interface 53. These two points of connection may be the only points of connections between the upper body support 13I1 and the median to lateral motion transfer assembly and therefore with the rest of the mobility device 1. Fig. 7b shows the interior of the median to bilateral power transfer assembly housing 49. The median to bilateral power transfer assembly housing 49 comprises the first rotational drive member 25 and the second rotational drive member 27 and their rotational connection, for example by means of a belt or chain. The median to bilateral power transfer assembly housing 49 also comprises the rotation transfer member 13c, which is a rotatable shaft, driven by the connection between the first rotational drive member 25 and the second rotational drive member 27. The first lateral motion transfer member 31 and the second lateral motion transfer member 33 are fixedly connected to the rotation transfer member 13c and arranged in a respective one of the first support structure 13d and the second support structure i3e. The first upper body support rotational drive member 35 is rotationally connected to the first lateral motion transfer member 31 and arranged in the first support structure 13d. The second upper body support rotational drive member 37 is rotationally connected to the second lateral motion transfer member 33 and arranged in the second support structure i3e.

The arrows in Fig. 7b show the rotational position of the first rotational drive member 25 and the corresponding positions of the first lateral motion transfer member 31 and the first upper body support rotational drive member 35. The rotational position for all of these components is the same. This also applies to the second lateral motion transfer member 33 and the second upper body support rotational drive member 37.

Fig. 7c shows that as the first rotational drive member 25 is rotated about a first rotational axis A5, the second rotational drive member 27, the first lateral motion transfer member 31 and the second lateral motion transfer member 33 are rotated with the same amount and in the same direction about a second rotational axis A2, which is the central longitudinal axis of the rotation transfer member 13c, offset from the first rotational axis A5, and the first upper body support rotational drive member 35 and the second upper body support rotational drive member 37 are rotated with the same amount and in the same direction about a third rotational axis or drive member axis A6 offset from the first rotational axis A5 and the second rotational axis A6, as shown by the arrows.

The main frame may according to one example have an elongated shape and may have a central longitudinal axis which is arranged offset from the median plane of the mobility device. The central longitudinal axis may be arranged in a sagittal plane of the mobility device. According to one example the body support member may have a central longitudinal axis that is arranged parallel with but offset from the median plane of the mobility device. Both offsets may be slight, enabling the user to place each leg on a respective lateral side of the body support member and the feet on each lateral side of the main frame.

The upper body support i3h is fixedly arranged relative to the first upper body support rotational drive member 35 and the second upper body support rotational drive member 37. Hence, as the first upper body support rotational drive member 35 and the second upper body support rotational drive member 37 are rotated so is the upper body support i3h. Rotation of the medially located first rotational drive member 25 causes rotation of the upper body support I3h with the same amount and in the same direction.

Turning now to Fig. 8, the main frame 3’ may according to one example have an elongated shape and may have a central longitudinal axis which is arranged offset from the median plane P of the mobility device. The central longitudinal axis may be arranged in a sagittal plane of the mobility device. According to one example the body support member 13b’ may have a central longitudinal axis that is arranged parallel with but offset from the median plane P of the mobility device T. Both offsets may be slight, enabling the user to place each leg on a respective lateral side of the body support member 13b’ and the feet on each lateral side of the main frame 3’.

Fig. 9a shows an example of an upper body support 13I1-1. In this example the upper body support 13I1-1 is an orthotic girdle-type backrest. The upper body support 13I1-1 has a first upper body support connection interface 55-1 configured to be releasably or detachably connected to the first connection interface 51. The upper body support i3h-i has a second upper body support connection interface 57-1 configured to be releasably or detachably connected to the second connection interface 53. In this manner, the upper body support i3h-i can be connected to and detached from the median to lateral motion transfer assembly.

The first connection interface 51 and the first upper body support connection interface 55-1 may for example form a latch connection, a clamp connection, or a snap-fit connection.

The second connection interface 53 and the second upper body support connection interface 57-1 may for example form a latch connection, a clamp connection, or a snap-fit connection.

The exemplified upper body support i3h-i has a back support member 59-1. The back support member 59-1 is mechanically flexible. This may allow for deforming the upper body support i3h-i slightly to facilitate attachment of the upper body support 13I1-1 to the median to lateral motion transfer assembly. The upper body support 13I1-1 may for example be arranged such that the first upper body support connection interface 55-1 is arranged inside of, i.e. medially relative to the first connection interface 51 and the second upper body support connection interface 57-1 is arranged inside of, i.e.

medially relative to the second connection interface 53.

The back support member 59-1 may comprise two separate lateral parts 59a-i and 59b-i. The two lateral parts 59a-i and 59b-i may be separated from each other and configured to be moved laterally, i.e. away from each other or medially towards each other to adjust the width of the back support member 59-1. Each lateral part 59a-i and 59b-i may have a respective leg. Each leg may have a respective end, a first end being provided with the first upper body support connection interface 55-1 and a second end being provided with the second upper body connection interface 57-1. The exemplified upper body support 13I1-1 comprises a movement restriction means 61-1 attached to the back support member 59-1. The movement restriction means 61-1 may for example be made of synthetic or natural fabric, or leather, the former including for example polymer-based materials. The movement restriction means 61-1 may be an upper body garment. The movement restriction means 61-1 is configured to be worn by a user. The movement restriction means 61-1 is configured to restrain a user towards the back support member 59-1. The movement restriction means 61-1 is configured to be worn by a user. In the present example, the movement restriction means 61-1 comprises a girdle.

Fig. 9b depicts another example of an upper body support i3h-2 comprising a back support member. This example has a similar lower portion as the example shown in Fig. 9a. The exemplified upper body support 13I1-2 is an orthotic vest-type backrest. The exemplified upper body support 13I1-2 comprises a movement restriction means 61-2 attached to the back support member 59-2. The movement restriction means 61-2 may for example be made of synthetic or natural fabric, or leather, the former including for example polymer-based materials. The movement restriction means 61-2 is an upper body garment. The movement restriction means 61-2 is configured to be worn by a user. The movement restriction means 61-2 is configured to restrain a user towards the back support member 59-1. The movement restriction means 61-2 is configured to be worn by a user. In the present example, the movement restriction means 61-1 comprises a vest and a girdle but could alternatively only comprise a vest. Further, the back support member 59-2 is configured to support the upper back. The upper body support 13I1-2 furthermore comprises a neck support 63-2. Due to

mechanical flexibility of the back support member 59-2 the neck support is able to stay close to a user’s head in case a user leans forward while seated in the mobility device 1, 1’.

Fig. 9c depicts yet another example of an upper body support 13I1-3. In this example the upper body support 13I1-3 is a shell-type backrest. Fig. 9d depicts another example of an upper body support 13I1-4. In this example the upper body support comprises a tubular frame interface for custom or aftermarket backrests and accessories.

A mobility device system may comprise a mobility device 1, 1’ and a plurality of different types of upper body supports such as upper body supports 13I1 to 13I1-4. Each upper body support may be configured for a different user requirement. The upper body support may in a simple manner be exchanged from one type to another type based on the specific requirements by a user.

The inventive concept has mainly been described above with reference to a few examples. However, as is readily appreciated by a person skilled in the art, other embodiments than the ones disclosed above are equally possible within the scope of the inventive concept, as defined by the appended claims.

Claims

CLAIMS l. A mobility device (1; l’) comprising:

- a main frame (3; 3’),

- a median to lateral motion transfer assembly comprising: an elongated body support member (13b) which has a central longitudinal axis which is parallel with a median plane (P) of the mobility device (1; 1’), the body support member (13b) being pivotally connected to the main frame (3; 3’) via a medial pivot connection (17), an elongated rotation transfer member (13c) configured to rotate relative to the body support member (13b), the rotation transfer member having a central longitudinal axis (A2) which extends transversally relative to the central longitudinal axis of the body support member (13b), a first lateral motion transfer member (31) configured to be fixedly connected to the rotation transfer member (13b), a second lateral motion transfer member (33) configured to be fixedly connected to the rotation transfer member (13b), a lateral first upper body support rotational drive member (35) configured to be driven by the first lateral motion transfer member (31), a lateral second upper body support rotational drive member (37) configured to be driven by the second lateral motion transfer member (33), the first upper body support rotational drive member (35) and the second upper body support rotational drive member (37) being configured to rotate about a drive member axis (A6) offset from the central longitudinal axis (A2) of the rotation transfer member (13c), a first connection interface rotationally (51) fixedly connected to the first upper body support rotational drive member (35), a second connection interface (53) rotationally fixedly connected to the second upper body support rotational drive member (37); and

- an upper body support (i3h; I3h-i; i3h-2; i3h-3; i3h-4) having a first upper body support connection interface (55-1) and a second upper body support connection interface (57-1), the first connection interface (51) being configured to be detachably connected rotationally fixed to the first upper body support connection interface (53) and the second connection interface (53) being configured to be detachably connected rotationally fixed to the second upper body support connection interface (55), thereby enabling detachable connection of the upper body support (i3h; I3h-i; i3h-2; i3h-3; i3h-4) to the median to lateral motion transfer assembly, wherein rotation of the rotation transfer member (13c) about its central longitudinal axis in a first direction causes the upper body support (i3h; 13b- 1; i3h-2; i3h-3; i3h-4) to rotate in the first direction a corresponding amount about the drive member axis (A6).

2. The mobility device (1; 1’) as claimed in claim 1, wherein the first upper body support connection interface (55-1) and the second upper body support connection interface (57-1) are the only points of connection for connecting the upper body support (i3h; I3h-i; i3h-2; i3h-3; i3h-4) to the rest of the mobility device (1; T).

3. The mobility device (1; 1’) as claimed in claim 1 or 2, wherein the upper body support (i3h; I3h-i; i3h-2; i3h-3; i3h-4) comprises a back support member (59-1; 59-2).

4. The mobility device (1; 1’) as claimed in claim 3, wherein the back support member (59-1; 59-2) is mechanically flexible.

5. The mobility device (1; 1’) as claimed as claimed in claim 3 or 4, wherein the upper body support (59-1; 59-2) includes a movement restriction means (61-1; 61-2) attached to the back support member (59-1; 59-2), wherein the fabric is configured to be worn by a user.

6. The mobility device (1; 1’) as claimed in claim 5, wherein the movement restriction means (61-1; 61-2) forms an upper body garment to restrain a user towards the back support member (59-1; 59-2).

7. The mobility device (1; 1’) as claimed in claim 6, wherein the upper body garment is a vest.

8. The mobility device (1; 1’) as claimed in any of claims 3-7, wherein the back support member is divided into two lateral parts (59a-i, 59b-i) configured to be moved laterally relative to each other to adjust the width of the back support member (59-1; 59-2).

9. The mobility device (1; 1’) as claimed in any of the preceding claims, comprising a leg rest provided on the main frame (3; 3’) or pivotally connected to the main frame, wherein rotation of the leg rest relative to the body support member (13b) causes the rotation transfer member (13c) to rotate.

10. The mobility device (1; 1’) as claimed in any of the preceding claims, wherein the upper body support (59-2) comprises a neck support (63-2).

11. The mobility device (1; 1’) as claimed in any of the preceding claims, wherein the first lateral motion transfer member (31) is connected to a first lateral end of the rotation transfer member (13c) and the second lateral motion transfer member (33) is connected to a second lateral end of the rotation transfer member (13c).

12. The mobility device (1; 1’) as claimed in any of the preceding claims, wherein the mobility device (1; 1’) is a wheelchair.

13. The mobility device (1) as claimed in any of the preceding claims, wherein the main frame (3) is an elongated structure having a central longitudinal axis which coincides with the median plane of the mobility device (1).

14. A mobility device system comprising: a mobility device (1; 1’) as claimed in any of claims 1-13, and a plurality of different types of upper body supports (13I1; 13I1-1; 13I1-2; 13I1-3; 13I1-4), each having a first upper body support connection interface (55-1) and a second upper body support connection interface (57-1), which upper body supports (13I1; 13I1-1; 13I1-2; 13I1-3; 13I1-4) are configured to be interchangeably attached to the first connection interface (51) and the second connection interface (53) of the mobility device (1; 1’).

15. The mobility device system as claimed in claim 14, wherein each upper body support (13I1; 13I1-1; 13I1-2; 13I1-3; 13I1-4) is configured for different user requirements.