Embodiments of a wheelchair and suspension system are provided. The suspension includes a drive assembly that is pivotably connected to a base frame at multiple locations. In one embodiment, the connection is via intermediary pivoting links or arms. Embodiments of the links or arms including rigid links, resilient links, elastic links, shocks, springs, gas cylinders and lockable gas cylinders (or combinations of the foregoing). The drive assembly can, via the pivot connections, pivot to accommodate and traverse variations and obstacles on ground surfaces.

A suspension for a wheelchair is disclosed, wherein the suspension comprises: a frame, a motor carrier pivotally mounted on the frame to rotate about a motor carrier axis, a drive wheel having a bottom and mounted on the motor carrier to rotate about a drive wheel axis, a swing arm pivotally mounted on the frame to rotate about a swing arm axis, a swing wheel having a bottom and mounted on the swing arm to rotate about a swing wheel axis, a first contact surface coupled to move in concert with the motor carrier, and a second contact surface coupled to move in concert with the swing arm and configured to contact the first contact surface and transfer an upward force on the swing wheel into a downward force on the drive wheel.

Provided is a robot. The robot includes a main body provided with a traveling wheel, a seat disposed above the main body, a backrest spaced apart from the seat, a link configured to connect the seat to the backrest, a first tilting mechanism embedded in the seat, the first tilting mechanism being configured to tilt the link with respect to the seat, and a second tilting mechanism embedded in the backrest, the second tilting mechanism being configured to tilt the backrest with respect to the link.

A wheelchair includes a frame, a seat attached to the frame, a first forward wheel on a first side of the frame and a second forward wheel on a second side of the frame, a first rearward wheel on the first side of the frame and a second rearward wheel on the second side of the frame, a first drive wheel on the first side of the frame positioned intermediate between the first forward wheel and the first rearward wheel and a second drive wheel on the second side of the frame positioned intermediate between the second forward wheel and the second rearward wheel, and actuators to independently control the vertical position of the first forward wheel relative to the frame, the vertical position of the second forward wheel relative to the frame, the vertical position of the first rearward wheel relative to the frame, the vertical position of the second rearward wheel relative to the frame, the vertical position of the first drive wheel relative to the frame and the vertical position of the second drive wheel relative to the frame.

A chassis for a mobility aid, the mobility aid including at least one base two lateral walls, and at least one connecting element which connects the two lateral walls. The chassis includes a plurality of positioning aids for each lateral wall, a bracket that can be connected to one lateral wall in at least three different configurations, and a drive unit that is connected to each bracket, wherein a bracket configuration on the lateral walls determines the type of drive for the mobility aid.

A mobile body (1A) includes: a base body (3) tiltably assembled to a movement operation section (2) that can move on a floor surface; an occupant riding section 6 installed to the base body (3) by a connection mechanism (4); an auxiliary ground contact section 7 connected to the occupant riding section (6) and in contact with the floor surface in a slidable or rollable manner when a tilt amount of the occupant riding section (6) with respect to the floor surface increases to a predetermined amount; and a control device (80) which controls the movement of the movement operation section (2) to stabilize the attitude of the mobile body (1A). The connection mechanism (4) elastically rocks the occupant riding section (6) with respect to the base body (3) according to the movement of the center of gravity of a user P riding on the occupant riding section (6).

A suspension for a vehicle is provided. The suspension includes, for example, a frame, at least one drive assembly and at least one caster pivot arm. The at least one drive assembly and the at least one caster pivot arm are pivotally connected to the frame at a common pivot axis such that the drive assembly and the front caster pivot arm are pivotable relative to one another.

A wheelchair includes a frame, a seat attached to the frame, a first forward wheel on a first side of the frame and a second forward wheel on a second side of the frame, a first rearward wheel on the first side of the frame and a second rearward wheel on the second side of the frame, a first drive wheel on the first side of the frame positioned intermediate between the first forward wheel and the first rearward wheel and a second drive wheel on the second side of the frame positioned intermediate between the second forward wheel and the second rearward wheel, and actuators to independently control the vertical position of the first forward wheel relative to the frame, the vertical position of the second forward wheel relative to the frame, the vertical position of the first rearward wheel relative to the frame, the vertical position of the second rearward wheel relative to the frame, the vertical position of the first drive wheel relative to the frame and the vertical position of the second drive wheel relative to the frame.

Several embodiments of wheeled vehicles, such as wheelchairs, that are adapted to traverse obstacles are disclosed. The wheeled vehicles include a frame, drive wheels, front anti-tip wheels positioned in front of the drive wheels, and rear anti-tip wheels positioned behind the drive wheels. One exemplary vehicle includes front anti-tip wheels supported by rigid arms that are fixed to the frame and drive assemblies that are independently suspended from the frame. Another exemplary vehicle includes a linkage that links the front and rear anti-tip wheels, such that movement of one of the front anti-tip wheel or the rear anti-tip wheel relative to the frame causes movement of the other wheel relative to the frame.

Embodiments of a suspension for a vehicle is provided. The suspension includes, for example, a frame and a locking assembly. The locking assembly inhibits tipping of a frame of the vehicle when tipping of the frame is detected.