This disclosure relates to a wheel assembly (1) comprising a wheel, the wheel having a hub and a rim concentrically mounted to the hub, a plurality of deformable chambers (6) disposed outwardly of the rim, each chamber extending about a discreet portion of the wheel and containing a transition substance (15), and an actuator (14) configured to transform the transition substance (15) within each chamber (6) between a fluid state in which the deformable chamber (6) can deform into a conformal state as the wheel encounters an obstacle during use, and a rigid state in which the transition substance is rigidified to maintain the deformable chamber (6) in said conformal state to provide increased purchase on said obstacle.

This disclosure relates to a wheel assembly (1) comprising a wheel, a deformable chamber (6) containing a transition substance (15) comprising jamming particles and an interstitial gas, and an actuator (14) configured to transform the transition substance (15) between a fluid state in which the deformable chamber (6) can deform into a conformal state as the wheel encounters an obstacle during use, and a rigid state by evacuation of the interstitial gas in which the transition substance is rigidified to maintain the deformable chamber (6) in said conformal state to provide increased purchase on said obstacle.

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.

A self-leveling mechanism for a mobility device, the mobility device including a chassis configured to propel the mobility device on a surface, includes a leveling structure on which is mounted a user support for supporting a user of the mobility device. The leveling structure is connected to the chassis by a swivel connection that enables the leveling structure to swivel about the connection, and by two linearly displaceable connections that are laterally displaced from one another. Two linear actuators are each configured to displace one of the displaceable connections to adjust a distance between each displaceable connection and the chassis. A sensor for senses a tilt of the leveling structure and a controller is configured to operate the linear actuators in accordance with the sensed tilt.

The invention disclosed herein comprises a vehicle having improved suspension systems for wheels, motorized wheels and the seat of the user. The wheel suspension system includes a sleeve housing a non-round core snugly surrounded by an elastomeric shock-absorption material. Since both ends of the sleeve have downstanding arms forming the forks supporting a caster axle, irregularities in the terrain encountered by the caster exert torsion upon the core; embedding the core in elastomeric material dampens the shock. The suspension system for the wheel assembly (including any motorized drive shaft) essentially includes pivot-mounting the wheel assembly (wheel-motor) beneath the chassis frame, so that irregularities in the terrain encountered by the drive wheel cause the wheel assembly to flex inwardly (for bumps) or outwardly (for holes); in the resting position there is an elastomeric bumper or compression spring horizontally mounted adjacent to a stop-plate on the pivoting cradle carrying the wheel assembly (or wheel-motor), so that further inward flexion is dampened. The seat suspension system includes elastomeric bumpers essentially acting as fulcrums, to dampen shock by absorbing it directly and by cantilevering the seat for further shock absorption.

A wheelchair suspension comprises a frame, at least one pivot arm, at least one front caster, at least one rear caster, a stabilizing system, and a sensor. The pivot arm is coupled to the frame. The front caster is coupled to the pivot arm. The rear caster is coupled to the frame. The stabilizing system is coupled to the frame and the pivot arm. The sensor is arranged such that tipping of the frame causes actuation of the stabilizing system to at least partially resist further movement of the frame.

Embodiments of the present invention provide a wheelchair for a wheelchair rider, the wheelchair having first and second wheel arms each pivotally mounted so as to allow the alignment of the first arm to move relative to the second arm through a range of relative alignment in response to the rider leaning laterally. First and second wheel mounts are provided on first and second arms respectively to mount respective first and second wheels with central axes of first and second wheels able to move in an arc about the point of pivotal mounting of the respective first or second arm.

A wheelchair suspension includes a frame, a drive assembly pivot arm, a drive assembly, a front caster pivot arm, a front caster, and a spring and shock absorbing assembly. The drive assembly pivot arm is pivotally connected to the frame. The drive assembly includes a drive wheel and is mounted to the drive assembly pivot arm. The front caster pivot arm is pivotally mounted to the frame and coupled to the drive assembly pivot arm. The front caster is coupled to the at least one front caster pivot arm. The spring and shock absorbing assembly is pivotally connected to the drive assembly pivot arm at a first pivotal connection and pivotally connected to the front caster pivot arm at a second pivotal connection. The first and second pivotal connections are positioned such that a majority of the force applied by the spring and shock absorbing assembly is applied to the drive wheel when the suspension is on a flat, horizontal support surface.

A mobile robot driving wheel deforming device is capable of changing a wheel base and a mobile robot comprising same. To this end, provided is a mobile robot (100) driving wheel deforming device comprising: a first driving wheel (200) for driving the mobile robot (100); a third arm (152) connected to the first driving wheel (200); a second driving wheel (210) for driving the mobile robot (100); a fourth arm (154), one end of which is connected to the second driving wheel (210), and the other end of which is connected to the third arm (152) such that same rotates integrally; a third driving wheel (220) for driving the mobile robot (100); a second arm (114), one end of which is connected to the third driving wheel (220); a second shaft (150) installed in an area in which the third arm (152) and the fourth arm (154) are connected, thereby rotating the third arm (152) and the fourth arm (154); and a second-shaft servomotor (330) for rotating the second shaft (150).

The invention relates to suspension design. The present vehicle suspension comprises a quadrangular frame. Each corner portion of the frame has a wheel block kinematically attached thereto so as to form two pairs of wheelsa front pair and a rear pair. On each side of the frame, longitudinal and transverse coupling cables are fastened for movement therealong inside housings. Each wheel block consists of a body that is simultaneously connected to two coupling cables. Movably mounted on the body are parallel horizontal arms, the first of which is fastened to the body by its middle portion. A knuckle with the hub of a wheel is attached to an end of the first arm and to another end of the second arm, and two coupling cable dampers are attached to the other end of the first arm. The housings of the cables are attached to the body of the corresponding wheel block. The free end of each cable is enclosed in a damper. Mounted on the cable end portions that freely project from the housings in front of a damper are spring stabilizers of the position of the wheel of the wheel block. Each coupling cable is provided with a linear actuator. The result is an increase in the stability and smoothness of movement of a vehicle.