An expandable wheel (100) assembly attached to a vehicle includes a circular rim disc (200) operable to receive a plurality of drive members (300) about its circumference. The drive members (300) are pivotally connected to the rim disc (200) and expand outward from the rim disc (200) via sliding levers (500) when a rotational force is applied to the rim disc (200). As a result, the drive members (300) increase the ground clearance and enhance the ability for the vehicle to negotiate variable terrain while also increasing the top velocity of the vehicle. The expandable wheel (100) assembly contracts to a circumferential closed position when the rotational force is removed.

A method and apparatus for connected deployable arms off of cylindrical surfaces including an outer cylinder defining an outer circumference and an inner cylinder concentric with the outer cylinder around a central aperture, one or more primary developable mechanisms linked to one or more secondary developable mechanisms. The deployable arms transition from a first closed state wherein the primary developable mechanisms and secondary developable mechanisms are contained entirely within the outer cylinder outer circumference to a second open state wherein the inner cylinder rotates relative to the outer cylinder, forcing the primary developable mechanisms and secondary developable mechanisms to extend outside the outer cylinder outer circumference.

A method and apparatus for connected deployable arms off of cylindrical surfaces including an outer cylinder defining an outer circumference and an inner cylinder concentric with the outer cylinder around a central aperture, one or more primary developable mechanisms linked to one or more secondary developable mechanisms. The deployable arms transition from a first closed state wherein the primary developable mechanisms and secondary developable mechanisms are contained entirely within the outer cylinder outer circumference to a second open state wherein the inner cylinder rotates relative to the outer cylinder, forcing the primary developable mechanisms and secondary developable mechanisms to extend outside the outer cylinder outer circumference.

A vehicle wheel assembly includes a wheel, a tire, one or a plurality of protruding elements positioned fully or partially within the tire and a deployment mechanism configured to deploy said one or a plurality of protruding elements out of the tire to a deployed position utilizing pressure within the tire, and configured to retract said one or a plurality of protruding elements from the deployed position to a retracted position.

A transformable wheel and method of transforming a wheel between open and closed positions. An exemplary transformable wheel may include a plurality of wheel segments (legs), including at least one passive leg and at least one active leg. The active leg(s) is actuated by a powered active leg transformation mechanism, while the passive leg(s) is actuated by a passive leg actuation mechanism that employs an elastic element, spring, or other passive actuator to automatically move the passive leg(s) toward the current position of the active leg(s).

A wheel assembly includes a first side plate having a first annular base, axially protruding first claw members projecting axially outward from the first annular base, axially protruding first hub mounts projecting axially outward from the first annular base, and axially protruding first spring mounts projecting axially outward from the first annular base; a hub member attached to the first side plate; and a tire assembly laid over the hub member such that spokes of the tire assembly are radially adjacent corresponding first claw members of the first side plate, a plurality of friction members and the first claw members sandwiching each of the spokes.

A traction enhancement device and system for the rear wheel(s) of a wheelchair is provided. The traction enhancement system generally includes a tooth bar assembly that includes a plurality of spikes/teeth and an actuation assembly that includes a lever and swashplate. In use the lever can be moved into ground engaging position and the swashplate will contact and provide a force the tooth bar assembly causing the spikes to extend beyond the diameter of the wheelchair wheel and into engagement with the surface on which the chair is riding. The lever can be pulled out of ground engaging position and the swashplate will not cause the spikes to push outwardly beyond the diameter of the wheel.

Aspects of the disclosure relate to a robot. The robot includes a body and a wheel assembly coupled to the body. The wheel assembly includes a central hub and a central gear coupled to the central hub. A plurality of legs are coupled to the central hub. The plurality of legs are operatively coupled to the central gear such that the central gear drives the plurality of legs between a closed position and an open position. A motor is coupled to the body and coupled to the wheel. A suspension system is coupled to the wheel assembly. An autonomous guidance system is coupled to the motor.

A transformable wheel and method of transforming a wheel between open and closed positions. An exemplary transformable wheel may include a plurality of wheel segments (legs), including at least one passive leg and at least one active leg. The active leg(s) is actuated by a powered active leg transformation mechanism, while the passive leg(s) is actuated by a passive leg actuation mechanism that employs an elastic element, spring, or other passive actuator to automatically move the passive leg(s) toward the current position of the active leg(s).

A method and apparatus for connected deployable arms off of cylindrical surfaces including an outer cylinder defining an outer circumference and an inner cylinder concentric with the outer cylinder around a central aperture, one or more primary developable mechanisms linked to one or more secondary developable mechanisms. The deployable arms transition from a first closed state wherein the primary developable mechanisms and secondary developable mechanisms are contained entirely within the outer cylinder outer circumference to a second open state wherein the inner cylinder rotates relative to the outer cylinder, forcing the primary developable mechanisms and secondary developable mechanisms to extend outside the outer cylinder outer circumference.