Mobility device for physically disabled people

Abstract

Mobility device for physically disabled people 1, comprising a chassis 10 with at least one motor for maneuvering the entire mobility device 1; a pivot arm 20, which at its lower end 22 is pivotably connected to the chassis 10; and a pelvis support 40, which is connected to an upper end 23 of the pivot arm 20; wherein a physically disabled person 2 can sit with the pelvis support 40 attached to its body, can move around with the mobility device 1 in a standing position on the chassis 10, and can change on its own from sitting to standing position, wherein all elements of the mobility device 1 except the elements directly contacting the body of the person 2 extending above pelvis height h of the sitting person 2 can be lowered or moved to or below this height h. The present invention further comprises a method for erecting of a sitting physically disabled person 2 and for fixing of the person 2 in standing position onto a motor-driven mobility device 1.

Claims

1. A mobility device for a physically disabled person, comprising: a chassis having wheels which are selectively driven by at least one motor in order to maneuver the mobility device; a pivot arm, which at a lower end pivotably connected to the chassis; a pelvis support, which is connected to an upper end of the pivot arm; and two footrests arranged at the chassis as platforms for a person to be standing on the mobility device, wherein the footrests are arranged in between front wheels and back wheels of the mobility device; wherein the mobility device is configured to be movable around with the disabled person standing on the chassis, so that driving movements of the mobility device as well as pivot movement of the pivot arm for changing from sitting to standing position can be controlled by the disabled person.

2. Mobility device according claim 1 wherein the pelvis support can be securely fixed to a belly or frontal pelvis of the disabled person.

3. Mobility device according claim 1, further comprising at least one adjustable fixing belt that is retractable into the mobility device.

4. Mobility device according to claim 3, wherein the adjustable fixing belt is configured to be adaptable by the disabled person during the course of the day.

5. Mobility device according claim 1, wherein the pivot arm except the pelvis support directly contacting the body of the disabled person can be lowered or moved to or below a waist height of a sitting disabled person such that it does not impair the vision to the front of the sitting disabled person.

6. Mobility device according claim 1, further comprising a hand grip arrangement that is movably supported, telescopically supported at the chassis, wherein the hand grip arrangement allows the physically disabled person to erect himself/herself on its own to a standing position.

7. Mobility device according to claim 1, wherein the hand grip arrangement comprises two hand grips that are foldable downwards.

8. Mobility device according to claim 1, wherein the mobility device has no seat for a person.

9. Mobility device according to claim 1, wherein at least one fixing belt is attached to the pelvis support.

10. Mobility device according to claim 1, comprising an upper fixing belt for fixing the upper part of the body of a physically disabled person and a lower fixing belt for fixing the pelvis of a physically disabled person.

11. Mobility device according to claim 1, wherein the pivot arm can be pivoted to a height below and above pelvis height of a sitting disabled person such that: a. the pelvis support can abut the belly of a sitting person; b. a sitting person with a fixed pelvis support is able to erect himself/herself to a standing position; and c. the pelvis support fixes the belly or the frontal pelvis of the person and holds the person upright in a standing position on the mobility device.

12. Mobility device according to claim 1, wherein the pivot movement of the pivot arm to the standing position is supported by a spring, preferably a lockable spring, and more preferred by a lockable gas spring.

13. Mobility device according to claim 1, wherein the footrests are height adjustable by a motorized mechanism.

14. Mobility device according to claim 1, wherein the pivot arm is arranged as a parallelogram arrangement such that the pelvis support during pivoting of the pivot arm always has the same orientation.

15. Mobility device according to claim 1, wherein the pivot arm further comprises a gearbox arrangement for maintaining the orientation of the pelvis support, while pivoting the pivot arm.

16. Mobility device according claim 15, wherein the gearbox arrangement comprises: a. a first gearbox (130) at one end of the pivot arm; b. a second gearbox (132) at the other end of the pivot arm; c. a rotatable connection shaft (136) connecting input shafts (145, 147) of the first and second gearboxes (130, 132) with each other; d. wherein a rotatable output shaft (144) of the first gearbox (130) is connected to the pelvis support (40); and e. a rotatable output shaft (146) of the second gearbox (132) is connected to the chassis (10).

17. Mobility device according to claim 1, further comprising a support post being rigidly arranged at the chassis, wherein the pivot arm is supported at the chassis via the support post.

18. Mobility device according to claim 17, further comprising a tibia support which is connected to the support post in an adjustable manner.

19. Mobility device according claim 17, wherein the lower end of the pivot arm is supported in a height displaceably manner at the support post.

20. Mobility device according to claim 1, wherein the chassis comprises driven wheels which are selectively driven by at least one motor in order to maneuver the mobility device.

21. Mobility device according claim 1, further comprising at least one multiway wheel.

22. Mobility device according to claim 1, further comprising a. at least one omni wheel; and/or b. at least one caster wheel; and/or c. a holonomic drive, comprising four omni wheels arranged at the edges of the chassis; and/or d. a mecanum drive, comprising at least two mecanum wheels.

23. Mobility device for according to claim 1, further comprising stability elements that are extendable and retractable from the chassis in order to provide an enhanced stability of the mobility device.

24. Mobility device according to claim 1, further comprising a control panel at which person can control the movements of the mobility device, particularly the driving movements.

25. Mobility device according to claim 24, wherein the control panel is a remote-control panel that allows the user to manoeuvre the mobility device from a remote distance.

26. Mobility device according to claim 1, further comprising at the back end of the chassis a platform for supporting the feet of the person while the person is attaching a fixing belt to its body.

27. Mobility device according to claim 26, wherein the platform is height movable by means of a motorized mechanism.

28. A mobility device for a physically disabled person, comprising: a chassis having wheels which are selectively driven by at least one motor in order to maneuver the mobility device; a pivot arm, which at a lower end is pivotably connected to the chassis; a pelvis support, which is connected to an upper end of the pivot arm; wherein the mobility device is configured to be movable around with the disabled person standing on the chassis, so that driving movements of the mobility device as well as pivot movement of the pivot arm for changing from sitting to standing positon can be controlled by the disabled person; and wherein the pivot arm and a hand grip arrangement are configured to be moved to a height above pelvis height of a sitting disabled person.

29. Mobility device according to claim 28, further comprising two footrests arranged at the chassis as platforms for a person standing on the mobility device, wherein the footrests are arranged in between front wheels and back wheels (13, 110, 114).

30. A mobility device for a physically disabled person, comprising: a chassis having wheels which are selectively driven by at least one motor in order to maneuver the mobility device; a pivot arm, which at a lower end is pivotably connected to the chasses; a pelvis support, which is connected to an upper end of the pivot arm; wherein the mobility device is configured to be movable around with the disabled person standing on the chassis, so that driving movements of the mobility device as well as pivot movement of the pivot arm for changing from sitting to standing position can be controlled by the disabled person; and wherein the pivot arm can be selectively locked to provide at least two of the following modes: a. free mode, such that the pivot arm can move up and down; b. locked mode, such that the pivot arm can neither move up nor down; c. standing up mode, such that the pivot arm can only move up but can not move down; d. sitting down mode, such that the pivot arm can only move down but can not move up.

31. A mobility device for a physically disabled person, comprising: a chassis having wheels which are selectively driven by at least one motor in order to maneuver the mobility device; a pivot arm, which at a lower end is pivotably connected to the chasses; a pelvis support, which is connected to an upper end of the pivot arm; wherein the mobility device is configured to be movable around with the disabled person standing on the chassis, so that driving movements of the mobility device as well as pivot movement of the pivot arm for changing from sitting to standing position can be controlled by the disabled person; and wherein the pivot arm is length adjustable in order to adjust the mobility device to the user.

Description

4. SHORT DESCRIPTION OF THE DRAWINGS

(1) In the following preferred embodiments of the invention are described with respect to the drawings in which shows:

(2) FIG. 1 a schematic side view of a preferred embodiment of a mobility device for physically disabled people during use in sitting position;

(3) FIG. 2 a side view of the mobility device of FIG. 1, during the process of fixing a person;

(4) FIG. 3 a schematic side view of the mobility device of FIG. 1 with extended handgrips just before the erection to the standing position;

(5) FIG. 4 a schematic side view of the mobility device of FIG. 1 after the erection to the standing position;

(6) FIG. 5 a three-dimensional view of a mobility device according FIG. 1 during use with a standing person and lowered hand grip arrangement;

(7) FIG. 6 a side view of the mobility device according to FIG. 1 with a seated person using a remote control and all elements of the mobility device lowered to or below the waist height of the sitting person;

(8) FIG. 7 a side view of the mobility device according to FIG. 1 with a person sitting at a table, wherein the mobility device is parked under the table;

(9) FIG. 8 a side view of the mobility device according to FIG. 1, while the person lifts himself/herself up to the standing position;

(10) FIG. 9 a three-dimensional view of a mobility device according to FIG. 1 while a standing person leans forward;

(11) FIG. 10 a three-dimensional view of a mobility device according FIG. 1 with lifted pivot arm and partially extended hand grip arrangement;

(12) FIG. 11 a detailed view of the extendable hand grip arrangement of a mobility device according to FIG. 1;

(13) FIG. 12 a three-dimensional detailed view of a tibia support of the mobility device according to FIG. 1;

(14) FIG. 13 a three-dimensional detailed view of a pivot arm with pelvis support and control panel of a mobility device according to FIG. 1,

(15) FIG. 14 a three-dimensional detailed view of a chassis of a mobility device according to FIG. 1 with extended stability elements to the front and to the back;

(16) FIG. 15 a three-dimensional view of an embodiment of a multiway wheel;

(17) FIG. 16 a three-dimensional detailed view of the underside of a chassis of a mobility device according to FIG. 1 comprising two multiway wheels and two driven wheels;

(18) FIG. 17 a schematic view of the underside of a chassis of a mobility device comprising one multiway wheel and two driven wheels;

(19) FIG. 18 a schematic view of the underside of a chassis of a mobility device comprising one multiway wheel and two driven wheels;

(20) FIG. 19 a schematic view of the underside of a chassis of a mobility device comprising three omni wheels and two driven wheels;

(21) FIG. 20a three-dimensional view of an embodiment of an omni wheel;

(22) FIG. 21 a schematic view of the underside of a chassis of a mobility device comprising a holonomic drive with four driven omni wheels;

(23) FIG. 22 a schematic view of the underside of a chassis of a mobility device comprising a mecanum drive, comprising four mecanum wheels;

(24) FIG. 23 a side view of a further preferred embodiment of a mobility device for physically disabled people, with a pivot arm having a gearbox arrangement;

(25) FIG. 24 a side view of the pivot arm of the embodiment of FIG. 23 in horizontal position;

(26) FIG. 25 a side view of the pivot arm of the embodiment of FIG. 23 in inclined position;

(27) FIG. 26 a side view of the pivot arm of the embodiment of FIG. 23 in vertical position; and

(28) FIG. 27 a schematic side view of another preferred embodiment of a mobility device for physically disabled people with a height movable platform during use.

5. DESCRIPTION OF PREFERRED EMBODIMENTS

(29) In the following preferred embodiments of the invention are described with respect to the accompanying figures. The FIGS. 1—10 show a first preferred embodiment of a mobility device for physically disabled people 1 during its use by a physically disabled person 2.

(30) The mobility device 1 as main elements comprises essentially a maneuverable chassis 10, a pivot arm 20 and a pelvis support 40 that can directly touch the body of person 2. The pivot arm 20 is connected to the chassis by means of a perpendicular support post 70. For fixing the tibia of a person 2 at the support post 70 a tibia support 60 is provided in a height adjustable manner. For fixing the pelvis respectively the upper body of the person 2 to the pelvis support 40 a two piece fixing belt 30, 32 is connected to the pelvis support 40. By means of a control panel 50 at which a joystick 52 is connected the person 2 can control the mobility device 1, particularly the driving movements.

(31) The chassis 10 comprises at least one motor, which preferably electrically selectively drives at least some of the wheels 12, 13 such that the mobility device 1 can be driven by person 2 in arbitrary manner. As shown in FIG. 1, chassis to only requires very little space and particularly has a low height of less than waist height h of a sitting person, particularly a height of 0.5 m-0.85 m, preferably 0.55 m-0.75 m, more preferred 0.6 m-0.7 m, and even more preferred below 0.7 m such that it can be moved essentially completely below a seating furniture 3 without any problems like the shown chair.

(32) Chassis to further comprises on the right and on the left side in directly between the front wheels 12 and the back wheels 13 a footrest respectively for the right and left foot of the person 2. The footrests 14 on the one hand provide a good support for the feet of the person 2 during sitting and during the erection and on the other hand allow person 2 to conveniently stand on the mobility device 1. The footrests 14 can be height movable by means of a motorized mechanism in order to lift the upper legs of a seated person 2 for facilitating the fixing of the pelvis support 40 by means of the fixing belt 30, 32.

(33) In chassis 10 the required motors for the drive of the front and back wheels 12, 13 as well as the power supply and the control electronics of the mobility device 1 are enclosed.

(34) At the frontal area 17 of the chassis to a support post 70 is erected essentially vertically from the chassis 10 to the top. At this support post 70 a tibia support 60 is supported in an adjustable manner. FIG. 12 shows the tibia support 60 in more detail. The tibia support 60 comprises two concave and cushioned tibia holders 62 and 64 that are mounted to a holder 66. The holder 66 can be mounted at a desired height at the support post 70, see FIG. 10. The holder 66 additionally allows adjusting the length and orientation of the tibia support 70. Thereby, the tibia support 70 can be adjusted in order to perfectly support the tibia bones of the user 2 and to ensure a safe standing position of the user onto the mobility device 1.

(35) Further, at the support post 70 the lower end 22 of the pivot arm 20 is supported in a height displaceable manner in order to adapt the pivot arm 20 to the physically disabled person 2.

(36) The support post 70 is removable from the chassis to in order to facilitate transportation of the mobility device 1 for example in a car.

(37) As it can be seen in detail in FIG. 13 at the lower end 22 of the pivot arm 20 also an actuator 26 is mounted, which acts for supporting the movement of the pivot arm 20 to the top. Preferably the actuator 26 is a lockable gas spring 26 that supports the upwards movement of the pivot arm 20 in different modes if desired. By means of a gas spring locker 27 the user 2 can select the locking mode of the gas spring 26 corresponding to the desired task (sitting, standing up, sitting down, driving around). Other actuators for locking the pivot arm 20 are also possible for example a common spring, an electric drive or other devices.

(38) In the free mode the gas spring 26 enables that the pivot arm 20 can freely move up and down. This mode can be used if the person is sitting and no support by the mobility device is required.

(39) In the locked mode the gas spring 26 prevents any up and down movement of the pivot arm 20. This mode can be used during driving around or standing with the mobility device 1 since it securely fixes the body of the person 2 during the driving, see FIGS. 4 and 5.

(40) In the standing up mode the gas spring 26 enables the pivot arm 20 to move upwards and biases the pivot arm 20 in the upwards direction. However, in the standing up mode a downwards movement of the pivot arm 20 is prevented by means of the gas spring 26. This mode ensures that the user 2 can pull himself up to the standing position even if he/she requires several steps for a complete erection, see FIG. 3.

(41) In the sitting down mode the gas spring 26 enables the pivot arm 20 to only move downwards and dampens this downwards movement by its upwards biasing force. In this mode an upwards movement of the pivot arm 20 is prevented.

(42) The pivot arm 20 is preferably formed as a parallelogram arrangement of two parallel rods 24, 25 such that the pelvis support 4o and joystick 52 which are attached to the upper end 23 of the pivot arm 20 are essentially arranged by pivot joints always in the same orientation. The rods 24, 25 are length adjustable, preferably telescopic such that the pivot arm 20 can be adjusted in its length to the needs—for example the height—of the individual user 2.

(43) Another embodiment of a pivot arm 20 is shown in FIGS. 23-26. In this embodiment the pivot arm 20 comprises a gearbox arrangement 130, 132, 136 in order to maintain the orientation of the pelvis support 40 in any pivot position of the pivot arm 20. The gearbox arrangement comprises at the upper end of the pivot arm 20 a first gearbox 130 and at the lower end of the pivot arm 20 a second gearbox 132. Both gearboxes 130, 132 include a set of gears that transmit a rotational movement of output shafts 144, 146 into rotational movements of input shafts 145, 147 and vice versa. The output shafts 144, 146 are perpendicularly arranged to the input shafts 145, 147. The housings of the gearboxes 13o and 132 are rigidly connected to each other by means of connection rods 138 or other appropriate means.

(44) The input shafts 145, 147 are connected to each other by means of a connection shaft 136. Further, output shaft 144 of the first gearbox 130 is connected to the pelvis support 40 via a bracket 140. The output shaft 146 of the second gearbox 132 is connected to the support post 70 of chassis 10 via a further bracket 142.

(45) The function of the pivot arm 20 with gearbox arrangement 130, 132, 136 is as follows: If the pivot arm 20 is pushed upwards the bracket 142 rotates the output shaft 146 of second gearbox 132. This causes a corresponding rotation of the input shaft 147 and the connection shaft 136. Preferably the rotational movement of the connection shaft 136 is a multiple of the rotational movement of the output shaft 146.

(46) A rotation of the connection shaft 136 causes a rotation of the input shaft 145 of the first gearbox 130. This further causes a corresponding rotation of the output shaft 144 of the first gearbox 130. Both gearboxes 130, 132 are identical in view of the internal set of gears. Therefore, the rotation of the output shaft 146 of the second gearbox 132 is transmitted to a corresponding rotation in opposite direction of the output shaft 144 of the first gearbox 130. This in the end causes that the pelvis support 40 always maintains its initial orientation, as it can be seen in the FIGS. 24-26 even if the pivot arm 20 is pivoted to a different position.

(47) Such an arrangement can favourably be used to lock the movement of the pivot arm 20 by engaging the connection shaft 136 appropriately. Since the connection shaft 136 has a higher rotational movement compared to pivot movement of the pivot arm 20 only a fraction of the force is needed for the locking compared to a direct locking of the pivot arm 20.

(48) Additionally compared to a parallelogram arrangement 24, 25 of the first embodiment, as shown in FIG. 13, the gearbox arrangement 130, 132, 136 minimizes the danger of injury since the hand or fingers of users can not be caught between approaching rods 24, 25.

(49) Further the gearbox arrangement 130, 132, 136 enables to motorize the movement of the pivot arm 20 by engaging the connection rod 136 by means of an electric motor (not shown). This enables a very compact motorized pivot arm 20.

(50) As shown in FIGS. 1 and 4 the pelvis support 40 supports the hip respectively belly area 4 of person 2, if the person 2 is sitting. Person 2 in this position can be fixed by a two-part fixing belt 30, 32 that comprises an upper fixing belt 32 and a lower fixing belt 30 to the pelvis support 40. The upper fixing belt 32 may be used if person 2 can not stabilize its upper body by muscle force. In such a case the upper body of the person 2 is additionally stabilized by an upper extension 42 of the pelvis support 40 (see FIG. 5). As it can be seen in FIG. 9 the upper extension 42 can be folded away if the person 2 wants to lean forward in the standing position.

(51) As shown in FIG. 1 this fixing of person 2 does not negatively affect person 2 during sitting on arbitrary seating furniture 3. It is a big advantage of mobility device 1, that it can be used simultaneously together with different seating furniture 3 without negatively affecting the sitting person 2 during its activities. As it can be seen in FIG. 7 the low shape of chassis to as well as the possibility to lower pivot arm 20 and handgrip 80 the mobility device 1 can also be used if person 2 is sitting at a table 6 or works at a computer. In these cases mobility device 1 is located essentially totally below the seat 3 and below the table 6. All elements for example the hand grip arrangement 8o and the pivot arm 20 that during use need to be extendable above a waist height h of the person 2 using the mobility device 1 can be lowered or maneuvered below this height h, such that the mobility device can be located essentially below a table (see FIG. 7).

(52) In a preferred embodiment chassis to is approximately only 0.4-0.7 metres long, 0.2-0.4 metres high and 0.3-0.5 metres wide. Thereby, on the one hand it is ensured that the mobility device 1 can be manoeuvred securely with a standing person 2 and on the other hand does not negatively affect a sitting person 2.

(53) As it can be seen in FIGS. 8, 9, 14 and 18 for increasing the stability of the mobility device 1 during manoeuvring back sided stability elements 16 and front sided stability elements 17 can be extended or pivoted out of the chassis to. Such support elements 16, 17 by abutting the floor improve the tilting security if person 2 drives around or stands with the mobility device 1. The stability elements 16, 17 can automatically be extended out of chassis to during sitting down, as shown in FIG. 8, or while the person 2 leans forward, as shown in FIG. 9. To this end sensors may be provided that sense forces and/or accelerations acting on the mobility device 1 in order to detect a critical tilting situation. In another embodiment the stability elements 17 are automatically extended depending on the position of additional support elements 42 that additionally can support the upper body of person 2 from the front. Alternatively or additionally the back sided stability elements 16 may automatically extend out of the chassis to when the pivot arm 20 is moved down, is in an intermediate position, or is presently moving. During driving the stability elements 16, 17 usually are pivoted inside or retracted in order to minimize the space consumption of the mobility device 1 and to improve the ability for maneuvering.

(54) As shown in FIGS. 3, 10 and 11 a handgrip arrangement 80 comprises two handgrips 82 by which the user 2 can pull himself/herself up to a standing position and can hold himself/herself during driving around. In order to reduce the overall height of the mobility device 1 the handgrips 82 can be folded downwards at the handgrip arrangement 80 as indicated by the arrows in FIG. 11. Additionally the handgrip arrangement 80 comprises two handgrip tubes 84, 86 that are telescopically supported within two tubes 72, 74 of the support post 70. This further allows to adjust the handgrips 82 to the desired height, preferably above waist height h and to lower the handgrip arrangement 80 below this height in case the user 2 wants to sit at a table or wants to move the handgrip arrangement 80 out of sight.

(55) FIG. 2 shows the person 2 sitting on seating furniture 3, during the process of fixing of the mobility device 1 to its body. To this end, person 2 preferably places its feet to the specifically provided back sided edge platform 18 of the chassis 10, such that the upper legs are slightly lifted from the seat plane of the seat 3. Thereby, the knees of the person 2 can be favourably prevented from lateral deflecting by means of the pelvis support 40. In this position it is easy for person 2 to guide fixing belts 30, 32 below the bottom and then to fix pelvis support 4o safely to its body as shown in FIG. 1.

(56) This procedure can be facilitated by a height movable platform 15o that can be moved up and down by a motorized mechanism 152 as shown in FIG. 27. Thereby, the mobility device 1 can be made very compact and—if needed—the feet of the person 2 can be lifted in a motorized way, preferably to fix the belt 30, 32 of the pelvis support 40 to the hip of the person 2.

(57) Alternatively the footrests 14 can also be movable in height by means of a motorized mechanism. This further allows a perfect sitting on any seating furniture while the feet of the person remain on the mobility device. Additionally motorized footrests 14 allow an effortless lifting of the upper legs of the person 2 for an easy fixing of fixing belts 30, 32.

(58) As shown in FIG. 2 person 2 fixes itself from the backside of mobility device 1. This is possible since mobility device 1 does not comprise any seat, but only supports person 2 from the front by pelvis support 40 and by the tibia support 60, and from below by the footrests 14 and from the back by the fixing belts 30, 32. This omission of an own seat and the particular arrangement of mobility device 1 enables that person 2 can use arbitrary seating furniture 3, for example chairs, seats or even beds without having to change between such seating furniture and a wheel chair if person 2 want to be mobile. Further, this facilitates a fixing of the mobility device 1 by the physically disabled person on its own without any further helping persons.

(59) The additional support elements 42 are provided to additionally support the upper body of person 2 from the front, the side or from the back if person 2 is not able to stabilize its upper body by muscle force. These additional support elements 42 may also be mounted to the pivot arm 20. As it can be seen in FIG. 9 the support elements 42 are preferably designed such that they can be folded away or retracted such that they do not hinder the person 2 while performing specific tasks like for example during washing. This folding away of the support elements 42 can cause that the stability elements 17 are automatically extended out of the chassis to which prevents a tilting of the mobility device 10 to the front. The same principle can be used for the back stability elements 16.

(60) If person 2 wants to change its position in the room, it will pull itself up—as shown in FIG. 3—10 a standing position—as shown in FIGS. 4 and 5—by means of the handgrips 80, 81. This pulling up can be mechanically supported by an actuator 26 like for example a spring or the preferred lockable gas spring.

(61) The actuator 26 can also be provided as a motor-driven element such person 2 can also erect itself without force effort or less force effort from the sitting into the standing position. In this case, actuator 26 can be provided as a hydraulic cylinder, as an electric spindle actuator, a DC driven motor or the like. The pivot movement of the pivot arm 20 as well as the driving movements of the mobility device 1 can be controlled by the person 2 at a control panel 50, which preferably comprises a joystick 52 for the control of the driving movements. In case the actuator 26 is strong enough to lift the person 2 alone from the sitting to the erected position in some embodiments hand grips 8o. 81 would not be needed anymore.

(62) In order to control the mobility device 1 from a remote position a wireless remote control 54 can be provided. By means of a wireless remote control 54 the user 2 can preferably control the driving movements of the mobility device 1 which allows him/her to fetch the mobility device 1 from a remote position to the actual position of the user 2. This enables the user 2 to use the mobility device 1 without the need of a further assistant, for example already in the morning in order to leave the bed.

(63) The mobility device 1 is preferably driven by electric motors 90 that drive the front wheels 12 of the mobility device 1 via corresponding gear boxes, see FIG. 16. There are various ways to arrange driven and non driven wheels at the chassis to.

(64) In a first embodiment of FIG. 1 and FIG. 16 the driven wheels 12 are arranged at the front corners of the chassis to. In this embodiment the wheels 12 are not steerable but may rotate independently from each other backwards or forwards. At the back corners of the chassis to two so called multiway wheels are supported at the chassis 10. Multiway wheels are able to rotate around more than one rotation axis so that the wheels can be used to move forward but also sideways, i.e. perpendicular thereto.

(65) FIG. 15 shows one embodiment of a multiway wheel 13. The multiway wheel 13 comprises a carrier too that is rotatably mounted around a rotation axis 106 at the chassis to. At this carrier too two pair of casters 102 and 104 are rotatably mounted that can rotate around rotation axes 108 and 110. As it can be seen the rotation axes 109 and 108 are perpendicular to the rotation axis 106 of the carrier too and perpendicular to each other. Further, the overall projection of the casters 102, 104 in direction of the rotation axis 106 assembles approximately to a circle. This enables that the back of the mobility device 1 may move sideways as indicated by arrows 101. This allows a better agility and steerability of the mobility device 1. During the sideways movement the multiway wheels 13 rotate around the axis 106, whereas during a forward and backward movement of the mobility device 1 as indicated by arrow 103 the casters 102, 104 rotate around the axes 108, 109, respectively.

(66) FIG. 17 shows another embodiment, where one multiway wheel comprises four pairs of casters that have rotation axes that are arranged 45° to each other at a common carrier. The carrier can rotate around an axis 106 that is laterally arranged at the chassis 10. The 45° angular offset of the rotation axes provide a smoother drive in longitudinal direction of the chassis to.

(67) FIG. 18 shows another embodiment where one multiway wheel is arranged in between the foot rests 14 in order to decrease the length of the chassis to and the overall length of the mobility device 1. In this case for a save driving the back sided stability elements 16 will be extended from the chassis 10.

(68) In the embodiment of FIG. 19 three so called “omni wheels” 110 are used that are shown in detail in FIG. 20. The omni wheels 110 comprise a wheel shaped carrier 112 to which—at the outer periphery thereof—a plurality of casters 114 are rotatably mounted. The rotation axes of the casters 114 are perpendicular to the main rotation axis 116. Therefore, like the multiway wheels the omni wheels allow a movement in longitudinal direction 103 and transversal direction 101. In order to increase the stability the third omni wheel 110 at the back of the chassis to is provided that has a main rotation axis 116 perpendicular to the main rotation axes of the two lateral omni wheels 110. In another embodiment this third omni wheel 110 could be omitted in order to drive more comfortably over obstacles.

(69) Instead of the omni wheels 110 in the embodiment of FIG. 19 also at least one caster wheel (not shown) can be used.

(70) As it can be seen in FIG. 21 it is possible to mount four omni wheels 110 to the corners of chassis 10 wherein the rotation axes are 450 offset to the main driving direction. This arrangement is called “holonomic drive”. By driving each of the four omni wheels 110 individually the chassis to can rotate on place and move in any arbitrary direction.

(71) A similar arrangement is shown in FIG. 22 that shows a so called “mecanum drive”. In this embodiment four mecanum wheels 120 are mounted at the chassis to. Each mecanum wheel 120 comprises individually rotatably supported rollers that have a rotation axis 124 that is 45° offset to the main rotation axis 122 and that are arranged a base element of the mecanum wheel 120. By driving each of the four mecanum wheels 120 individually the chassis to can rotate or move in any arbitrary direction. In another embodiment (not shown) two mecanum wheels 120 could be combined with two other kind of wheels. In a mecanum drive and in a holonomic drive it is not necessary that the single wheels 11o, 120 can be steered.

(72) The use of such driving concepts for a mobility device 1 increases the agility and steerability of the mobility device 1 and, thereby, the applicability of the mobility device 1 in the daily life of physically disabled people.

(73) The mobility device 1 provides a new class of mobility devices, which replaces a wheelchair as well as lifting devices in the household area. Since the possibility of a self-erecting of a sitting person 2 into the standing position for driving around is already integrated into the mobility device 1 the mobility and reach of the person 2 is significantly improved. Compared for example to the use of a wheelchair and further lifting devices it is essentially faster and easier possible to change different seats and places by means of the mobility device 1. Helping persons are not necessary anymore. Further, by means of the mobility device 1 activities in sitting and standing position can be done easily and without problems. This significantly increases the quality of life of physically disabled people and enables an essentially self-determined daily life.