Systems and methods are disclosed for holonomic drivetrain modules for mobile robots. In one embodiment, an example mobile robot may include a chassis, and a holonomic drivetrain module removably coupled to the chassis. The holonomic drivetrain module may include a first drive wheel having a caster angle of substantially zero, a first bearing block assembly vertically aligned with the first drive wheel, and a first steer motor coupled to the first bearing block assembly and vertically aligned with the first drive wheel.

A caster-wheel assembly (100; 200) for a vehicle, for example a wheelchair or powered wheelchair. The caster-wheel assembly comprises a switch (13) coupled to a housing (3); a castering wheel bracket (9) configured to receive a wheel (10), wherein the bracket is rotatably mounted about a caster pivot axis (28) with respect to the housing; biasing means (15) configured to provide a biasing force such that the wheel bracket is biased away from the housing; and a switch-actuating member (13) coupled to the wheel bracket such that movement of the wheel bracket towards the housing and against the biasing force causes the switch-actuating member to actuate the switch.

In one version there is provided a shaft locking assembly for use in an apparatus, to provide motion control and unwanted movement elimination of the apparatus. The shaft locking assembly includes a locking device with a locking shaft having a castellated ring element with castellations. The shaft locking assembly includes a drive shaft and a rotating element disposed around the drive shaft. The shaft locking assembly includes a retaining structure assembly having a side portion with projection members corresponding to the castellations. The shaft locking assembly is in a locked position when the castellations are engaged and interlocked with the projection members, and the shaft locking assembly is in an unlocked position when a shaft engagement device is engaged with the drive shaft and the locking shaft, and actuates the locking shaft, so that the castellations are disengaged and unlocked from the projection members, and rotates the drive shaft.

The present disclosure relates to a caster, having a housing, having an axle pin which is arranged in a housing opening which is oriented substantially horizontally, and on which at least one wheel is mounted, having, at the top, a pin opening oriented substantially vertically, for receiving a pivot pin, and having a braking device which brakes the at least one wheel, wherein the housing opening for the axle pin allows limited vertical displaceability of the axle pin and the braking device comprises at least one resilient housing part which acts on the axle pin. In order to provide a mechanically reliable braking device, the braking device is additionally provided with at least one spring element which cooperates with the at least one resilient housing part and amplifies the effect of its braking force and/or increases the mechanical load-bearing capacity of the at least one resilient housing part.

Systems and methods for an improved walker are provided. The inventive walker allows for greater control over the speed of the walker. More specifically, wheels having specific characteristics may be used to control the speed of rotation of the wheels. For instance, the wheel may include an inner wheel assembly including a coil or coils, and an outer wheel assembly including a magnet or magnets. A magnetic field may be created using current through the coils, which in turn limits the speed with which the outer wheel assembly can be rotated relative to the inner wheel assembly. The present invention also includes a control system used to control the speed and other characteristics of the walker. The present invention may also collect associated data and display of the same which can help determine future activities associated with the walker.

A sliding, pivoting and recliner sitting mechanism for chair and bench enables a seated user to transition between an upright position and a reclined position. To accomplish this the sitting mechanism has a seat platform, a back frame, a cushion, a backrest, and an adjustable leg assembly. Seat platform and the backrest are connected to form an L-shaped frame. The backrest is pivotably connected in between the back frame and the cushion so that angular displacement of the backrest can be used to linearly displace the cushion along the seat platform. The adjustable leg assembly is mounted beneath the seat platform and enables the user to modify the height of the cushion. Accordingly, the sitting mechanism can be used by individuals of varying shape and size.

A magnetic drive has a prime mover, having a first magnet array on a first surface thereof, and a rotor, having a second magnet array on an outer surface thereof. The outer surface of the rotor is located adjacent to the first surface of the prime mover such that movement of the prime mover causes rotation of the rotor about an axis of rotation. A support member has a shaft for defining the axis of rotation of the rotor, and having a third magnet array, and the third magnet array cooperates with a fourth magnet array on the rotor to form a magnetic bearing to resist forces on the rotor acting along the axis of rotation thereof.

A caster device includes a support unit, two caster wheels, a resilient member, two friction wheels, and two protruding teeth units. Each of the caster wheels has an inner wheel surface and a plurality of meshing teeth that are angularly arranged and that are formed on the inner wheel surface. Each of the protruding teeth units includes a plurality of protruding teeth. The support unit is downwardly movable against a resilient force of the resilient member to a stop position, where each of the friction wheels is in frictional contact with the meshing teeth of a respective one of the caster wheels, and where the protruding teeth of each of the protruding teeth units are meshed with the meshing teeth of the respective one of the caster wheels.

Provided is an ultrasound diagnostic apparatus including a plurality of casters allowing the ultrasound diagnostic apparatus to be moved according to a control signal, a detection sensor configured to detect a motion of the ultrasound diagnostic apparatus, an input configured to receive a control command of the ultrasound diagnostic apparatus from a user, and a controller configured to determine whether a user desires to use the ultrasound diagnostic apparatus on the basis of at least one of the detected motion or the received control command, and upon determining that the user desires to use the ultrasound diagnostic apparatus, transmit a control signal for locking at least one of the plurality of casters.

In one version there is provided a shaft locking assembly for use in an apparatus, to provide motion control and unwanted movement elimination of the apparatus. The shaft locking assembly includes a locking device with a locking shaft having a castellated ring element with castellations. The shaft locking assembly includes a drive shaft and a rotating element disposed around the drive shaft. The shaft locking assembly includes a retaining structure assembly having a side portion with projection members corresponding to the castellations. The shaft locking assembly is in a locked position when the castellations are engaged and interlocked with the projection members, and the shaft locking assembly is in an unlocked position when a shaft engagement device is engaged with the drive shaft and the locking shaft, and actuates the locking shaft, so that the castellations are disengaged and unlocked from the projection members, and rotates the drive shaft.