A wheeled childcare device includes: a body frame; a front-wheel caster mechanism and a rear-wheel caster mechanism each including a caster holding member and a caster pivot member and each configured to allow a front wheel or a rear wheel to swivel; a front-wheel caster lock member and a rear-wheel caster lock member each configured to assume a lock position and an unlock position; a front-wheel-side displacement member and a rear-wheel-side displacement member each configured to be displaced between a first position corresponding to the lock position of the caster lock member and a second position corresponding to the unlock position of the caster lock member, according to switching of the position of a push bar; and an operation mechanism provided on the push bar and configured to operate the displacement member to switch the displacement member from the first position to the second position.

Various methods and systems are provided for patient transfer using a patient table with lockable casters. In one example, a method includes adjusting locking of the lockable casters sequentially in response to an indication of reversing of the patient table. The sequential caster locking may be based on acceleration, velocity changes, or user interface forces. In another example, the system may include sensors to detect operator input and a controller to adjust caster locking accordingly.

An autonomous transport vehicle, for transporting items in a storage and retrieval system, includes a frame, a controller, at least two independently driven drive wheels mounted to the frame, and at least one caster wheel mounted to the frame and having a castering assistance motor that engages the at least one caster wheel so as to impart castering assistance torque to the at least one caster wheel assisting castering of the at least one caster wheel. The controller is communicably connected to the castering assistance motor and configured to effect via a combination of vehicle yaw, generated by differential torque from the at least two independently driven drive wheels, and castering assistance torque from the castering assistance motor, castering of the at least one caster wheel with the autonomous transport vehicle in motion with a predetermined kinematic state.

A delivery system includes a handheld electric lift configured to lift at least one vaporizer vessel, and a cabinet configured to hold the at least one vaporizer vessel. The lift includes an elongated mast, an effector attached to the mast, a handler configured to move the lift, and at least one caster. The effector is controlled by an electric power source to move along the mast. Each of the at least one caster includes a stopper and a wheel. The stopper is elongated and is disposed above the wheel. The stopper is configured to engage with the wheel to prevent the wheel from swiveling when the stopper is pushed down. The stopper is further configured to disengage with the wheel to allow the wheel to swivel when the stopper is released. The cabinet includes at least one channel configured to accommodate the at least one caster.