A brake control device includes an operating switch and a control part. The operating switch is configured to be turned on when operated by a user. The operating switch is configured to be turned off when released from being operated by the user. The control part executes first brake processing for stopping the mobile object when the operating switch is switched off from on during traveling of a mobile object.

A support device includes a wheel, a base member, a leg coupled to the wheel and the base member, the leg including an upper leg segment, a lower leg segment positioned below the upper leg segment, a joint positioned between the upper leg segment and the lower leg segment, and an actuator engaged with the upper leg segment and the lower leg segment, where the actuator includes a linear engagement member that is engaged with one of the upper leg segment and the lower leg segment, a cammed member defining a non-circular perimeter engaged with the linear engagement member, and a motor engaged with the linear engagement member through the cammed member.

A powered wheelchair includes a seat, a first leg, a second leg, and a control unit. The first leg includes a first inertial measurement unit configured to determine a position of the first leg and a first leg actuator configured to adjust a position of the first leg. The second leg includes a second inertial measurement unit configured to determine a position of the second leg and a second leg actuator configured to adjust a position of the second leg. The control unit is operable to determine a global orientation of the powered wheelchair by averaging the position of first leg and the position of the second leg, and automatically adjusting the position of the first leg with a first leg actuator and the position of the second leg with the second leg actuator based on the global orientation to maintain the seat in a pre-selected position.

An anti-pushback mechanism for a wheelchair provides for a side mounted lever to allow the wheelchair to move in a forward motion only, a rearward motion only, or a neutral position where it can be pushed in any direction. This lever is connected to a ratcheting style gear that stops rollback when engaged. A torsion spring moves the chair forward slightly as the user stands to keep the chair close to the user and prevent falling. The invention may be provided as an add-on kit for existing wheelchairs. The kit would consist of a center axle, the ratchet gear, the torsion spring, the crossbar frame, the actuating lever, a guard for the lever, and any associated clamps and fasteners.

A leg assembly configured to be used with a wheelchair that may be constructed of various mechanical and manual powered components to reduce the cost and unreliability of motor, electric, or otherwise non-manual powered adjustable wheelchairs. A combination wheelchair and leg assembly that may be constructed of various mechanical and manual powered components. The leg assembly disclosed may alternatively be motor powered.

Systems and methods of wheelchair systems enabling fine manual motion control are disclosed. In one embodiment, a wheelchair system includes a wheelchair. The wheelchair includes one or more wheels, at least one actuator coupled to the one or more wheels, a processing device, and a non-transitory, processor-readable storage medium in communication with the processing device. The non-transitory, processor-readable storage medium includes one or more programming instructions that, when executed, cause the processing device to determine a wheel torque on the one or more wheels, determine a compensation value, and actuate the at least one actuator applying the compensation value to the one or more wheels to remove at least a portion of the wheel torque such that less external force is required to physically move the powered wheelchair than when the compensation value is not applied.

Systems and methods of wheelchair systems enabling fine manual motion control are disclosed. In one embodiment, a wheelchair system includes a wheelchair. The wheelchair includes one or more wheels, at least one actuator coupled to the one or more wheels, a processing device, and a non-transitory, processor-readable storage medium in communication with the processing device. The non-transitory, processor-readable storage medium includes one or more programming instructions that, when executed, cause the processing device to determine a wheel torque on the one or more wheels, determine a compensation value, and actuate the at least one actuator applying the compensation value to the one or more wheels to remove at least a portion of the wheel torque such that less external force is required to physically move the powered wheelchair than when the compensation value is not applied.

A carrier element is configured to securely store a foldable wheelchair that is mountable in an ambulette or other vehicle without interfering with passenger space in the vehicle.

A carrier element is configured to securely store a foldable wheelchair that is mountable in an ambulette or other vehicle without interfering with passenger space in the vehicle.

A wheelchair includes massaging units integral with both the seat and the backrest. A first massaging unit includes a plurality of vibrating members positioned about the periphery of the backrest that can be activated simultaneously, sequentially, individually or in a random pattern to knead the user's back, shoulders and neck. A second massaging unit includes motorized massaging discs that rotate and linearly reciprocate to provide a unique “rolling” massage to the buttocks and thighs.