Patent Publication Number: US-11653768-B2

Title: Bed handle

Description:
RELATED CASES 
     This application claims priority to U.S. Provisional Application No. 63/116,441, filed on Nov. 20, 2020 and titled “BED HANDLE,” which is hereby incorporated by reference in its entirety. 
    
    
     TECHNICAL FIELD 
     The present disclosure relates generally to the field of mobility assistance devices. More particularly, the present disclosure relates to mobility assistance devices such as bed rails and bed handles that can assist individuals getting into, getting out of, and positioning themselves on beds, including articulating beds. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The written disclosure herein describes illustrative embodiments that are non-limiting and non-exhaustive. Reference is made to certain of such illustrative embodiments that are depicted in the figures, in which: 
         FIG.  1 A  is a perspective view of an embodiment of a bed handle. 
         FIG.  1 B  is a perspective view of an embodiment of a bed handle. 
         FIG.  1 C  is a perspective view of an embodiment of a bed handle. 
         FIG.  2 A  is a perspective view of the bed handle of  FIG.  1 A  restricting passage of a 120-mm-diameter cylinder through an opening of the bed handle. 
         FIG.  2 B  is a side view of the bed handle of  FIG.  1 A  restricting passage of a 120-mm-diameter cylinder through an opening of the bed handle. 
         FIG.  3    is a perspective view of a first and a second bed handle according to  FIG.  1 A , coupled to a bed frame through a first and a second base portion, respectively. 
         FIG.  4    is a side view of a bed handle according to  FIG.  1 A , coupled to a bed frame through a base portion, with the bed frame in an unarticulated state and with a mattress and bedding on the bed frame. 
         FIG.  5    is a perspective view of the bed handles of  FIG.  3   , with the bed frame in an articulated state and with a mattress and bedding on the bed frame. 
         FIG.  6    is a side view of the bed and bed handle of  FIG.  4   , with the bed in an articulated state. 
         FIG.  7    is a side view of the bed and bed handle of  FIG.  4   , with the bed in an unarticulated state, and with lateral angles depicted. 
         FIG.  8    is a side view of the bed and bed handle of  FIG.  4   , with the bed in an articulated state, and with lateral angles depicted. 
         FIG.  9    is a perspective view of the bed handle of  FIG.  1 A  ready to be coupled to a receiver and base portion. 
         FIG.  10    is a perspective view of the bed handle of  FIG.  1 A  coupled to a receiver and base portion. 
         FIG.  11    is a perspective view of a user disengaging a biasing member and decoupling the bed handle of  FIG.  1 A  from a receiver and base portion. 
         FIG.  12    is a perspective view of the bed handle of  FIG.  1 A  supporting a mobile device. 
         FIG.  13    is a perspective view of the bed handle of  FIG.  1 A  supporting a handbag. 
         FIG.  14    is a perspective view of the bed handle of  FIG.  1 A  coupled to a bed in an articulated state and supporting a user for mobility assistance. 
         FIG.  15    is a perspective view of a first and a second bed handle coupled to a bed base through an embodiment of a first and a second base portion, respectively, with the bed base in an unarticulated state. 
         FIG.  16    is a perspective view of the bed handles, base portions, and bed base of  FIG.  15   , with the bed base in an articulated state. 
         FIG.  17 A  is a side view of an embodiment of a bed handle, with a gripping member and telescoping members in a collapsed configuration. 
         FIG.  17 B  is a side view of the embodiment of the bed handle of  FIG.  17 A , with the gripping member and telescoping members in an expanded configuration. 
         FIG.  18    is a perspective view of a first and a second bed handle according to the embodiment of  FIG.  17 A  coupled to a nonarticulating section of an articulating bed base through a first and a second base portion, respectively, with the bed base in an unarticulated state. 
         FIG.  19    is a perspective view of a first and a second bed handle according to the embodiment of  FIG.  17 A  coupled to an articulating section of an articulating bed base through a first and a second base portion, respectively, with the bed base in an articulated state. 
         FIG.  20    is a side view of the bed handle of  FIG.  17 B  coupled to a nonarticulating section of an articulating bed base through a base portion, with the bed base in an articulated state. 
         FIG.  21    is a side view of the bed handle of  FIG.  17 A  coupled to an articulating section of an articulating bed base through a base portion, with the bed base in an articulated state. 
         FIG.  22 A  is a side elevation view of the bed handle of  FIG.  17 A , with a base portion having two legs in a configuration with one leg extending forward at an angle from the lateral axis, and another leg extending aft at an angle from the lateral axis. 
         FIG.  22 B  is a side elevation view of the bed handle of  FIG.  17 A , with a base portion having two legs in a configuration with one leg extending forward at an angle from the lateral axis, and another leg extending substantially in a lateral direction. 
         FIG.  22 C  is a side elevation view of the bed handle of  FIG.  17 A , with a base portion having two legs in a configuration with each leg extending substantially in a lateral direction. 
     
    
    
     DETAILED DESCRIPTION 
     The components of the embodiments as generally described and illustrated in the figures herein can be arranged and designed in a wide variety of different configurations. Thus, the following more detailed description of various embodiments, as represented in the figures, is not intended to limit the scope of the present disclosure, but is merely representative of various embodiments. While various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated. 
     The phrase “coupled to” is broad enough to refer to any suitable coupling or other form of interaction between two or more entities, including mechanical interaction. Thus, two components may be coupled to each other even though they are not in direct contact with each other. The phrases “attached to” or “attached directly to” refer to interaction between two or more entities that are in direct contact with each other and/or are separated from each other only by a fastener of any suitable variety (e.g., mounting hardware or an adhesive). 
     References to approximations are made throughout this specification, such as by use of the term “substantially.” For each such reference, it is to be understood that, in some embodiments, the value, feature, or characteristic may be specified without approximation. For example, where qualifiers such as “about” and “substantially” are used, these terms include within their scope the qualified words in the absence of their qualifiers. For example, where the term “substantially perpendicular” is recited with respect to a feature, it is understood that in some embodiments the feature may have a precisely perpendicular configuration. 
     The term “bed” includes articulating beds and regular beds. The term “regular bed” means a traditional bed that remains static in a flat state across the entire length of the bed. 
     The term “articulating bed” means an adjustable bed that has two or more sections across the length of the bed, at least one of which can be raised or lowered independently of the other sections. For example, one variant of an articulating bed can have a head section that can raise to an angled position higher than a foot section. The angle that the sections form can range from a large obtuse angle (given a small amount of articulation) to a near-right angle (given a large amount of articulation). As another example, an articulating bed can have four sections: a head section that might be angled upward, a torso section that might remain level, a thigh section that might angle upward in an opposite direction from the head section, and a foot section that might remain level or might be angled a different amount and/or a different direction from the thigh section. Sections of an articulating bed that remain level (whether by design or by following instructions for use) are herein called nonarticulating sections. Sections of an articulating bed that are raised or lowered to variable angles are herein called articulating sections. 
     The articulating sections of an articulating bed rotate about axes of rotation that separate the sections. For example, an articulating bed with two sections has an axis of rotation that separates the two sections, at least one of which articulates. As another example, an articulating bed with four sections may have three axes of rotation, with each axis of rotation separating two adjacent sections. The axes of rotation are generally aligned in a lateral direction. 
     The terms “articulated state” and “articulated position” mean a position in which an articulating bed is not in a flat state. The terms “nonarticulated state” and “nonarticulated position” mean a position in which a bed is flat across the entire length of the bed. 
     The term “lateral” refers to a direction spanning across the width of a bed, from side to side. The term “longitudinal” refers to a direction spanning across the length of a bed, from head to foot. A longitudinal direction and a lateral direction are substantially perpendicular to each other, and each is substantially perpendicular to a vertical direction. 
     The term “lateral plane” means a plane perpendicular to a lateral direction. A lateral plane therefore includes a vertical axis and a longitudinal axis. 
     The term “surface plane” means a plane that substantially encompasses an upper surface of a section of a mattress (neglecting small variations due to tufting, quilting, wrinkles, folds, or irregularities in the mattress or the bedding on the mattress). For example, a regular bed generally has one surface plane that is substantially perpendicular to the vertical direction, and that includes a lateral axis and a longitudinal axis. In contrast, an articulating bed may have a plurality of surface planes, generally one for each section. For example, a head section has a surface plane that substantially encompasses the upper surface of the head section of the mattress (again neglecting small variations due to tufting, quilting, wrinkles, folds, or irregularities in the mattress or the bedding on the mattress). As the head section rotates about an axis of rotation, the upper surface of the head section—and thus the surface plane of the head section—likewise rotates. Thus, as the bed articulates, the plurality of surface planes of an articulating bed do not all necessarily remain substantially perpendicular to the vertical direction (though some may), and neither do they necessarily remain coplanar with each other (though some may). 
     The term “lateral angle” means an angle determined in a lateral plane. Thus, a lateral angle is an angle as viewed in a lateral direction, meaning from a side of a bed. In the present disclosure, lateral angles are discussed with respect to a portion of a bed handle and an upper surface of a mattress. 
     The term “external lateral angle” means a lateral angle on the outside of a bed handle. The term “internal lateral angle” means a lateral angle on the inside of a bed handle. Further, the term “external lateral angle” refers to angles above a surface plane of a mattress. 
     The terms “forward side,” “forward location,” and “headboard side” mean a side or location next to a bed handle towards the head of a bed in a longitudinal direction. The terms “aft side,” “aft location,” and “footboard side” mean a side or location next to a bed handle towards the foot of a bed in a longitudinal direction. The term “forward” means in a longitudinal direction towards the head of the bed. The term “aft” means in a longitudinal direction towards the foot of the bed. 
     Entrapment is a condition in which a part of a person&#39;s body, such as a person&#39;s head, neck, or limb, gets stuck in a bed handle, or between a bed handle and a part of a bed, such as a mattress. Entrapment presents a serious problem to caregivers and their patients because it can lead to serious injury or death. 
     Various areas of potential entrapment include between a bed handle and a mattress in a lateral direction, between a bed handle and a mattress in a longitudinal direction, between a bed handle and a mattress in a vertical direction, between a bed handle and a headboard of the bed, or within parts of a bed handle itself. The embodiments disclosed herein are intended to avoid entrapment in these areas of potential entrapment for any position of the bed, whether articulated or nonarticulated. 
     In the lateral direction, entrapment can occur if there is a gap between a bed handle and a mattress, or if the mattress is not snug enough against the bed handle, such that a person&#39;s head or limb could slip between the mattress and the bed handle. 
     In the vertical direction, entrapment can occur if there is a gap between a bed handle and a mattress, or if the mattress is not snug enough against the bed handle, such that a person&#39;s head or limb could slip underneath the bed handle and get stuck between the bed handle and the mattress. 
     Within parts of a bed handle, entrapment may occur if a person&#39;s head or limb slips between components of the bed handle. The embodiments disclosed herein avoid this type of entrapment, for example because openings within the bed handles are limited in size to prevent a person&#39;s head from passing through an opening. 
     In the longitudinal direction, entrapment can occur if there is a gap between a bed handle and a mattress, such that a person&#39;s head, neck, or limb could become caught between the bed handle and the mattress. This might occur when there is a gap at the end of the bed handle between the bed handle and the mattress. Such a gap might be a space between the mattress and a part of the bed handle that is parallel to and higher than the mattress. Alternatively, such a gap might be formed by the presence of an acute external lateral angle between a part of the bed handle and a surface of the mattress, including an upper surface of the mattress. 
     On articulating beds, the problem of potential entrapment resulting from the formation of an acute external lateral angle between a part of a bed handle and an upper surface of a mattress is particularly pronounced. Articulation of the bed changes the slope of a section of the mattress relative to another section of the mattress. While the angle between the two sections of the mattress ordinarily will remain obtuse (possibly extending to a near-right angle), there is a risk that an external lateral angle between a part of a bed handle and an upper surface of a section of the mattress will become acute and present a risk of entrapping a user&#39;s head, neck, or limb. Some of the embodiments disclosed herein are intended to prevent the possibility of any such acute external lateral angles from forming and creating these entrapment risks. 
     The formation of an acute external lateral angle between a part of the bed handle and an upper surface of the mattress can create potential entrapment scenarios when the bed handle is mounted on an articulating section of the articulating bed (as opposed to being mounted on a nonarticulating section of the articulating bed). In this scenario, a user of the bed could become entrapped between the bed handle and the mattress in a position below the bed handle. For example, a user&#39;s neck could become wedged underneath the bed handle, between the mattress and the bed handle. Some of the embodiments disclosed herein are intended to prevent the possibility of acute external lateral angles from forming on at least one longitudinal side of the bed handle, thus mitigating this entrapment scenario. 
     Some embodiments disclosed herein may be used as mobility assistance devices in long-term care facilities, including hospitals and care centers. Mobility assistance devices may include bed rails and bed handles. Some embodiments disclosed herein may be used in private residences to support individuals with long-term or short-term care needs. The disclosed mobility assistance devices may provide a number of benefits for a user, such as care of a patient. For example, the embodiments disclosed herein may assist care patients or other users of a bed with mobility into, onto, on, off of, or around the bed. The user may grip an embodiment and exert a force—whether pulling or pushing—on the mobility assistance device in order to reposition oneself on the bed or to move onto, off of, or around the bed. The mobility assistance device may prevent a user of a bed from rolling and falling off of the bed. Additional benefits of the disclosed mobility assistance devices include hanging personal bags or placing personal items, such as mobile devices, on the mobility assistance device to be within a user&#39;s reach for easy access. 
       FIG.  1 A  depicts a perspective view of a bed handle  110  of a mobility assistance device according to one embodiment of the present disclosure. A gripping member  112  may span a length of the bed handle  110  (in the longitudinal direction when the bed handle  110  is coupled to a bed), and may be suitable for gripping by a user of the mobility assistance device. The gripping member  112  may take the shape of an arc across all or nearly all of its span, as in  FIG.  1 A . 
     As shown in  FIG.  1 A , the gripping member  112  may be coupled to one or more support members  114 . In the illustrated embodiment, the gripping member  112  is attached to two support members  114 : one on either end of the span of the gripping member  112 . In some embodiments, such as that shown in  FIG.  1 A , the gripping member  112  may be attached to only two support members  114  on either end of its span, with no additional support members attached along the span intermediate of the two support members  114 . This may allow a user unobstructed grip access to the gripping member  112  across the full length of the bed handle  110 , with exception only for those points along the gripping member  112  that are blocked by the mattress on the bed. But even when the bed is articulated, there may still be a wide range of points along the gripping member  112  that are unobstructed for gripping. 
     Also as illustrated in  FIG.  1 A , the one or more support members  114  may be attached to a stem  116  of the bed handle  110 . The stem  116  may comprise a slot  118  and a lip  119  that can support the placement of a personal item, such as a mobile device or a handbag. The slot  118  may be a notch. The stem  116  may comprise a connection point for coupling the bed handle  110  to a base portion of the mobility assistance device. 
     In some embodiments, the gripping member may be attached to support members at points offset from the ends of the span of the gripping member. In some embodiments, the gripping member may be supported by two outermost support members, and additionally by one or more intermediate support members that are in between the outermost support members and that interrupt a user&#39;s grip on the gripping member at certain locations along the span of the gripping member. In other words, there may be more than two support members, including interior ribs, which connect the gripping member to the stem of the bed handle. In some embodiments, the gripping member may be supported by a single support member attached to the gripping member. 
     In some embodiments, including the embodiment shown in  FIG.  1 A , the aft and forward ends of the gripping member  112  may comprise a vertical portion  113  at which the gripping member  112  couples to the support members  114 . The vertical portions  113  of the gripping member  112  may have a predetermined height that does not exceed the height of an upper surface of a mattress when the bed handle  110  is installed on a bed. Accordingly, the gripping member  112  may transition from the vertical portion  113  to a curve or another substantially arcuate shape before it passes above the surface plane of the upper surface of the mattress. 
     The bed handle  110  may be sized to be used with a particular thickness or range of thicknesses of mattress. For example, a first bed handle  110  may have a length and a height suitable for use with an eight-inch-thick mattress, while a second bed handle  110  may have a length and a height suitable for use with a twelve-inch-thick mattress. 
     As an alternative to the shape of the gripping member  112  illustrated in  FIG.  1 A , the gripping member may have another shape and need not be a circular arc, nor even a differentiable arc. For example, the gripping member may take a shape that approximates an arc, such as a partial polygon with many sides. Each of these possible shapes are substantially arcuate. The term “substantially arcuate” also includes shapes that approximate arcs along at least a part of the gripping member, if not the full span of the gripping member. Thus, the term “substantially arcuate” includes shapes that approximate an arc at an end of the gripping member, even while not necessarily approximating an arc along other segments of the gripping member. A gripping member might have a shape approximating an arc at only a segment of the gripping member that will abut a mattress&#39;s upper surface through a range of articulated positions, but such a gripping member is still considered substantially arcuate for this disclosure. Some embodiments of bed handles disclosed herein have gripping members with a substantially arcuate shape on one longitudinal end, while the opposite longitudinal end of the gripping member—or another structure on the opposite longitudinal end of the bed handle that is coupled to the gripping member—may be substantially rectangular or comprise some other shape. Examples of substantially arcuate shapes for a gripping member include arcs across the full span, curves on the ends joined by a straight line, compound curves, trapezoidal segments, and other polygonal segments. A gripping member of substantially arcuate shape may be unobstructed for gripping across the span by any ribs or support members, or it may be attached to intermediate support members at various points along the span. 
       FIG.  1 B  depicts a perspective view of a bed handle  110 ′ of a mobility assistance device according to another embodiment of the present disclosure. The bed handle  110 ′ resembles the bed handle  110  described above in certain respects. Accordingly, like features are designated with like reference numerals, with a prime symbol added. For example, the embodiment depicted in  FIG.  1 B  includes a gripping member  112 ′ that may, in some respects, resemble the gripping member  112  of  FIG.  1 A . Relevant disclosure set forth above regarding similarly identified features thus might not be repeated hereafter. Moreover, specific features of the bed handle  110 ′ and related components shown in  FIG.  1 B  might not be shown or identified by a reference numeral in the drawings or specifically discussed in the written description that follows. However, such features may clearly be the same, or substantially the same, as features depicted in other embodiments and/or described with respect to such embodiments. Accordingly, the relevant descriptions of such features apply equally to the features of the bed handle  110 ′ and related components depicted in  FIG.  1 B . Any suitable combination of the features, and variations of the same, described with respect to the bed handle  110  and related components illustrated in  FIG.  1 A  can be employed with the bed handle  110 ′ and related components of  FIG.  1 B , and vice versa. This pattern of disclosure applies equally to further embodiments depicted in subsequent figures and described hereafter, wherein further prime symbols, such as the double prime symbol, may be appended to the reference numeral, e.g., the bed handle  110 ″ of  FIG.  1 C . 
     In the illustrated embodiment of  FIG.  1 B , the gripping member  112 ′ comprises curved segments at each end of the gripping member  112 ′, with a straight-line segment  115 ′ in the middle. In some embodiments, the gripping member may comprise at least one curved section, such as an arc, and at least one straight section. For example, the gripping member may be straight in the middle and curved on either end of its span. In some embodiments, the gripping member may comprise a single curved section on the aft end of the bed handle and a vertical section on the forward end of the bed handle. 
     In some embodiments, the gripping member may comprise compound curves. For example, the gripping member may have a first arc with a first radius at one end, transition to a second arc with a second radius in a midsection, and transition to a third arc with a third radius at the other end. The first and third radii may be of equal value or of different values. In some embodiments, the compound curve may comprise a plurality of curves with varying radii of curvature. 
     The gripping member  112 ′ may be attached to one or more support members  114 ′ in a fashion similar to the gripping member  112 . The aft and forward ends of the gripping member  112 ′ may each comprise a vertical portion  113 ′ at which the gripping member  112 ′ couples to the support members  114 ′. The one or more support members  114 ′ may be attached to a stem  116 ′ of the bed handle  110 ′. The stem  116 ′ may comprise a connection point for coupling the bed handle  110 ′ to a base portion of the mobility assistance device. 
     When coupled to an articulating bed, the gripping member  112 ′ may be disposed over an axis of rotation of an articulating section of a bed. The curved sections of the gripping member  112 ′ may extend in either longitudinal direction from above the axis of rotation. 
       FIG.  1 C  depicts a perspective view of a bed handle  110 ″ of a mobility assistance device according to another embodiment of the present disclosure. In the illustrated embodiment, a gripping member  112 ″ comprises polygonal segments  115 ″. In some embodiments, the gripping member  112 ″, together with support members  114 ″ that attach the gripping member  112 ″ to a bed handle stem  116 ″, can form a polygon. For example, the gripping member and the support members may form a trapezoid. For another example, the gripping member  112 ″ and the support members  114 ″ may form a concave polygon, such as that shown in  FIG.  1 C . 
     In some embodiments, the gripping member can take the shape of part of a polygon independent of the shape of the support members. For example, the gripping member may take the shape of part of a regular hexagon. As another example, the gripping member may take the shape of part of a regular octagon. As another example, the gripping member may take the shape of a many-sided polygon that approximates an arc, as in the gripping member  112 ″ shown in  FIG.  1 C . 
       FIG.  2 A  depicts a perspective view, and  FIG.  2 B  depicts a side view, of the bed handle  110 . The bed handle  110  is blocking a 120-millimeter-diameter cylinder  71  from passing through an internal opening  111  of the bed handle  110 . More specifically, there is no gap between the gripping member  112  and the stem  116  or one of the support members  114  of the bed handle  110  that would allow the 120-millimeter-diameter cylinder  71  to pass through the internal opening  111  of the bed handle  110 . By constructing the bed handle  110  in this way, such that its openings do not permit passage of a 120-millimeter-diameter cylinder, a risk of entrapment between members of the bed handle  110  may be reduced or eliminated. Thus, internal entrapment may be prevented—independent of whether an articulating bed on which the bed handle  110  is installed is adjusted to an articulated state—by making the bed handle  110  with openings that do not allow a 120-millimeter-diameter cylinder to pass through. 
       FIG.  3    depicts a perspective view of a pair of bed handles  110 , coupled respectively to a pair of base portions  150  to constitute a pair of mobility assistance devices  100  coupled to a bed frame  16  of a bed  10 . The bed  10  can be a regular bed or an articulating bed. A first mobility assistance device  100  is positioned on a right side of the bed  10 , and a second mobility assistance device  100  is positioned on a left side of the bed  10 . Additional mobility assistance devices may be coupled to the bed, including a third mobility assistance device on the right side of the bed  10  aft of the first mobility assistance device  100 , and a fourth mobility assistance device on the left side of the bed  10  aft of the second mobility assistance device  100 . Alternatively, a single mobility assistance device  100  may be used by coupling a single bed handle  110  to one side of the bed  10 . This may be useful, for example, when an opposite side of the bed  10  is obstructed, such as when placed against a wall. 
     The embodiment shown in  FIG.  3    includes a base portion  150  coupled to the bed frame  16  at three coupling points  152 . The coupling at coupling points  152  may be accomplished with clamps, wherein fastening hardware such as screws or bolts connect the clamps to the base portion  150 . The fastening hardware may pass through loops or holes in the base portion  150  and thread into the clamps. Tightening of the fastening hardware may cause jaws of the clamps to tighten around a portion of the bed frame  16 , such as a perimeter of the bed frame  16 . This may secure the base portion  150  to the bed frame  16 . In some embodiments, fewer than three coupling points may be present on the base portion, including one or two coupling points. In other embodiments, more than three coupling points may be present on the base portion, including four, five, or more coupling points. 
     The base portion  150  may be “L” shaped. An “L” shape allows clamps to be tightened around the bed frame  16  on both a side of the bed frame  16  and an end of the bed frame  16 , as depicted in  FIG.  3   . This may provide additional stability to the mobility assistance device  100  over what would be achieved with a simpler straight-line base portion. The corner of the “L” shape of the base portion  150  may be rounded. With or without rounded corners, such base portions are essentially L-shaped. 
     The base portion  150  may be mirror symmetric about a plane that contains both segments of the “L” shape (a plane that is horizontal when the base portion  150  is coupled to a bed in a nonarticulated state, as in  FIG.  3   ). This symmetry may give the advantage that the base portion  150  may be coupleable to any side of the bed  10 . For example, the base portions  150  of the mobility assistance devices  100  shown in  FIG.  3    may both be identical units, and may be perfectly interchangeable. 
     The base portion  150  may comprise a receiver  154 . The receiver  154  may be an integral part of the base portion  150 , or it may be a separate component coupleable to the base portion  150 . For example, the receiver  154  may be attachable to the base portion  150  with fastening hardware, such as washers and bolts or screws. 
     The receiver  154  may comprise a biasing member  156 , such as a push button or a release button. The biasing member  156  may comprise a spring-action lever. The receiver  154  may be configured to couple with the stem  116  of the bed handle  110 . In the illustrated embodiment, the bed handle  110  couples to a single receiver  154  and engages a single biasing member  156 . In another embodiment, the base portion may have multiple receivers, and the bed handle may couple to the base portion at multiple points by engaging multiple biasing members. The bed handle  110  may be releasably coupleable to the receiver  154 , and disengagement of the biasing member  156  may allow the bed handle  110  to be decoupled from the receiver  154 . 
     The bed handle  110  may couple to the bed  10  solely through the receiver  154 , and need not contact the floor. More particularly, in some embodiments, the base portion  150  and the bed handle  110  do not engage the floor. 
     The base portion  150  may be disposed under a mattress, such as between the mattress and a bed frame, a box spring, or a bed base. 
       FIG.  4    depicts a side view of the mobility assistance device  100  coupled to the bed frame  16  of the bed  10 . In the illustrated embodiment, the bed handle  110  is coupled to the base portion  150 . The base portion  150  is coupled to the bed frame  16 , and is disposed under a mattress  18  of the bed  10 . In  FIG.  4   , the bed  10  is in an unarticulated state. A user may use the bed handle  110  to get into, out of, or maneuver on or around the bed  10 . 
     The mattress  18  may be accompanied by bedding, such as sheets and a comforter or other blanket. The goal of avoiding entrapment between a bed handle and a mattress applies equally whether or not the mattress has bedding on it. Thus, in the present disclosure, for simplicity, the discussion of lateral angles between a bed handle and a mattress may be silent as to whether or not the mattress has bedding on it, but remains applicable whether or not the mattress has bedding on it. The embodiments of bed handles disclosed herein may avoid acute external lateral angles between a bed handle and an upper surface of a mattress, and they may equally avoid acute external lateral angles between the bed handle and an upper surface of a sheet, a blanket, or other bedding on the mattress. 
     In some embodiments, the bed handles are sized to be used with a mattress with a thickness of approximately six inches. In some embodiments, the bed handles are sized to be used with a mattress with a thickness of approximately sixteen inches. In some embodiments, the bed handles are sized to be used with a mattress with a thickness within the range between six and sixteen inches, including approximately eight inches, approximately ten inches, approximately twelve inches, or approximately fourteen inches. 
       FIGS.  5  and  6    depict the bed  10  and the mobility assistance device  100  of  FIG.  4   , with the bed  10  in an articulated state. A second mobility assistance device  100  on an opposite side of the bed  10  is also shown in  FIG.  5   . The mobility assistance device  100  avoids areas of potential entrapment of a body part between the bed handle  110  and the bed  10 . As to entrapment in a lateral direction, the bed handle  110  is coupled to the bed  10  such that it is snug with a mattress  18  of the bed  10  in the lateral direction. This prevents a user&#39;s head or limb from falling between the bed handle  110  and the mattress  18  and getting stuck. As to entrapment in a longitudinal direction, entrapment is prevented because the gripping member  112  of the bed handle  110  does not form an acute lateral angle with an upper surface  19  of the mattress  18  external to the bed handle  110 . Acute external lateral angles between the bed handle  110  and the upper surface  19  of the mattress  18  can cause a user&#39;s head, limb, or other body part to become wedged between the bed handle  110  and the mattress  18 . In contrast, right external lateral angles and obtuse external lateral angles between the bed handle  110  and the upper surface  19  of the mattress  18  prevent a user&#39;s head, limb, or other body part from becoming wedged between the bed handle  110  and the mattress  18 . As the bed  10  articulates, the gripping member  112  rotates about an axis of rotation such that the spaces just forward and aft of the gripping member  112  in a longitudinal direction remain free of acute external lateral angles. 
     The lack of acute lateral angles between the gripping member  112  of the bed handle  110  and the upper surface  19  of the mattress  18  exists external to the bed handle  110 , both forward and aft of the bed handle  110 . Within the bed handle  110 , there might exist an acute lateral angle between the gripping member  112  and a mattress surface. Such acute internal lateral angles do not present an entrapment problem, however, because the bed handle  110  is constructed to prevent entrapment within its own members. Specifically, as described above in connection with  FIGS.  2 A and  2 B , a 120-millimeter-diameter cylinder is prevented from passing through the bed handle  110 . Such construction may ensure that a user will not be entrapped within the inside of the bed handle  110 . Therefore, the absence of acute lateral angles between the gripping member  112  and the upper surface  19  of the mattress  18  may be important on the outside of the bed handle  110 , rather than the inside. Thus, some of the embodiments described herein are constructed such that external lateral angles remain obtuse or right throughout articulation of the bed  10 . The embodiment illustrated in  FIGS.  5  and  6    ensures that external lateral angles between the gripping member  112  and the upper surface  19  of the mattress  18  remain obtuse or right, not acute. 
       FIGS.  7  and  8    illustrate the concept of lateral angles between the gripping member  112  and the upper surface  19  of the mattress  18 . In  FIG.  7   , the bed  10  is in an unarticulated state. In  FIG.  8   , the bed  10  is in an articulated state. Four lateral angles are depicted in each figure: α (alpha), β (beta), γ (gamma), and δ (delta). The angles α (alpha) and β (beta) are external lateral angles on an aft side and a forward side, respectively, of the bed handle  110 . The angles γ (gamma) and δ (delta) are internal lateral angles on an aft side and a forward side, respectively, of the bed handle  110 . These four angles are each determined in a lateral plane, and are therefore called lateral angles. In other words, the lateral angles are angles as viewed from a side of the bed  10 . The four lateral angles are further determined with respect to two lines each: a first line coincident with a surface plane substantially encompassing the upper surface  19  of the mattress  18 , and a second line tangent to the gripping member  112 . When the bed  10  is articulated, there are multiple surface planes with differing orientations, so the first line for each angle is determined in a surface plane that is defined by the upper surface  19  of the section of the mattress  18  adjacent to the point where the angle is determined. For each of the four lateral angles, the two lines are determined on the corresponding side of the bed handle  110  (aft or forward, and inside or outside) where the particular angle is found. Furthermore, these four angles are determined above their respective surface plane, rather than below the surface plane. Angles below the surface plane are generally not of concern because they are blocked by the mattress  18  and do not pose a risk of entrapment to a user. 
     Stated differently, on the aft side of the bed handle  110 , the angle α (alpha) is determined between a first line coincident with a surface plane defined by the upper surface  19  of an aft-side section of the bed  10  (the section abutting the gripping member  112  on the aft side of the bed handle  110 ) and a second line tangent to the gripping member  112  at the outside point where the gripping member  112  intersects the surface plane of the aft-side section. Next, the angle γ (gamma) is determined the same way as the angle α (alpha), only on the inside of the bed handle  110  rather than on the outside. The outside and inside lines tangent to the gripping member  112  for determining the angles α (alpha) and γ (gamma) are parallel to each other, or nearly parallel to each other (accounting for slight differences due to the thickness of the gripping member  112 ). The lines coincident with the surface plane for determining the angles α (alpha) and γ (gamma) are the same line, or nearly the same line (accounting for slight differences due to slight bending of the mattress  18  during articulation adjacent to the gripping member  112 ). Thus, neglecting the thickness of the gripping member  112  and neglecting possible slight bending of the mattress  18  adjacent to the gripping member  112 , the angles α (alpha) and γ (gamma) are adjacent supplementary angles. 
     Similarly, on the forward side of the bed handle  110 , the angle β (beta) is determined between a first line coincident with a surface plane defined by the upper surface of a forward-side section of the bed  10  (the section abutting the gripping member  112  on the forward side of the bed handle  110 ) and a second line tangent to the gripping member  112  at the outside point where the gripping member  112  intersects the surface plane of the forward-side section. Next, the angle δ (delta) is determined the same way as the angle β (beta), only on the inside of the bed handle  110  rather than on the outside. The outside and inside lines tangent to the gripping member  112  for determining the angles β (beta) and δ (delta) are parallel to each other, or nearly parallel to each other (accounting for slight differences due to the thickness of the gripping member  112 ). The lines coincident with the surface plane for determining the angles β (beta) and δ (delta) are the same line, or nearly the same line (accounting for possible slight differences due to slight bending of the mattress  18  adjacent to the gripping member  112 ). Thus, neglecting the thickness of the gripping member  112  and neglecting possible slight bending of the mattress  18  adjacent to the gripping member  112 , the angles β (beta) and δ (delta) are adjacent supplementary angles. 
     As shown in  FIG.  7   , when the bed  10  is in an unarticulated state, the first line for determining the angles α (alpha) and γ (gamma) is the same line or nearly the same line (accounting for slight variation due to folds in the bedding) as the first line for determining the angles β (beta) and δ (delta). This is because the sections of the bed  10  share the same orientation when the bed  10  is in the unarticulated state, and the surface planes of the sections of the bed  10  are coplanar. 
     During articulation of the bed, the lateral angles may change in value. For example, upon a change of the bed  10  from the unarticulated state as shown in  FIG.  7    to an articulated state as shown in  FIG.  8   , the aft-side angles α (alpha) and γ (gamma) change. This change occurs because the aft-side section of the bed  10  on the aft side of an axis of rotation  20  rotates a different amount than the bed handle  110  (including, possibly, that the aft-side section does not rotate at all while the bed handle  110  does rotate, or, possibly, that the aft-side section rotates in a different rotational direction than the bed handle  110 ). In this way, articulation of the bed  10  causes some of the lateral angles to change. 
     In contrast, the forward-side angles β (beta) and δ (delta) may remain constant, as depicted in the change of state from  FIG.  7    to  FIG.  8   , because the bed handle  110  in the depicted embodiment is coupled to an articulating section of the bed  10  on the forward side of the axis of rotation  20 . Thus, in this configuration, the bed handle  110  rotates with that forward-side articulating section, and the lateral angles β (beta) and δ (delta) do not change. 
     The angles γ (gamma) and δ (delta) are angles inside of the bed handle  110  (internal lateral angles). These angles may be acute, but they do not present an entrapment problem because, as described above in connection with  FIGS.  2 A and  2 B , the bed handle  110  is constructed to prevent a 120-millimeter-diameter cylinder from passing through the opening between the gripping member  112  and the support members  114  or the stem  116  of the bed handle  110 . In contrast, the angles α (alpha) and β (beta) are angles outside of the bed handle (external lateral angles). These external lateral angles are sites where potential entrapment might occur if the angles become acute. As shown in  FIG.  8   , these outside angles remain obtuse or right, and not acute. This is true in any articulated state of the bed  10 , as well as the nonarticulated state of the bed  10 . In this way, while articulation of the bed  10  causes some of the lateral angles to change, articulation of the bed  10  does not cause any of the external lateral angles to become acute. Thus, the entrapment problem in forward and aft locations adjacent to the bed handle  110  is successfully avoided. 
     Also shown in  FIGS.  7  and  8   , the position of the bed handle  110  when secured to the bed  10  may be such that the bed handle  110  is above an axis of rotation  20  of an articulating section of the bed  10 . Part of the bed handle  110  may be disposed on a forward side or headboard side of the axis of rotation  20 , and part of the bed handle  110  may be disposed on an aft side or footboard side of the axis of rotation  20 . Positioning the bed handle  110  above the axis of rotation  20  may allow for the gripping member  112  to maintain an obtuse external lateral angle with the upper surface  19  of the mattress  18  throughout articulation of the bed  10 . Thus, the angles α (alpha) and β (beta) remain obtuse. 
       FIG.  9    depicts a perspective view of the bed handle  110  ready to be coupled to the receiver  154  and the base portion  150 . In some embodiments, the receiver  154  has a tapered edge at a top surface  155  where the bed handle  110  first contacts the receiver  154  during coupling. In some embodiments, the edge of the top surface  155  of the receiver  154  can be rounded. One benefit of a tapered or rounded edge on the receiver  154  is easier coupling with the bed handle  110 . Another benefit of a tapered or rounded edge on the receiver  154  is safety of the bed&#39;s user when the bed handle  110  is removed from the receiver  154  and not in use. Such safety can be gained from avoiding sharp corners on the top surface  155  of the receiver  154 . 
     In some embodiments, the receiver  154  has a wide rectangular cross section. The wide dimension of the rectangular cross section may be along the longitudinal direction of a bed  10 , and the narrow dimension may be along the lateral direction of the bed  10 . The wide rectangular cross section can provide stability to the bed handle  110  that aids a user with gripping and pushing or pulling while moving positions on the bed  10 . For example, the wide rectangular cross section may help prevent rotation of the bed handle  110  around a vertical axis relative to the receiver  154 . The wide rectangular cross section may include tapered edges or rounded edges, including up to a full slotted shape, as can be seen on the receiver  154  in  FIG.  9   . 
     The bed handle  110  can be coupled to the receiver  154  by sliding the bed handle  110  onto the receiver  154 . In some embodiments, this can be done without manually engaging the biasing member  156 . For example, in some embodiments, the biasing member  156  on the receiver  154  comprises a levered latch that is pushed aside by the stem  116  of the bed handle  110  while the bed handle  110  is slid onto the receiver  154 . Upon full coupling to the receiver  154 , the bed handle  110  may engage the biasing member  156 . 
     In some embodiments, the receiver might not have a biasing member, and coupling of the bed handle  110  to the receiver may be accomplished merely by sliding or pressing the bed handle  110  onto the receiver. In such embodiments, the bed handle  110  may be secured to the receiver because of a close tolerance, such as a similar fit or a locational clearance fit. 
       FIG.  10    depicts a perspective view of the bed handle  110  coupled to the receiver  154  and the base portion  150 . In the depicted embodiment, the bed handle  110  engages with the biasing member  156  upon full coupling. The bed handle  110  is then securely coupled to the receiver  154 . The bed handle  110  can be released and decoupled from the receiver  154  by disengaging the biasing member  156 , such as pressing a release button, and sliding the bed handle  110  upward off of the receiver  154 . 
       FIG.  11    depicts a perspective view of a user pressing a release button to disengage the biasing member  156  and decouple the bed handle  110  from the receiver  154 . In some embodiments, the bed handle  110  is coupled to a bed frame by a single receiver  154 , and decoupling can be achieved by pressing a single release button with one hand and lifting the bed handle  110  upwards with the other hand to slide the bed handle  110  off of the receiver  154 . This simplicity makes it possible for a single user to decouple the bed handle  110  from the receiver  154 . Another benefit of coupling the bed handle  110  to the bed through a single receiver  154  is that manufacturing costs may be less than they otherwise would be, in that tolerancing is not as stringent as it would be if there were multiple receivers. 
     In another embodiment of a mobility assistance device, a bed handle is coupled to a bed frame by multiple receivers. 
       FIG.  12    depicts a view of the bed handle  110  supporting a personal item, and more particularly, a mobile device  81 . As discussed above, in some embodiments the stem  116  of the bed handle  110  may contain the slot  118  and the lip  119 . The mobile device  81  or another personal item may rest on the slot  118 . The lip  119  may provide a back rest to support the mobile device  81 . This may provide a resting position for the mobile device  81  for convenient viewing and access by the user. 
     A secondary use of the bed handle  110  may be to hang a container or hanger from the bed handle  110  for a user&#39;s convenient access to personal items.  FIG.  13    depicts a view of the bed handle  110  supporting a personal item, and more particularly, a purse or a handbag  82 . The slot  118  and the lip  119  may provide a resting or hanging position for the handbag  82  for convenient access by the user. Alternatively, or additionally, the user may hang a container or hanger from the gripping member  112  of the bed handle  110 . 
       FIG.  14    depicts a perspective view of the bed handle  110  coupled to a bed  10  in an articulated state and supporting a user for mobility assistance. The bed handle  110  provides a secure means for pulling or pushing oneself off of or onto the bed  10 , and for repositioning oneself on the bed  10 . Additionally, the bed handle  110  can protect a user from falling off of the bed  10 . 
       FIG.  14    also depicts the gripping member  112  of the bed handle  110  with a wide range of points on the gripping member  112  for which the user&#39;s grip is unobstructed by support members  114 . In some embodiments, the range of gripping points can span the length of the bed handle  110  in the longitudinal direction. In some embodiments, the range of gripping points can span a half turn of arc or nearly a half turn of arc along a substantially arcuate shape of the gripping member  112 . In some embodiments, the range of gripping points is limited by the mattress  18 , rather than by the support members  114 . This can be seen in both  FIG.  14    and  FIG.  8   , in which the bed  10  is in an articulated state, and the mattress  18  somewhat limits the range of gripping points on the gripping member  112 . Yet even when the bed  10  is in an articulated state, there remains a wide range of points on the gripping member  112  to which a user may grip. Such unobstructed space for gripping provides the user a variety of positions by which the user can grasp the gripping member  112  and exert a pulling or pushing force. This unobstructed gripping space enhances the ergonomic benefit of the bed handle  110  to the user. 
       FIG.  15    depicts an embodiment of two mobility assistance devices  200  coupled to a bed base  36  of a bed  30 . The mobility assistance device  200  resembles the mobility assistance device  100  described above in certain respects. Accordingly, like features are designated with like reference numerals, with the leading digits incremented to “2.” For example, the embodiment depicted in  FIGS.  15 - 16    includes a bed handle  210  that may, in some respects, resemble the bed handle  110  of  FIGS.  1 A and  2 - 14   . Relevant disclosure set forth above regarding similarly identified features thus might not be repeated hereafter. Moreover, specific features of the mobility assistance device  100  and related components shown in  FIGS.  1 A- 14    might not be shown or identified by a reference numeral in the drawings or specifically discussed in the written description that follows. However, such features may clearly be the same, or substantially the same, as features depicted in other embodiments and/or described with respect to such embodiments. Accordingly, the relevant descriptions of such features apply equally to the features of the mobility assistance device  200  and related components depicted in  FIGS.  15 - 16   . Any suitable combination of the features, and variations of the same, described with respect to the mobility assistance device  100  and related components illustrated in  FIGS.  1 A- 14    can be employed with the mobility assistance devices  200  and related components of  FIGS.  15 - 16   , and vice versa. This pattern of disclosure applies equally to further embodiments depicted in subsequent figures and described hereafter, wherein the leading digits may be further incremented. 
       FIG.  15    omits a mattress from view for clarity of the depiction. The bed  30  may be an articulating bed. The mobility assistance device  200  may comprise a bed handle  210 . In some embodiments, the bed handle  210  may be identical to the bed handle  110 . In other embodiments, the bed handle  210  may be different from the bed handle  110 , for example like the bed handles  110 ′ and  110 ″. The bed handle  210  may couple to a base portion  250  through a receiver  254 . The receiver  254  may be similar in some respects to the receiver  154 . For example, the receiver  254  may comprise a biasing member  256 , such as a push button or a release button. The biasing member  256  may be similar in some respects to the biasing member  156 . The base portion  250  may include legs  251 ,  253 , such as support legs, which are configured to be placed between a mattress and a bed base  36  or box spring of a bed  30 . The legs  251 ,  253  may be rods, tubes, bars, channels, or the like. The legs  251 ,  253  may be substantially straight, or may have some curvature. For example, the legs  251 ,  253  may extend from the receiver  254  in a substantially downward direction, then bend to approximately a right angle for positioning on the bed base  36 . Or the legs  251 ,  253  may extend from the receiver  254  in a substantially horizontal direction without a bend. 
     The legs  251 ,  253  of the base portion  250  may include a perpendicular leg  251  and an angled leg  253 . The legs  251 ,  253  of the base portion  250  may be secureable to the bed base  36  using fastening hardware, such as screws or bolts and nuts. 
     The perpendicular leg  251  and the angled leg  253  may both be configured to extend substantially in a plane parallel to a surface of the bed base  36 , so as to be disposed under a mattress when the mattress is placed on the bed base  36 . Thus, the perpendicular leg  251  and the angled leg  253  may rest substantially in a horizontal plane when the bed  30  is unarticulated. 
     The perpendicular leg  251  and the angled leg  253  together may form a “V” shape. A “V” shape may allow the base portion  250  to be coupled to the bed base  36  along two non-parallel directions, as depicted in  FIG.  15   . This may provide additional stability to the bed handle  210  over what would be achieved if the legs of the base portion were parallel. The perpendicular leg  251  and the angled leg  253  may be attached to the receiver  254  at adjacent locations on the receiver  254 , or at offset locations on the receiver  254 . The perpendicular leg  251  and the angled leg  253  may be formed from a single V-shaped member, or from multiple members. A base portion  250  with legs  251 ,  253  forming a “V” shape is essentially V-shaped, whether or not there is an offset between their attachment points to the receiver  254 . 
     The perpendicular leg  251  may extend from the receiver  254  in a direction substantially perpendicular to the wide dimension of the receiver  254 . In other words, the perpendicular leg  251  may extend substantially in a lateral direction of the bed  30  when the base portion  250  is coupled to the bed  30 . In some embodiments, the perpendicular leg  251  may have a small angular offset from the lateral direction, such as approximately five degrees or less. 
     The base portion  250  should be installed on the bed  30  such that the legs  251 ,  253  do not cross an axis of rotation  40  of an articulating section of the bed  30 . With the perpendicular leg  251  extending in a substantially lateral direction, the mobility assistance device  200  may be positioned appropriately near the axis of rotation  40 , without the perpendicular leg  251  causing interference with articulation of the bed  30 . 
     The angled leg  253  may extend from the receiver  254  with a significant angular offset from the perpendicular leg  251 . Thus, the angled leg  253  may extend from the receiver  254  in a direction with both a substantial lateral component and a substantial longitudinal component. The angle between the perpendicular leg  251  and the angled leg  253  may be between twenty degrees and seventy degrees, including approximately thirty degrees, approximately forty-five degrees, or approximately sixty degrees. In some embodiments, a user may adjust the angle of the angled leg  253 . 
     The angled leg  253  may extend—with its angular offset from the perpendicular leg  251 —in a direction away from the axis of rotation  40  of an articulating section of the bed  30 . For example, when the bed handles  210  of the mobility assistance devices  200  are installed over the axis of rotation  40  on the articulating section nearest to the head of the bed, the angled legs  253  may be oriented such that they extend from the receivers  254  with a lateral component towards the center of the bed  30 , and a longitudinal component towards the head of the bed  30 . By extending away from the axis of rotation  40 , the angled leg  253  may avoid causing potential interference with articulation of the bed  30 , while providing rigidity and stability to the mobility assistance device  200 . 
     The perpendicular leg  251  and the angled leg  253  may be configurable so as to change the extent of the angle between them. The perpendicular leg  251  and the angled leg  253  may be configurable so as to change which leg is angled and which leg is perpendicular, allowing interchangeability for use of the base portion  250  on the opposite side of the bed  30 . 
       FIG.  16    depicts the mobility assistance devices  200  of  FIG.  15   , with the bed  30  in an articulated state. As in  FIG.  15   ,  FIG.  16    omits a mattress from view for clarity. As can be seen in  FIG.  16   , the mobility assistance devices  200  may be coupled to the bed base  36  at locations where the bed handles  210  are disposed over an axis of rotation  40 . Thus, a portion of the bed handle  210  may be on a headboard side of the axis of rotation  40 , and a portion of the bed handle  210  may be on a footboard side of the axis of rotation  40 . 
     The bed handles  210  may be sized to be used with a particular thickness or range of thicknesses of the mattress. For example, one embodiment of the bed handle  210  may have a length and a height suitable for use with an eight-inch-thick mattress, while another embodiment of the bed handle  210  may have a length and a height suitable for use with a twelve-inch-thick mattress. 
       FIG.  16    illustrates that the base portions  250  do not interfere with articulation of the bed  30 . 
       FIG.  17 A  depicts an embodiment of a mobility assistance device  300  with a bed handle  310 . The bed handle  310  may have a gripping member  312  on one side (a longitudinal side when the bed handle  310  is installed on a bed). The gripping member  312  may comprise a substantially arcuate shape. The gripping member  312  may extend along at least a portion of a length of the bed handle  310 . The opposite longitudinal side of the bed handle  310  may have a straight-line segment  315  joined with a vertical portion  313 . The gripping member  312  may be coupled to the straight-line segment  315 . The straight-line segment  315  and the vertical portion  313  may serve the user of the mobility assistance device  300  for gripping purposes, similar to the gripping member  312 . The bed handle  310  therefore has a gripping member  312  comprising a substantially arcuate shape on one longitudinal end, and a component comprising a substantially rectangular shape on the opposite longitudinal end. 
     In the depicted embodiment, the straight-line segment  315  is joined with the vertical portion  313  as a unitary component with a rounded corner. In some embodiments, the straight-line segment  315  and the vertical portion  313  may be separate components coupled together. In some embodiments, the gripping member  312  and the straight-line segment  315  may be the same unitary component. 
     As shown in  FIG.  17 A , the gripping member  312  may be coupled to one or more telescoping members  318 , and the vertical portion  313  may be coupled to one or more support members  314 . In the illustrated embodiment, the gripping member  312  is attached to four telescoping members  318 , and the vertical portion  313  is attached to three support members  314 . As shown, two of the support members  314  are coupled to a stem  316 . These two support members  314  may pass through the stem  316  as unitary components, or they may each be split into separate components on either longitudinal side of the stem  316 . 
     The mobility assistance device  300  may have a base portion  350 . The stem  316  of the bed handle  310  may be coupleable to a receiver  354  of the base portion  350 , in similar fashion as the stem  116  of the bed handle  110  is coupleable to the receiver  154  of the base portion  150 . 
     The telescoping members  318  may be configured to slide in or out of the support members  314  or the straight-line segment  315  in telescopic fashion. In this manner, the longitudinal length of the bed handle  310  may be decreased or increased. In some embodiments, expansion and/or contraction of the telescoping members  318  in or out of the support members  314  or the straight-line segment  315  may occur while the mobility assistance device  300  is mounted on a bed. 
     One or more of the telescoping members  318  may be lockable in place at various longitudinal positions using a push button pin (a tubing button) or some other mechanism that uses a spring clip to lock the button pin in place. The view depicted in  FIG.  17 A  depicts the telescoping members  318  fully inserted into the support members  314  and the straight-line segment  315  in a collapsed configuration of the bed handle  310 . 
       FIG.  17 B  depicts the mobility assistance device  300  of  FIG.  17 A , with the telescoping members  318  fully extended from the support members  314  and the straight-line segment  315  in an expanded configuration of the bed handle  310 . As discussed above, the mobility assistance device  300  may comprise partially extended positions that would be between the collapsed configuration of  FIG.  17 A  and the fully extended configuration of  FIG.  17 B . 
       FIG.  18    depicts a first mobility assistance device  300  and a second mobility assistance device  300 , each mounted to a nonarticulating section of a bed base  36  of an articulating bed  30  with the bed base  36  in an unarticulated state. The mobility assistance devices  300  are each mounted to the bed base  36  through a first and a second base portion  350 , respectively. 
     As shown in  FIG.  18   , the base portions  350  may each have two legs  351 ,  353 . The first leg  351  is positioned near the axis of rotation  40 , while the second leg  353  is positioned further from the axis of rotation  40 . In this depiction, both legs  351 ,  353  are oriented such that they extend from the receiver  354  in a direction substantially perpendicular to a wide dimension of the receiver  354 . In other words, the legs  351 ,  353  may extend substantially in a lateral direction of the bed  30  when the base portion  350  is coupled to the bed  30 . 
     The legs  351 ,  353  may be configurable so as to position one or both legs at an angular offset from the lateral direction. When the base portion  350  is used on an articulating bed, and near an axis of rotation of an articulating section of the articulating bed, the leg  351  adjacent the axis of rotation may be positioned substantially perpendicular to the wide dimension of the receiver  354  (i.e., substantially in a lateral direction) so as not to interfere with the articulating motion of the articulating section. Also, the legs  351 ,  353  may be configurable so as to change which leg is angled and which leg is perpendicular, allowing interchangeability for use of the base portion  350  on the opposite side of the bed  30 . 
     Also shown in  FIG.  18    is a biasing member  356  on the receiver  354 . The biasing member  356  may function in similar fashion to the biasing member  156  on the receiver  154 . 
       FIG.  19    depicts a first mobility assistance device  300  and a second mobility assistance device  300 . In this view, the mobility assistance devices  300  are mounted to an articulating section of the bed base  36  of the articulating bed  30  with the bed  30  in an articulated state. In this configuration, the legs  351 ,  353  of the base portions  350  extend substantially in lateral directions of the bed  30 . The base portions  350  may be configurable to position the legs  353  further from the axis of rotation  40  of the articulating section with an angular offset from the lateral direction, similar to the embodiments depicted in  FIG.  16   . 
       FIG.  20    depicts a bed handle  310  mounted on a nonarticulating section of an articulating bed  30  through a base portion  350 , with the bed  30  in an articulated state. On the aft longitudinal side of the bed handle  310 , an external lateral angle between the gripping member  312  and an upper surface  39  of the mattress  38  is obtuse or right, and remains obtuse or right (but not acute) throughout articulation of the bed  30 . On the forward longitudinal side of the bed handle  310 , an external lateral angle between the vertical portion  313  and an upper surface of the mattress  38  is acute. However, this acute external lateral angle may not present a serious risk of entrapment because the vertical portion  313  remains in a vertical orientation (because the bed handle  310  is mounted on a nonarticulating section of the bed  30 ), and the location of the acute external lateral angle may be an unlikely location where a user of the mobility assistance device  300  would become entrapped. Further, because a portion of the bed handle  310  is not disposed above the acute external lateral angle formed on the forward longitudinal side of the bed handle  310 , a user may easily lift a potentially entrapped appendage or body part upwards to escape entrapment. 
       FIG.  21    depicts a bed handle  310  mounted on an articulating section of an articulating bed  30  through a base portion  350 , with the bed  30  in an articulated state. On the aft longitudinal side of the bed handle  310 , an external lateral angle between the gripping member  312  and an upper surface  39  of the mattress  38  is obtuse or right, but not acute. Due to the substantially arcuate shape of the gripping member  312 , the external lateral angle may remain obtuse or right (but not acute) for any angle of articulation of the bed  30 . On the forward longitudinal side of the bed handle  310 , an external lateral angle between the vertical portion  313  (which does not remain oriented vertically as the bed  30  articulates) and an upper surface of the mattress  38  is a right angle. This external lateral angle remains right for any angle of articulation of the bed  30 . Thus, on each longitudinal side of the bed handle  310 , entrapment risk can be mitigated or avoided because there are no acute external lateral angles. 
       FIG.  22 A  depicts the mobility assistance device  300  with the bed handle  310  and base portion  350 . The base portion  350  as depicted has two legs  351 ,  353  in a configuration with one leg  351  extending from the receiver  354  aft at an angle from the lateral axis, and another leg  353  extending from the receiver  354  forward at an angle from the lateral axis. This configuration is particularly useful on regular beds. The angular offset (the “V” shape) of the legs  351 ,  353  may provide additional stability to the mobility assistance device  300  over what would otherwise be achieved if one or both legs  351 ,  353  were not so angled. In the illustrated embodiment, the angles relative to the lateral axis of both legs  351 ,  353  have the same magnitude. In some embodiments, the angles relative to the lateral axis of the legs  351 ,  353  may have different magnitudes. In some embodiments, the angles of each leg  351 ,  353  may be adjusted by the user. 
       FIG.  22 B  depicts the mobility assistance device  300  with the bed handle  310  and base portion  350 . The base portion  350  has two legs  351 ,  353 . As depicted, a perpendicular leg  351  may extend from the receiver  354  in a substantially lateral direction, while an angled leg  353  may extend from the receiver  354  at a significant angular offset from the perpendicular leg  351 . This configuration is particularly useful on articulating beds. The angular offset (the “V” shape) of the angled leg  353  from the perpendicular leg  351  may provide stability to the mobility assistance device  300 , while the perpendicular leg  351  remains clear of the axis of rotation of the articulating section of the bed. 
       FIG.  22 C  depicts the mobility assistance device  300  with the bed handle  310  and base portion  350 . The base portion  350  as depicted has two legs  351 ,  353  that extend in a substantially lateral direction. 
     The base portion  350  may be configurable, such that the legs  351 ,  353  may be positioned according to the needs of a particular use of the mobility assistance device  300 . Thus, the configurations of the base portion  350  depicted in  FIGS.  22 A- 22 C  may be achieved with a single embodiment. Alternatively, the base portion  350  may be constructed to be unconfigurable, such that the legs  351 ,  353  are fixed in predetermined positions. 
     Any methods disclosed herein include one or more steps or actions for performing the described method. The method steps and/or actions may be interchanged with one another. In other words, unless a specific order of steps or actions is required for proper operation of the embodiment, the order and/or use of specific steps and/or actions may be modified. Moreover, sub-routines or only a portion of a method described herein may be a separate method within the scope of this disclosure. Stated otherwise, some methods may include only a portion of the steps described in a more detailed method. 
     Reference throughout this specification to “an embodiment” or “the embodiment” means that a particular feature, structure, or characteristic described in connection with that embodiment is included in at least one embodiment. Thus, the quoted phrases, or variations thereof, as recited throughout this specification are not necessarily all referring to the same embodiment. 
     Similarly, it should be appreciated by one of skill in the art with the benefit of this disclosure that in the above description of embodiments, various features are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure. This method of disclosure, however, is not to be interpreted as reflecting an intention that any claim requires more features than those expressly recited in that claim. Rather, as the following claims reflect, inventive aspects lie in a combination of fewer than all features of any single foregoing disclosed embodiment. Thus, the claims following this Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment. This disclosure includes all permutations of the independent claims with their dependent claims. 
     Recitation in the claims of the term “first” with respect to a feature or element does not necessarily imply the existence of a second or additional such feature or element. It will be apparent to those having skill in the art that changes may be made to the details of the above-described embodiments without departing from the underlying principles of the present disclosure.