Patent Publication Number: US-11642258-B2

Title: Multi-function mobility device with transitional handles

Description:
TECHNICAL FIELD 
     The present specification generally relates to a multifunction mobility device and, more specifically, a multi-function mobility device that is configurable in a variety of travel and/or storage modes. 
     BACKGROUND 
     A person in need of physical assistance may use mobility devices such wheelchairs, walkers, scooters, or the like to perform everyday tasks such as moving from one place to another, reaching for objects, changing clothes, and the like. Additionally, some individuals may use more than one mobility device depending on a specific task at hand. For example, a person may use a wheelchair to travel longer distances but may also use a walker device to walk shorter distances. However, storing multiple mobility devices may be space prohibitive due to the size and/or shape of each of the multiple devices. 
     Accordingly, a need exists for alternative mobility devices which may be reconfigured to function as different types of mobility devices. 
     SUMMARY 
     In one embodiment, A multifunctional mobility device includes a frame that is configurable between a plurality of modes corresponding to at least a power wheelchair mode, a power scooter mode, and a power walker mode, a plurality of motorized wheels mounted to the frame, and handles pivotally coupled to the frame and communicatively coupled to the plurality of motorized wheels. Pivoting the handles operates the plurality of motorized wheels, wherein each handle is independently pivotable to independently drive rotation of a motorized wheel of the plurality of motorized wheels. 
     These and additional features provided by the embodiments described herein will be more fully understood in view of the following detailed description, in conjunction with the drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The embodiments set forth in the drawings are illustrative and exemplary in nature and not intended to limit the subject matter defined by the claims. The following detailed description of the illustrative embodiments can be understood when read in conjunction with the following drawings, where like structure is indicated with like reference numerals and in which: 
         FIG.  1    depicts an exploded view of a multifunction mobility device according to one or more embodiments shown and described herein; 
         FIG.  2 A  schematically depicts a front view the multifunction mobility device in a power wheelchair mode, according to one or more embodiments shown and described herein; 
         FIG.  2 B  schematically depicts a rear view of the multifunction mobility device of  FIG.  2 A , according to one or more embodiments shown and described herein; 
         FIG.  3 A  schematically depicts a front view of a multifunction mobility device in a power walker mode, according to one or more embodiments shown and described herein; 
         FIG.  3 B  schematically depicts a rear view of the multifunction mobility device of the  3 A, according to one or more embodiments shown and described herein 
         FIG.  4    schematically depicts a multifunction mobility device in a power scooter mode, according to one or more embodiments shown and described herein; 
         FIG.  5    schematically depicts a multifunction mobility in a cargo transport mode, according to one or more embodiments shown and described herein; 
         FIG.  6 A  schematically depicts rear view of a multifunction mobility device of a collapsed transportation and storage mode, according to one or more embodiments shown and described herein; 
         FIG.  6 B  schematically depicts a front view of the multifunction mobility device of  FIG.  6 A , according to one or more embodiments shown and described herein; 
         FIG.  7    schematically depicts various communicatively coupled modules of a multifunction mobility device, according to one or more embodiments shown and described herein; and 
         FIG.  8    depicts a method of converting the multifunction mobility device between a plurality of modes, according to one or more embodiments shown and described herein. 
     
    
    
     DETAILED DESCRIPTION 
     A person may need various types of mobility devices for a variety of reasons, particularly when a person&#39;s mobility is compromised. Mobility devices such as wheelchairs, scooters, and walkers provide much needed assistance, but have limitations in terms of what they can provide, particularly individually. Furthermore, users may be limited to the number of mobility devices they can store and/or purchase. Accordingly, having a mobility device that already provides the mobility functionality of wheelchairs, scooters, walkers, etc. may be very beneficial. 
     Embodiments of the present disclose are directed to multifunction mobility devices that are reconfigurable between a plurality of different configurations or modes. For example, a multifunction mobility device according to the present disclosure may transform between, a collapsed transport and storage mode, a power wheelchair mode, a power walker/telepresence mode, a power scooter mode, and/or a cargo transport mode. Having such modes all within one device advantageously saves users from having to purchase and store many different mobility devices. 
     Referring generally to the figures, to facilitate transformation between the various modes, the multifunction mobility device may include a frame that is reconfigurable between the plurality of modes. The frame may include a seat member, a first wheel leg module coupled to a first side of the seat member, and a second wheeled leg member coupled to the second side of the seat member. Each of the first wheeled leg member and the second wheeled leg member may include an upper leg portion pivotally coupled to the seat member at a distal end and defining an upper arm recess and a lower leg portion pivotally coupled to the upper leg portion. When in the collapsed transport and storage mode, the upper leg portion and/or the lower leg portion lower are pivoted with respect to one another such that the lower leg portion nests into the upper arm recess. This allows the wheel chair to have a collapsed transport and storage mode with a small side profile, which may provide for increased ability for users to easily store the multifunction mobility device. Such small configuration also makes it easier to store the multifunction mobility device during travel (e.g., with a trunk of a vehicle, in an overhead compartment of an airplane, or the like). By providing a multifunction mobility device that may be easily stored and that transforms to various types of mobility devices, it may be easier for a user to house and/or use the various types of mobility devices they may need to live their lives to the fullest. 
     Additionally, multifunction mobility devices according to the present disclosure may include handles used to drive and/or steer the multifunction mobility device during use in each of the various modes. Such handles may be independently manipulated or pivoted to allow a user to drive the multifunction mobility device. For example, steering the multifunction mobility device may be similar to steering a zero-turn mower or similar device. Moreover, the handles may be adjustable, for example automatically adjusted, to a different position for each mode of the multifunction mobility device, ensuring comfort and ease of use for the user. 
     Referring now to  FIG.  1    an exploded view of a multifunction mobility device  100  is schematically depicted. A multifunction mobility device  100  generally includes a frame  102  that includes a first wheeled leg member  110   a , a second wheeled leg member  110   b , and a seat member  140 . The frame  102  may further include a first foot plate  106   a  and a second foot plate  106   b . The various portions of the frame  102  may be assembled together and positioned relative to one another such as to provide various traveling and/or transportation modes, each of which will be described in greater detail herein. For example,  FIGS.  2 A- 6 B  illustrated the multifunction mobility device  100  in various assembled modes. 
     The first wheeled leg member  110   a  and the second wheeled leg member  110   b  may be substantially identical to one another or substantially mirror one another. Accordingly, description of a wheeled leg member applies to each of the first wheeled leg member  110   a  and the second wheeled leg member  110   b , unless otherwise noted or apparent. A wheeled leg member generally includes an upper leg portion  112  and a lower leg portion  120  pivotally coupled to one another. Each wheeled leg member  110   a ,  110   b  may include one or more wheels  108   a ,  108   b  such as a plurality of wheels mounted thereto. In embodiments, a plurality of wheels may be mounted to each wheeled leg member  110   a ,  110   b , and one or more of the plurality of wheels may be motorized wheels. 
     The upper leg portion  112  may have an elongate body  113  that extends between a first end  114  (also referred to as a proximal end) and a second end  115  (also referred to as a distal end). Formed within or by the elongate body  113  may be an upper arm recess  111 . The upper arm recess  111  may be defined via a curved wall  117  that extends between the first end  114  and the second end  115 . A handle opening  118  may be formed at the first end  114  for receiving a handle  107 , such that each of the first wheeled leg member  110   a  includes a first handle and the second wheeled leg member  110   b  include a second handle, as will be described in greater detail herein. The upper leg portion  112  may further include a wheel such as a first wheel  108   a  rotatably coupled to the second end  115  of the upper leg portion  112 . In embodiments the first wheel  108   a  may be a motorized wheel. 
     The lower leg portion  120  may also generally have an elongate body  122  that extends between a first end  124  and a second end  126 . The elongate body  122  may be curved or define a curved upper surface  125 . The first end  124  of the lower leg portion  120  may be pivotally coupled to the second end  115  of the upper leg portion  112 . As will be described in further detail below, the upper and lower leg portions  112 ,  120  may be pivoted with respect to one another to transition the multifunction mobility device  100  between the plurality of modes. For example, in the collapsed transport and storage mode  100 E (illustrated in  FIGS.  6 A and  6 B ), the lower leg portion  120  nests into the upper arm recess  111 , thereby providing a low-profile collapsed transport and storage mode  100 E. For example, the curved upper surface  125  may be shaped and sized such that when the upper leg portion  112  pivots down over the lower leg portion  120 , the curved upper surface  125  mates or is positioned in close approximation to the curved wall  117  of the upper leg portion  112 . Still referring to  FIG.  1   , a second wheel  108   b , such as a motorized wheel, may be rotatably coupled to the second end  126  of the lower leg portion  120 . 
     A handle  107  may be coupled to each upper leg portion  112 . For example, the handle  107  may be positioned at least partially within the handle opening  118 . Each handle  107  which may include at least one control member (button, switch, toggle, lever, etc.) for operating the multifunction mobility device  100  such as, for example, powering on or off the multifunction mobility device  100 , controlling a speed and/or direction of the multifunction mobility device  100 , and/or transitioning between operating modes of the multifunction mobility device  100 . The handles  107  may also be configured to transition with respect to each of the modes. In some embodiments, such transitions may be manual or automated. Accordingly, the same handles may be used to operate the multifunction mobility device  100  without need for replacement. 
     Each handle  107  may generally include a plurality of bar portions coupled to one another via a plurality of joints. For example, and in the illustrated embodiment, a handle  107  includes a base bar portion  130  and a handle bar portion  132  coupled to one another via one another via a rotational joint portion  134 . The handles  107  may further include one or more handle actuators  209  (schematically depicted in  FIG.  7   ) that are configured to rotate, extend, and/or position various portions of the handle  107  when being transformed between different modes. 
     The base bar portion  130  may be positioned within the handle opening  118  of the upper leg portion  112 . In some embodiments, the base bar portion  130  may be slidable within the handle opening  118  so as to be able to slide between retracted and extended positions. For example, the one or more handle actuators  209  may include a linear actuator (not shown) coupled to the base bar portion  130 . The linear actuator may be operated to slide the base bar portion  130  into and out of the handle opening  118  to a desired position or a position corresponding to one of the plurality of modes noted herein. In some embodiments, the one or more handle actuators  209  may include a rotation actuator coupled to the base bar portion  130 . The rotation actuator may be operated to rotate the base bar portion  130  within the handle opening  118  to a desired position and/or to a position corresponding to one of the plurality of modes. In embodiments, the base bar portion  130  may have a curved end  138  at which the rotational joint portion  134  and the handle bar portion  132  are coupled. 
     For example, the handle bar portion  132  may be coupled to the curved end  138  of the base bar portion  130  via the rotational joint portion  134 . The handle bar portion  132  may also a grip portion  137 , which a user may grasp. The handle bar portion  132  may be rotatable relative to the base bar portion  130  between the plurality of modes and/or to drive the multifunctional mobility device, as will be described in greater detail below. 
     The rotational joint portion  134  may be rotatably coupled to the base bar portion  130  and the handle bar portion  132  such that the rotational joint portion  134  rotatably couples the base bar portion  130  to the handle bar portion  132 . For example, the rotational joint portion  134  may define a first rotational joint  135  between the base bar portion  130  and the rotational joint portion  134  and a second rotational joint  136  between the rotational joint portion  134  and the handle bar portion  132 . The one or more handle actuators  209  (schematically depicted in  FIG.  7   ) may include one or more rotational actuators associated with each joint  135 ,  136 . The one or more rotational joint actuators may be controlled, e.g., via a control unit  202  (schematically depicted in  FIG.  7   ), to rotate the handle bar portion  132  relative to the base bar portion  130  about the first rotational joint  135 , the second rotational joint  136 , or a combination thereof. The various positioned of the handles  107  will be described in greater detail below with respect to each of the modes described herein. 
     While it is contemplated that motion of the handles may be automated, in some embodiments, a user may manually rotate the handle bar portion  132  and/or the base bar portion  130  to a desired position and lock the handle  107  in the desired position (e.g., via detents, latches, and/or other catch mechanisms). 
     The handle  107  coupled to the first wheeled leg member  110   a  may be associated with controlling motion of a wheel  108   a  and/or  108   b  of the first wheeled leg member  110   a , and the handle  107  coupled to the second wheeled leg member  110   b  may be associated with controlling motion of a wheel  108   a  and/or  108   b  of the second wheeled leg member  110   b . During use, such as in the power wheelchair mode  100 A depicted in  FIGS.  2 A and  2 B , the power walker mode  100 B depicted in  FIGS.  3 A and  3 B , the power scooter mode  100 C depicted in  FIG.  4   , etc., the handles  107  may be used to propel and/or steer the multifunction mobility device  100  by independently operating a motorized wheel of the plurality of motorized wheels of the multifunction mobility device  100 . For example, the handle bar portion  132  may be communicatively coupled to one or more motors associated with wheels  108   a  and/or  108   b  of each wheeled leg member  110   a . For example, the handle bar portion  132  may be grasped by a user and rotated or pivoted about the second rotational joint  136  to cause the multifunction mobility device  100  to be propelled via rotation of the wheels  108   a ,  108   b . The user may use each handle bar portion  132 , similar to a zero-turn mower, to move forward, in reverse, and/or turn. Accordingly, each handle bar potion  132  may be separately articulable about the second rotational joint  136  to move the multifunction mobility device  100  forward, backward, and/or to steer left or right. For example, to steer forward, each handle bar portion  132  may be rotated, by a user, in a forward direction. To steer backward, each handle bar portion  132  may be rotated or pulled backward. To move left or right, one handle bar portion  132  may be moved forward, while the other is either moved backward or maintained in a neutral position. In some embodiments, instead and/or in addition to rotating, pressure sensors may be associated with each handle  107  to detect pressure being exerted by the user on the handle  107 . A control unit  202 , such as schematically depicted in  FIG.  7   , may determine, based on the pressure sensors, the intended motion of the user, and operate the motorized wheels according. It is noted that other steering mechanisms (e.g., buttons, throttle levers, or the like) are also contemplated and possible. 
     Referring again to  FIGS.  1 ,  2 A, and  2 B , the multifunction mobility device  100  further includes the seat member  140 . The seat member  140  may generally include a support substrate  142  and a seat module  150 . The support substrate  142  may define a support platform  146 , a first attachment arm  148   a  extending from one side of the support platform  146 , and a second attachment arm  148   b  extending from an opposite side of the support platform  146 . Each of the first attachment arm  148   a  and the second attachment arm  148   b  may be pivotally coupled to a distal end  115  of the upper leg portion  112  of the first wheeled leg member  110   a  and the second wheeled leg member  110   b , respectively. The support substrate  142  may support the seat module  150  thereon. In some embodiments, and as will be described in greater detail below, the support substrate  142  may support a sliding motion of the seat module  150  toward and/or away from the attachment arms  148   a ,  148   b  to transform a position of the seat module  150  between the various modes, and/or in response to user adjustments. 
     The seat module  150  may include a base seat portion  152  that defines a base support surface  155  (depicted in  FIG.  2 A ) for supporting a seated user thereon, and a back rest  154  pivotally coupled to the base seat portion  152 . The back rest  154  may be pivotable toward and away from the back rest  154  so as to be able to selectively overlay the base support surface  155  of the base seat portion  152 , such as in modes where the seat module  150  is not used to support a seat user (e.g., the power walker mode  100 B, the power scooter mode  100 C, the cargo transport mode  100 D, and the collapsed transport and storage mode  100 E). As will be described in greater detail below, one or more seat actuators may be coupled to the seat module  150  to transition the seat module  150  between an open position and a closed position in accordance with the various modes and/or as desired by the user. 
     In some embodiments, formed within the seat module  150 , such as within the back rest  154  may be a telecommunication module  160 . The telecommunication module  160  may facilitate telecommunications and may include, for example, a camera, a speaker, a microphone, and/or a display device, for providing telepresence/video conferencing functionality. The camera, speaker, microphone, and/or display device may be mounted to a back surface of the back rest  154 . Accordingly, in some embodiments, a user may use the multifunction mobility device  100  as a telepresence device for communicating with others. In embodiments, the telecommunication module  160  may include communication chips, antennas, or the like to allow the telecommunications module to communicate with others via, for example, a cellular network, WiFi, or the like. 
     The multifunction mobility device  100  may further include a pair of foot plates  106   a ,  106   b . Each foot plate  106   a ,  106   b  may be coupled to a corresponding one of the wheeled leg members  110   a ,  110   b  and rotatably attached thereto. Each foot plate  106   a ,  106   b  may have one or more hinges for rotatably attaching each foot plate  106   a ,  106   b  to a corresponding wheeled leg member  110   a ,  110   b , for example, the lower leg portions  120 . The foot plates  106   a ,  106   b  are operable to move between a horizontal position, as shown in  FIGS.  2 A and  2 B , and a folded or upright position, as shown in  FIGS.  3 A and  3 B . When the foot plates  106   a ,  106   b  are in the unfolded position, the upper surface faces an upward direction and the lower surface faces an opposite downward direction. The foot plates  106   a ,  106   b  are configured to support a user and/or cargo being transported thereon. Each foot plate  106   a ,  106   b  may be manually operated to position the foot plates  106   a ,  106   b  between the unfolded position and the folded position. However, in embodiments, the foot plates  106   a ,  106   b  may include a one or more footplate actuators (such as schematically depicted in  FIG.  7   ), which may include any suitable powered mechanism such as, for example, rotational actuator, for automatically positioning the foot plates  106   a ,  106   b  between the unfolded position and the folded position. When the foot plates  106   a ,  106   b  are powered, the foot plates  106   a ,  106   b  may be operated by utilizing a control unit  202  on the handles  107  or some other user input device. 
     Referring now to  FIGS.  2 A and  2 B , an example power wheelchair mode  100 A of the multifunction mobility device  100  is schematically illustrated.  FIG.  2 A  is a front view and  FIG.  2 B  is a rear view. As illustrated, the first wheeled leg member  110   a  is coupled to a first side of the seat member  140  and the second wheeled leg member  110   b  is coupled to a second side of the seat member  140 . In the power wheelchair mode  100 A, upper leg portions  112  of the first wheeled leg member  110   a  and the second wheeled leg member  110   b  are angularly spaced from the low leg portions by an angle, α. Additionally, the support substrate  142  is pivoted to be arranged generally horizontally to the ground and the seat module  150  is moved to an open position such that the back rest  154  is positioned vertically or substantially orthogonal to the base seat portion  152  and/or the support substrate  142 . However, it is contemplated that the back rest  154  may be reclined relative to the base seat portion  152  as desired by a user. As noted above, in some embodiments, the back rest  154  may be hingedly coupled to the seat module and such hinged coupling may be motorized such that it is able to move the seat module  150  from on open position to a closed position via input by a user and/or automatically during transformation from one mode to another. 
     Additionally, as illustrated in  FIGS.  2 A and  2 B , extending from the back rest  154  may be arm rests  157  on which a user may rest their arms. It is contemplated that the arm rests  157  may be pivotable with respect to the back rest  154  so as to pivot between a deployed position, such as illustrated in  FIGS.  2 A and  2 B , and a collapsed transport and storage mode, to allow the seat module  150  to fold to the closed position as illustrated in  FIG.  1   . Similar to other portions of the multifunction mobility device  100 , the movement of the arm rests  157  may be motorized such that the arm rests  157  are automatically deployed when the multifunction mobility device  100  is moved to the power wheelchair mode  100 A. 
     As also illustrated in  FIGS.  2 A and  2 B , in the power wheelchair mode  100 A, the foot plates  106   a ,  106   b  may be moved to the unfolded position. In the unfolded position, a user may rest their feet on the foot plates  106   a ,  106   b . In some embodiments, the foot plates  106   a ,  106   b  may be used to also store articles under the seat member  140 . 
     In the power wheelchair mode  100 A, the handles  107  may be positioned to allow a user to operate the multifunction mobility device  100  from a seated position. In such embodiment, the curved end of the base bar portion  130  may be curved toward the seat module  150  and the handle bar portions  132  may extend inward, toward one another. In some embodiments, it is contemplated that in the power wheelchair mode  100 A, there maybe an ingress or egress sub-mode wherein the handle bar portions  132  are rotated away from one another to allow a user to enter and sit on the seat module  150 . In some embodiments, only one of the handle bar portions  132  may rotate outward to allow for ingress or egress. 
     Referring now to  FIGS.  3 A and  3 B , an example power walker mode  100 B of the multifunction mobility device  100  is schematically illustrated. In the power walker mode  100 B, the upper leg portions  112  of the wheeled leg members  110   a ,  110   b  are rotated from the lower leg portions  120  by an angle β, which is larger than the angle α of the power wheelchair mode  100 A. In the power walker mode  100 B, the seat member  140  may be moved out of the way to allow a user to stand between the first wheeled leg member  110   a  and the second wheeled leg member  110   b . For example, and as illustrated the back rest  154  may be pivoted relative to the base support surface  155  to a closed position. The support substrate  142  may rotate to a non-horizontal position, which may be substantially aligned between the upper leg portions  112  of the first wheeled leg member  110   a  and the second wheeled leg member  110   b . The support substrate  142  may be rotated to the same angle β as the upper leg portions  112  or may be a different angle. As noted herein, the seat module  150  may be slidingly coupled to the support substrate  142 . In embodiments, the one or more seat actuators may include a linear actuator that may be controlled, e.g., via the control unit, to slide the seat module  150  relative to and across the support substrate  142 . For example, when in the power walker mode  100 B, the seat module  150  may be slid toward the distal end  115  of the upper leg portions  112 , as opposed to toward the proximal end in the power wheelchair mode  100 A. 
     Referring specifically to  FIG.  3 B , a back surface  153  of the base seat portion  152  of the seat module  150  is depicted. Mounted to the back surface  153  may be one or more storage devices  156 . For example, the one or more storage devices  156  may include a storage compartment  158 . such as, for example, a flexible cargo net, bag, or the like. The storage compartment  158  may be sealed via one or more fasteners (e.g., buttons, zippers, Velcro, magnets, or the like) to allow for retention of stored items (e.g., personal items such as books, wallets, keys, etc.) no matter the mode of the multifunction mobility device  100 . In some embodiments, the one or more storage devices  156  may include a shelf  159  on which a user may rest one or more personal articles such as a mobile phone, a table, book, or the like. When in the power wheelchair mode  100 A, such as illustrated in  FIGS.  2 A and  2 B , the one or more storage devices  156  may slide into a hollow, not depicted, formed within the support substrate  142 . For example, the shelf  159  and/or the storage compartment  158  may fold or collapse to slide within the hollow of the support substrate  142 . 
     In the power walker mode  100 B, the foot plates  106   a ,  106   b  are raised into the folded position, wherein the upper surface faces the corresponding wheeled leg member  110   a ,  110   b  to which it is rotatably coupled, while the lower surface of the foot plates  106   a ,  106   b  faces away from the adjoined wheeled leg member and toward the opposite wheeled leg member. In this way, a user can walk while holding onto the handles  107 . 
     The orientation of the handles  107  are also adjusted in the power walker mode  100 B. For example, and as illustrated the curved end  138  of the base bar portion  130  may be rotated to face away from the seat portion toward a position of the user and the handle bar portions  132  are rotated to face one another, though it is contemplated the handles  107  could face away from one another. In the power walker mode  100 B, the user may push or pull the handle  107  bars, similar to driving the multifunction mobility device  100  in the power wheelchair mode  100 A. 
     In some embodiments, the power walker mode  100 B may be configured to provide adjustable or selectable levels of resistance and/or assistance to a user such that the power walker mode  100 B may be used as a rehabilitation device or to provide aid to a user as needed. For example, in some embodiments, the motor of the wheels  108   a ,  108   b  may provide more or less assistance in moving the multifunction mobility device  100 . In other embodiments, the motor may actively resist rotational motion of the wheels  108   a ,  108   b , and/or braking disks or the like, may provide active resistance to the turning of the wheels  108   a ,  108   b . As will be described in more detail herein, in some embodiments, the multifunction mobility device  100  may include sensors (e.g., cameras, motion sensors, or the like, to determine a terrain type (e.g., rocky, smooth, etc.) over which the multifunction mobility device  100  is traveling. Based on the terrain type, the level of assistance or resistance to motion may be adjusted. Such adjustments may also help a user maintain their balance and/or speed when moving from one terrain type to another. For example, when moving up hill or over uneven terrain, it may be more difficult for a user to push the multifunction mobility device  100  in the power walker mode  100 B. Accordingly, the level of assistance may be increased (or the level of resistance decreased) to aid a user in crossing the terrain. In yet further embodiments, a user may have a user profile which may be used to actively adjust resistance and/or assistance in accordance with an associated user profile. For example, a user with a tendency to drift to one side may be provided with increased resistance on that side, or increased assistance on the opposite side, to prevent unwanted drifting from one side to another. In yet further embodiments, the level of resistance and/or assistance may be selected by a user or care provider (e.g., with the handles  107  or other input device) to set a level of resistance and/or assistance, such as during a rehabilitation exercise. 
     The power scooter mode  100 C is illustrated in  FIG.  4   . The power scooter mode  100 C may be substantially similar to the power walker mode  100 B. However, in the power scooter mode  100 C, the foot plates  106   a ,  106   b  may lower to the unfolded position to allow a user (not shown) to stand upon the foot plates  106   a ,  106   b  to ride the multifunction mobility device  100  while grasping the handles  107 , which may be operated in a manner similar to that described above. In some embodiments, it is contemplated that the position of the handles  107  may also be substantially similar to that of the power walker mode  100 B. However, in some embodiments, the handle bar portion  132  may be rotated to be positioned closer to the user. In some embodiments, the base bar portion  130  may extend from the second end  115  of the upper leg portions  112  by a greater distance to position the handles  107  closer to the user. In each of the various modes the position of the handles  107  may be adjusted to the comfort of the user and/or to accommodate various sized users. 
     Referring now to  FIG.  5   , the multifunction mobility device  100  is depicted in a cargo transport mode  100 D, which may be used to transport one or more storage containers  190  (e.g., boxes). The cargo transport mode  100 D is substantially similar to the power scooter mode  100 C, however, the foot plates  106   a ,  106   b  may be used to support the one or more storage containers  190 . In this mode, the handles  107  may be positioned out of the way of the one or more storage containers  190 . For example, the base bar portions  130  of the handles  107  may be rotated such that the curved end  138  curves outward toward the seat portion and/or away from the one or more storage containers  190 . The handle bar portions  132  may be positioned to extend toward one another and may be extend toward (as shown) or away from the one or more storage containers  190 . 
       FIGS.  6 A and  6 B  depict the multifunction mobility device  100  in the collapsed transport and storage mode  100 E. In the collapsed transport and storage mode  100 E, the multifunction mobility device  100  may be utilized to transport smaller objects, such as where a lower or smaller profile would be needed, such as through a tunnel or other area with a low ceiling. In some embodiments, the collapsed transport and storage mode  100 E, is also the mode most adapted for storage due to its compact configuration that can fit into smaller spaces than the other modes discussed above. In the collapsed transport and storage mode  100 E, the upper leg portions  112  of the first and second wheeled leg members  110   b  are pivoted relative to the lower leg portions  120  such that the lower leg portion  120  nests into the upper arm recess  111 , such that the curved upper surface  125  of the lower leg is closely positioned with the curved wall  117  of the upper leg portion  112 . Additionally, in the collapsed transport and storage mode  100 E, the seat member  140  may be arranged generally horizontal to the foot plates  106   a ,  106   b  which may be positioned in the unfolded position. As illustrated, the seat module  150  may also be shifted in the toward the distal end  115  of the upper leg portions  112  similar to the power scooter and power walker modes described above. The handles  107  may also have a designated position for the collapsed transport and storage mode  100 E. For example, the curved end  138  of the base bar portions  130  may be rotated inward to face one another and the handle  107  bar portions may be positioned to extend downward in a direction of the foot plates  106   a ,  106   b    
     From the collapsed transport and storage mode  100 E that multifunction mobility device  100  may be transitioned (either manually or through automated actuation via a plurality of actuators  207 ) to any of the other modes, via increasing the angular distance between the lower leg portion  120  and the upper leg portion  112 , adjusting a position of the handles  107 , adjusting the foot plates  106   a , and/or adjusting a position of the seat portion. As noted herein, such transitions may be manually achieved or may be motorized and controlled via a control unit  202 . For example,  FIG.  7    schematically depicts various components of the multifunction mobility device  100  communicatively coupled to one another. The multifunction mobility device  100  may include, a communication path  201 , a control unit  202  (including one or more processors  203  and/or one or more memory modules  204 ), one or more motors  206 , one or more actuators  207  (e.g., one or more leg actuators  208 , one or more handle actuators  209 , one or more seat actuators  210 , one or more foot plate actuators  212 , one or more resistance actuators  218 , or the like), the telecommunication module  160 , one or more mode sensors  216 , one or more terrain sensors  211 , and one or more user sensors  220 , the handles  107 , and/or one or more additional user interface devices  222 . In some embodiments, a greater or fewer number of modules may be included without departing from the scope of the present disclosure. 
     The communication path  201  may be formed from any medium that is capable of transmitting a signal such as, for example, conductive wires, conductive traces, optical waveguides, or the like. Moreover, the communication path  201  may be formed from a combination of mediums capable of transmitting signals. In one embodiment, the communication path  201  comprises any combination of conductive traces, conductive wires, connectors, and buses that cooperate to permit the transmission of electrical data signals to components such as processors, memories, sensors, input devices, output devices, and communication devices. Accordingly, the communication path  201  may comprise a bus. Additionally, it is noted that the term “signal” means a waveform (e.g., electrical, optical, magnetic, mechanical or electromagnetic), such as DC, AC, sinusoidal-wave, triangular-wave, square-wave, vibration, and the like, capable of traveling through a medium. The communication path  201  communicatively couples the various components of the multifunction mobility device  100 . As used herein, the term “communicatively coupled” means that coupled components are capable of exchanging data signals with one another such as, for example, electrical signals via conductive medium, electromagnetic signals via air, optical signals via optical waveguides, and the like. 
     As noted above, the control unit  202  may include one or more processors  203  and one or more memory modules  204 . The one or more processors  203  of the multifunction mobility device  100  may include any device capable of executing machine-readable instructions. Accordingly, the one or more processors  203  may be a controller, an integrated circuit, a microchip, a computer, or any other computing device. The one or more processors  203  may be communicatively coupled to the other components of the multifunction mobility device  100  by the communication path  201 , such as the various modes  100 A-E depicted in  FIGS.  2 A- 6 B . For example, the control unit  202  with the one or more processors  203  may be configured to operate the plurality of actuators  207  to transition the multifunction mobility device  100  between the plurality of different modes and/or application of resistance as noted above. Accordingly, the communication path  201  may communicatively couple any number of processors  203  with one another, and allow the components coupled to the communication path  201  to operate in a distributed computing environment. Specifically, each of the components may operate as a node that may send and/or receive data. 
     Still referring to  FIG.  7   , the one or more memory modules  204  of the multifunction mobility device  100  is coupled to the communication path  201  and communicatively coupled to the one or more processors  203 . The one or more memory modules  204  may, for example, store instructions for adjusting components of the multifunction mobility device  100  to the various modes, adjusting applied resistance or assistance for a user when in a walker mode, etc. The one or more memory modules  204  may comprise RAM, ROM, flash memories, hard drives, or any non-transitory memory device capable of storing machine-readable instructions such that the machine-readable instructions can be accessed and executed by the one or more processors  203 . The machine-readable instructions may comprise logic or algorithm(s) written in any programming language of any generation (e.g., 1GL, 2GL, 3GL, 4GL, or 5GL) such as, for example, machine language that may be directly executed by the one or more processors  203 , or assembly language, object-oriented programming (OOP), scripting languages, microcode, etc., that may be compiled or assembled into machine-readable instructions and stored in the one or more memory modules  204  Alternatively, the machine-readable instructions may be written in a hardware description language (HDL), such as logic implemented via either a field-programmable gate array (FPGA) configuration or an application-specific integrated circuit (ASIC), or their equivalents. Accordingly, the functionality described herein may be implemented in any conventional computer programming language, as pre-programmed hardware elements, or as a combination of hardware and software components. 
     As noted above, each of the wheels  108   a ,  108   b  of the multifunction mobility device  100  may be motorized via one or more motors  206 . The control unit  202  is communicatively coupled to the one or more motors  206  to cause rotation of the wheels  108   a ,  108   b  with the one or more motors  206 . It is noted that only a portion of the wheels  108   a ,  108   b  may be motorized while the remainder wheels may be caster wheels. The control unit  202  may be communicatively coupled to the handles  107  such that operation (e.g., press and/or pulling) on the handles  107  causes the control unit  202  to operate the motors as indicated by the inputs on the handles  107 , as described above. In some embodiments, it is contemplated that the control unit  202  may drive the multifunction mobility device  100  autonomously via one or more sensors (e.g., radar, lidar, cameras, proximity sensors, GPS data, etc.). 
     As noted above, the one or more actuators  207  may include any number of actuators  207  that cause and/or restrict motion of multifunction mobility device  100 . For example, and as noted above, the one or more actuators  207  may include one or more leg actuators  208 , one or more seat actuators  210 , one or more foot plate actuators  212 , one or more handle actuators  209 , one or more resistance actuators  218 , or the like. The one or more leg actuators  208  may be coupled to the upper leg portion  112  and the lower leg portion  120  and cause the upper leg portion  112  and the lower leg portion  120  to pivot relative to one another. For example, the one or more leg actuators  208  may include a rotational actuator and/or a linear actuator that pivots the upper leg portion  112  relative to the lower leg portion  120  to increase or decrease an angle between the upper leg portion  112  and the lower leg portion  120  to transition the multifunction mobility device  100  between each of the various modes discussed herein. 
     The one or more seat actuators  210  may include any number of rotational and/or linear actuators. For example, a rotational actuator may be coupled to the support platform  146  and cause the support platform  146  to rotate relative to the upper leg portion  112  between the various modes. In some embodiments, the seat module  150 , such as the base seat portion  152  may be coupled to a linear actuator that causes the base seat portion  152  to slide across the support substrate  142  when transitioning between the various mobility modes. In some embodiments, the one or more seat actuators  210  may include a rotational actuator between the back rest  154  portion and the base seat portion  152  to allow the control unit  202  to move the seat from an open position such as illustrated in  FIG.  2 A  to a closed position such as illustrated in the power scooter, power walker, cargo transport, and collapsed transport and storage modes. It is noted that in some embodiments the arm rests  157  may also have actuators to allow for automated deployment of the arm rests  157  when the multifunction mobility device  100  transitions to the power wheelchair mode  100 A. 
     The one or more handle actuators  209 , may similarly include any number of rotational and/or linear actuators to allow the control unit  202  to automatically transition the handles  107  to positions corresponding to the various modes, as described above. For example, the base bar portion  130  may be coupled to a linear actuator that allows the base bar to move linearly within the handle opening  118  formed in the upper leg portion  112 . A rotational actuator may also allow the base bar portion  130  to rotated within the handle opening  118 . Similarly, one or more actuators  207  may also be coupled to the handle bar portion  132  to rotate the handle bar portion  132  relative to the base bar portion  130  about the first rotational joint  135  and/or the second rotational joint  136 . 
     The one or more foot plate actuators  212 , may be coupled to the one or more foot plates  106   a . Logic executed by the control unit  202  may cause the one or more foot plate actuators  212  to move the foot plates  106   a  from a folded position, as described herein, to an unfolded position. For example, the one or more foot plate actuators  212  may be rotation actuators or linear actuators that cause the foot plates  106   a  to rotate between the open and closed positions. 
     As noted above, the multifunction mobility device  100  may include one or more resistance actuators  218 . As described above, when in the power walker mode  100 B, it may be desirable to apply active resistance to a user&#39;s motion and/or provide more or less assistance to the user. The one or more resistance actuators  218  may include one or more braking discs, e.g., friction and/or magnetic brakes. In some embodiments, the one or more resistance actuators  218  may be provided via the one or more motors  206  for the wheels  108   a ,  108   b . For example, the one or more motors  206  may be operated to provide selective levels of resistance or assistance to a user, as described above. In some embodiments, the control unit  202  may operate left and/or right wheels of the multifunction mobility device  100  to straighten alleviate a user&#39;s applied bias. For example, where a user favors one side or is stronger on one side, a greater level of resistance may be provided to that side of the multifunction mobility device  100  or a greater level of assistance may be applied to the opposite side to allow the user to travel along a straight path. 
     In embodiments and as described above, the one or more terrain sensors  211  may output indications of the terrain of the environment of the multifunction mobility device  100 . For example, terrain sensors  211  may include, but are not limited to accelerometers, gyroscopes, cameras, GPS data, or the like. The control unit  202  may determine based on the output of the one or more terrain sensors  211  when the user is traveling over a smooth or rough surface, a slope of the terrain, or the like. Based on the type of surface, the control unit  202  may adjust the resistance and/or assistance provided the multifunction mobility device  100 , using the one or more resistance actuators  218 . By adjusting the resistance and/or assistance provided to the user, the user may more easily and/or steadily travel over the type of terrain. 
     The one or more mode sensors  216  may include any number of sensors operable to detect the mode of the multifunction mobility device  100 . For example, the one or more mode sensors  216  may include hall effect sensors, light sensors, detent sensors, accelerometers, potentiometers, speed sensors, gyroscopes, or the like. The control unit  202  may determine the mode of the multifunction mobility device  100  based on the output of the one or more mode sensors  216 . Based on the mode of the multifunction mobility device  100 , certain operating parameters may be adjusted. For example, adjustments may be made to speed, acceleration, directional inputs from the handles  107 , to match the type of mode the multifunction mobility device  100  is positioned in. 
     The one or more additional user interface devices  222  may include any number of devices (e.g., knobs, buttons, keyboards, microphones, touchscreens, remote devices, gesture detection devices, etc.) that allow a user to input preferences, requests, and/or settings into the control unit  202  of the multifunction mobility device  100 . For example, a user, using the one or more additional user interface devices  222  may transition the multifunction mobility device  100  to the desired mode. The one or more additional user interface devices  222  may further allow a user to adjust desired settings, e.g., seat position, recline, handle  107  position, resistance, assistance, or the like. In some embodiments, these one or more additional user interface devices  222  may be incorporated into the handles, the seat module  150 , etc. 
     In some embodiments, it is contemplated that the multifunction mobility device  100  may have one or more user sensors  220  to detect one or more characteristics of a user (e.g., identity, height, weight, medical history, etc.) which may allow the control unit  202  to dynamically and automatically adjust settings (e.g., seat position, handle  107  position, etc.) based on the one or more characteristics of the user. In some embodiments, the control unit  202  may, using the one or more characteristics of the user identify certain movement characteristics associated with the user. For example, using the one or more user sensors  220 , the control unit  202  may identify user tendencies, such as, for example, a user tendency to apply greater force to the handle versus the other, which may result in a swaying motion or being unable to travel in a consistent travel direction, The control unit  202  may adjust settings of accommodate such tendencies to ensure proper travel direction, such as described above. 
     As noted herein, the multifunction mobility device  100  may further include a telecommunication module  160 . The telecommunication module  160  may include one or more communication modules (e.g., antennas, satellites, chips, etc.) for communicating via a network, e.g., a cloud network, cellular network, or the like, to remote locations. The telecommunication module  160  may further, as noted above, include a display, camera, speaker, and/or microphone to allow a user to communicate and/or video conference with others. The multifunction mobility device  100  may be used as a telecommunications device in any of the provided transportation modes. 
       FIG.  9    schematically depicts a flow chart depicting a method  300  for converting a multifunction mobility device  100  according to one or more of the various embodiments described herein to a desired mode. A greater or fewer number of steps may be included without departing from the scope of the present disclosure. The method  300 , at block  302 , may include receiving, with the control unit  202 , an input via one or more user input devices (e.g., the handles  107  or the one or more other user input devices  222 ) to convert the multifunction mobility to one of the plurality of modes (e.g., power wheelchair mode  100 A, power walker mode  100 B, power scooter mode  100 C, cargo transport mode  100 D, and/or the collapsed transport and storage mode  100 E). At block  304 , the method  300  may include automatically adjusting the multifunction mobility device  100  with one or more actuators  207  to transform the multifunction mobility device  100  to the selected mode. That is, the one or more leg actuators  208  may be controlled via the control unit  202  to pivot the upper leg portion  112  relative to the lower leg portion  120 , the one or more seat actuators  210  may be controlled to adjust a position of the support substrate  142  and/or the seat module  150 , the one or more handle actuators  209  may be used to adjust a position of the one or more handles  107 , and/or the one or more foot plate actuators  212  may be controlled to adjust a position of the foot plates  106   a . In some embodiments, a portion of the multifunction mobility device  100  may be automatically adjusted between modes and some portions may be manually adjusted. For example, the first and second wheeled leg members  110   a ,  110   b  the seat member  140 , and/or the handles  107  may be automatically adjusted, while the foot plates  106   a ,  106   b  may be manually adjusted. Though other combinations are contemplated and possible. 
     At block  306 , the method  300  may further include identifying one or more user characteristics with the one or more user sensors  220 , and adjusting the multifunction mobility device  100  based on the one or more user characteristics, as described in greater detail above. For example, the various components of the multifunction mobility device  100  may be further adjusted based on a user preference, a user characteristic, or the like. At block  308 , the method  300  may include, where the multifunction mobility device  100  is positioned within a power walker mode  100 B, determining a level of resistance and/or a level of assistance to be provided by the multifunction mobility device  100  (e.g., which may be identified via identification of the user and/or input by a user via one or more user input device) and adjusting the resistance and/or assistance applied to one or more wheels  108   a ,  108   b  of the multifunction mobility device  100  to adjust a level of resistance and/or assistance provided to the user in moving the multifunction mobility device  100  when positioned in the power walker mode  100 B. 
     It should now be understood that embodiments as described herein are directed to multifunctional mobility device that are reconfigurable between a plurality of different configurations or modes. For example, a multifunction mobility device according to the present disclosure may transform between, a collapsed transport and storage mode, a power wheelchair mode, a power walker/telepresence mode, a power scooter mode, and/or a cargo transport mode. Having such modes all within one device advantageously saves users from having to purchase and store many different mobility devices. 
     It is noted that the terms “substantially” and “about” may be utilized herein to represent the inherent degree of uncertainty that may be attributed to any quantitative comparison, value, measurement, or other representation. These terms are also utilized herein to represent the degree by which a quantitative representation may vary from a stated reference without resulting in a change in the basic function of the subject matter at issue. 
     While particular embodiments have been illustrated and described herein, it should be understood that various other changes and modifications may be made without departing from the spirit and scope of the claimed subject matter. Moreover, although various aspects of the claimed subject matter have been described herein, such aspects need not be utilized in combination. It is therefore intended that the appended claims cover all such changes and modifications that are within the scope of the claimed subject matter.