Patent ID: 12257196

While embodiments of the disclosure are amenable to various modifications and alternative forms, specifics thereof shown by way of example in the drawings will be described in detail. It should be understood, however, that the intention is not to limit the disclosure to the particular embodiments described. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the subject matter as defined by the claims.

DETAILED DESCRIPTION

Referring toFIGS.1-17various embodiments of a wheelchair100are depicted in accordance with the disclosure. In some embodiments, the wheelchair100is configured to impart motion on one or more lower extremities of a user to inhibit inelasticity in joints of one or more lower extremities as a result of extended immobility, and to promote a natural alignment of one or more upper extremities of the user over a Base of Support (BOS) during manipulation of the wheelchair to impart locomotion.

In one embodiment, the wheelchair100can include a frame102, which can include a seat104and optional reclining backrest106. The wheelchair100can further include six main wheels, with three wheels positioned on each lateral side of the wheelchair100. For example, in one embodiment, the wheelchair100can include a forward set of ground engaging wheels108, a rearward set of ground engaging wheels110, and a set of control wheels112configured for user manipulation for locomotion of the wheelchair100. The forward set of ground engaging wheels108and the rearward set of ground engaging wheels110can be configured to contact the ground on each lateral side of the wheelchair100. The set of control wheels112can be configured to propel the forward set of ground engaging wheels108and/or the rearward set of ground engaging wheels110. For example, in one embodiment, each of the control wheels112can be configured to drive a corresponding one of the at least one of forward set of ground engaging wheels108and/or rearward set of ground engaging wheels110. In one embodiment, the set of control wheels112can be operably coupled to the forward set of ground engaging wheels108and/or the rearward set of ground engaging wheels110via a gear system114. In one embodiment, the gear system114can be configured to enable the forward set of ground engaging wheels108and/or the rearward set of ground engaging wheels110to move contralaterally to one another.

In one embodiment, at least one of the forward set of ground engaging wheels108and/or the rearward set of ground engaging wheels110can include wheel guards or fenders116(as depicted inFIGS.7and11) configured to inhibit dirt, debris and water from coming in contact with control wheels112and the wheelchair user. In some embodiments, the fenders116can include battery or solar powered lights for improved visibility.

In one embodiment, the wheelchair100can include one or more anti-tipping wheels118(as depicted inFIG.3) positioned on the lateral sides or ear portion of the wheelchair100. The wheelchair100can include a braking system119operably coupled to the set of control wheels112, such that the braking system119can be selectively, partially engaged when operating on a slanted or inclined surface, and selectively, fully engaged when the wheelchair100is at rest.

In one embodiment, the control wheels112can be positioned adjacent to a bottom portion of the wheelchair seat104, thereby enabling the arms of the user to remain relatively straight, such that the user's shoulder girdle remains within the natural BOS during manipulation and locomotion. In one embodiment, the seat104of the wheelchair100can be firmly padded, and can be integrally attached to the frame102to lock in place horizontally across the frame102in an in-use position. Seat104can be inclined (either by battery power or manually) to one or more non-horizontal positions to adequately support a user's spine and back. When the wheelchair100is folded, the seat104can be unlocked and pivotably moved to a vertical position and optionally attached to the frame102for securement in a storage position.

In one embodiment, the seat104can be between about 18 inches and about 22 inches in width, and about 20 inches in length. In one embodiment, the seat104can be shaped to narrow in width towards a back of the seat104. In one embodiment, the lateral outside edges of the seat104can be slightly raised for improved stability of the user and for improved comfort. In one embodiment, the wheelchair100can further include a seatbelt; for example, a four point seatbelt.

As further depicted inFIGS.15A-B, in one embodiment, the seat104can have a saddle shape having a generally narrow forward portion configured to enable ease of a user of moving into and out of the seat104. In one embodiment, the angle and tilt of the seat104relative to the frame102can be adjusted, for example, via mechanical actuation controllable by one or more control buttons131located on a side portion of the seat104. In one embodiment, the seat104can be at least partially constructed of one or more layers of memory foam for improved comfort. In one embodiment, the backrest106can additionally be padded for spinal support.

The optional backrest106can be shaped and sized to minimize interference with movement of the user's arms during locomotion, thereby enabling a more naturally aligned arm swing during actuation. The natural swinging of the arms over the user's natural BOS during locomotion enables the user's pectoral girdle to remain aligned over the user's pelvic girdle. For example, in one embodiment, the backrest106of the wheelchair100can be between about 20 inches and about 24 inches in height, between about 10 inches and about 12 inches in width, and between about 3 inches and about 5 inches in depth. The backrest106can fully padded to help support the alignment and positioning of the head and spine of the user. In embodiments, backseat106can be in a substantially vertical position or can be inclined in a plurality of positions to accommodate various heights of a subject pushing the wheelchair100and/or to support the spine of a user comfortably.

In one embodiment, the wheelchair100can include movable padded armrests120, which can be selectively positioned either vertically or horizontally when the wheelchair is at rest. In some embodiments, the armrests120can be positioned around a torso of the user to help maintain the user's torso in a desired orientation and position during locomotion, thereby enabling the user's elbows to swing backward while enabling continued alignment between the user's shoulder girdles and the user's arms. In one embodiment, one or more handholds122can be operably coupled to a top of the backrest118. The one or more handholds122can be padded and can be used as an aid when positioning the user into or out of the wheelchair100. Additionally, bags, purses or other items can be hung from the one or more handholds122.

One or more crossbar handles124can be operably coupled to a frame102of the wheelchair100and can be vertically adjustable to accommodate users of different heights. One example of such a crossbar handle124is depicted in U.S. patent application Ser. No. 16/007,720, the contents of which are hereby incorporated by reference herein. In one embodiment, the one or more crossbar handles124can be pivotably coupled to the frame, so as to selectively lock in a horizontal position when use is desired. When the wheelchair is folded in the storage position, the one or more crossbar handles124can be unlocked and pivotably moved to a vertical position. In some embodiments, the one or more crossbar handles124can optionally include a brake actuator126configured to serve as an actuator to the braking system118.

A pair of footrests128can be operably coupled to the forward set of ground engaging wheels108, wherein rotation of each wheel of the forward set of ground engaging wheels108can be configured to impart a corresponding translational motion, such as a linear, arcing, or swinging motion of each footrest of the pair of footrests128, so as to impart motion on the one or more lower extremities of the user to inhibit inelasticity in joints of the one or more lower extremities as a result of extended immobility. For example, in one embodiment, the wheelchair can include footrests128operably coupled to an off-center axis of one or more ground engaging wheels, such that each rotation of the wheel about a central axis causes a corresponding movement of the footrest128. The motion of the footrests128can be arcing, circular, elliptical, linear, or any shape that promotes a more natural muscle stretching and joint articulation in the legs and feet of the user. In some embodiments, the foot rests128can be weighted to aid the user in maintaining the heels of their feet lower than their toes during locomotion.

Referring toFIGS.16and17, in one embodiment, the wheelchair100can include four ground engaging wheels (including a forward set of ground engaging wheels108and a rearward set of ground engaging wheels110). In another embodiment, the wheelchair can include two primary ground engaging wheels132, which can be in combination with an anti-tipping wheel118and/or a stability augmentation device (not depicted) configured to aid in stability of the wheelchair100during use. Other wheel configurations are also contemplated.

Now referring to an embodiment depicted inFIGS.18A-26D, a wheelchair200generally includes a seat assembly202, a hand mechanism assembly204, and a foot mechanism assembly206coupled to hand mechanism assembly204via a drive-wheel and chain assembly208. Wheelchair200is configured to impart contralateral movement of one or more lower extremities of a user to inhibit inelasticity in joints of one or more lower extremities as a result of extended immobility, and to promote a natural alignment of one or more upper extremities of the user over a Base of Support (BOS) during manipulation of the wheelchair to impart locomotion.

Referring toFIGS.20and21, seat assembly generally202includes a seat22and a backrest23. Seat22and backrest23can be similar to seat104and backrest106, as described above, and can be optionally movable with respect to one another for inclination of backrest23and/or seat22. Hand mechanism assembly204and foot mechanism assembly206are coupled to seat assembly202and each other via drive-wheel and chain assembly208. For example, in the embodiment shown, such as inFIGS.19A-19E, drive-wheel and chain assembly208is primarily coupled to an underside and rear portion of seat22, while foot mechanism assembly206is primarily coupled to a front side portion of seat22and drive-wheel and chain assembly208, and hand mechanism assembly204is coupled to drive-wheel and chain assembly208proximate a rear side portion of seat22.

Referring back toFIGS.20and21, drive-wheel and chain assembly208can comprise two drive-wheel subassemblies (right side (RS) and left side (LS)) positioned primarily underneath seat22. Each subassembly generally includes a wheel24, such as a rubber wheel as known to one of ordinary skill in the art, a first drive-wheel hub25is positioned on a first side of wheel24at its center, and a second drive-wheel hub26is positioned on a second side of each wheel24at its center. An axel14extends between first and second drive-wheel hubs25,26and between each wheel24such that all hubs24,25and the subassemblies are connected. First drive-wheel hubs25are each coupled to a leg drive chain29for operably coupling foot mechanism assembly206to drive-wheel and chain assembly208, and second drive-wheel hubs26are each coupled to an arm drive chain27for operably coupling hand mechanism assembly204to drive-wheel and chain assembly208. First and second drive-wheel hubs25,26, and wheels24rotate together, such as in a dual clutch transmission assembly mode (described infra), and transfer energy from hand mechanism assembly204to drive-wheel and chain assembly208and from drive-wheel and chain assembly208to foot mechanism assembly206. More specifically, one drive-wheel subassembly connects a RS hand mechanism subassembly to a LS foot mechanism subassembly, while the other drive-wheel subassembly connects a LS hand mechanism subassembly to a RS foot mechanism assembly, as will be described in more detail below.

As shown inFIGS.21,22A,22B, and23, drive-wheel and chain assembly208is operably coupled to foot mechanism assembly206by the pair of leg drive chains29which transfer energy from second drive-wheel hubs26to foot mechanism assembly206. Foot mechanism assembly206generally includes two subassemblies (RS and LS) positioned on each side of chair200, each of which include a leg drive-wheel6, linkage5, and a leg link3. More specifically, and referring to the RS subassembly depicted inFIGS.22A and22B, chain29is coupled at a first end to second drive-wheel hub26, and a second end to a leg drive-wheel6of foot mechanism assembly206. Referring toFIG.23, leg drive-wheel6is fixedly coupled to a first end of linkage5, which is pivotably coupled at a second end to a position along leg link3near a top end of link3. A bottom end of link3can be coupled to a foot rest or pedal (not shown) for a user to rest its foot thereon.

As best depicted inFIG.24, in use, as second drive-wheel hubs26of drive-wheel and chain assembly208rotate, chains29transfer energy to leg drive-wheels6causing leg drive-wheels6and axel14to rotate. The rotational movement of leg drive-wheels6is converted to an arcing movement of leg link3via linkage5. This allows the user's leg to move in an arced fashion, which simulates the gait of a walker. Foot mechanism assembly206is assembled to mimic contra-lateral movement of a user's gait when walking.

Now referring toFIGS.21,22A,22B,25A, and25B, drive-wheel and chain assembly208is also operably coupled to hand mechanism assembly204by the pair of arm drive chains27which transfer energy from hand mechanism assembly204to first drive-wheel hubs25. Hand mechanism assembly204generally includes two subassemblies (RS and LS) positioned on each side of seat22, each of which include an arm drive-wheel9positioned behind backrest23, linkage10, a pair of arm links7,8, a pair of grip links11,12, and a grip or handle13. More specifically, and referring to the LS subassembly depicted inFIGS.22A and22B, chain27is coupled at a first end of first drive-wheel hub25, and a second end to an arm drive-wheel9of hand mechanism assembly204. Referring toFIGS.25A and25B, arm drive-wheel9is fixedly coupled to a first end of linkage10, which is pivotably coupled at along a top portion of arm link8. Arm link8is pivotably coupled near a second end to a terminal end of grip link11, and arm link8is pivotably coupled at its terminal second end to a terminal end of grip link12such that grip link11is positioned above grip link12. Arm link7is also pivotably coupled at a second end to grip link11near its second end and above where grip link11is coupled to arm link8. Grip13is then pivotably coupled to a second terminal end of grip link11.

As depicting inFIGS.26A-26D, in use, this interlink four-sided geometry follows a curved or arced path causing the angle of grip13to adjust to be tangent to the arc path. More specifically, a user grips left hand grip13with the user's hand. As force is applied to downward to grip13, the force causes grip13to pivot, which in turn causes LS grip links11,12to pivot with respect to LS arm links7,8, which in turns causes LS drive-wheel9to rotate via linkage10, which converts the pivoting translational motion of LS interlinked links7,8,11, and12into rotational movement of LS drive-wheel9. This rotation causes energy to be transferred via LS drive chain27to LS drive-wheel hub25. Due to RS drive-wheel hub26being coupled to LS drive-wheel hub25, RS drive-wheel hub26then rotates, transferring energy to RS foot mechanism subassembly for movement described above with respect toFIG.24. Wheels24also rotate and chair200moves forward or backward (depending on the direction of motion of grips13), and equally the LS foot mechanism subassembly206moves contralateral with respect to RS hand mechanism subassembly204. In other words, forcing RS grip13in forward motion ultimately causes LS foot link3to move forward, and chair200to move forward, and vice versa, mimicking the contralateral movement of walking.

In another embodiment of the invention, and referring toFIGS.27-30D, a wheelchair300generally includes a seat assembly302, similar to seat assembly202described above, a hand mechanism assembly304, and a foot mechanism assembly306coupled to hand mechanism assembly304via a drive-wheel and chain assembly308. Referring toFIG.27, seat assembly generally302includes a seat322and a backrest323, and is similar in configuration to seat assembly202described above. Hand mechanism assembly304and foot mechanism assembly306are coupled to seat assembly302and each other via drive-wheel and chain assembly308. In the embodiment shown, drive-wheel and chain assembly308is primarily coupled to an underside and war portion of seat322, while foot mechanism assembly306is primarily coupled to a front side portion of seat322and drive-wheel and chain assembly308, and hand mechanism assembly304is coupled to drive-wheel and chain assembly308proximate a rear side portion of seat322.

Referring now toFIGS.27,28A, and28B, drive-wheel and chain assembly308can comprise two drive-wheel subassemblies (right side and left side) positioned on each side of chair300, each of which includes a wheel324, such as a rubber wheel as known to one of ordinary skill in the art, a first drive-wheel hub325positioned on a first side of wheel324at its center, and a second drive-wheel hub326positioned on a second side of each wheel324at its center. An axel314extends between first and second drive-wheel hubs325,326and between each wheel324such that all hubs324,325are connected. First drive-wheel hubs325are each coupled to a leg drive chain329for operably coupling foot mechanism assembly306to drive-wheel and chain assembly308, and second drive-wheel hubs326are each coupled to an arm drive chain327for operably coupling hand mechanism assembly304to drive-wheel and chain assembly308. First and second hubs325,326, and wheels324rotate together and transfer energy from hand mechanism assembly304to drive-wheel and chain assembly308and from drive-wheel and chain assembly308to foot mechanism assembly306.

As shown inFIGS.27,28A, and28B, drive-wheel and chain assembly308is operably coupled to foot mechanism assembly306by the pair of leg drive chains329which transfer energy from second drive-wheel hubs326to foot mechanism assembly306. Foot mechanism assembly306is the same as described above (including RS and LS subassemblies with leg drive-wheel6, linkage5, and leg link3) with respect to foot mechanism assembly206, and as depictedFIGS.23and24, and is not repeated herein for efficiencies.

Now referring toFIGS.28A,28B,29A, and29B, drive-wheel and chain assembly308is also operably coupled to hand mechanism assembly304by the pair of arm drive chains327which transfer energy from hand mechanism assembly304to first drive-wheel hubs325. Hand mechanism assembly304generally includes two subassemblies (RS and LS) positioned on each side of chair300, each of which includes an arm drive-wheel309having an axel311that is positioned in front of wheel324. More specifically, and referring to the left subassembly depicted inFIGS.29A and29B, a linkage310is fixedly coupled on a first terminal end to drive-wheel309. A second terminal end of linkage310is pivotally coupled to an angled member312having a first arm312aconnect to a second arm312bat a vertex V, forming an obtuse angle. Linkage310is coupled near a top portion of first arm312a. A second linkage313is coupled at a first terminal end to the vertex V of angled member312, and is pivotably coupled at a second terminal end to first terminal end of an arm link314. A first grip link315is pivotably coupled to the first terminal end of second linkage313and vertex V of angled member312. A second grip link316is pivotably coupled at a first terminal end to a terminal end of second arm312bof angled member312. A grip317is pivotably coupled to a second terminal end of second grip link316.

Similar to hand mechanism assembly204, in use, this interlinked four-sided geometry follows a curved or arced path causing the angle of grip317to adjust to be tangent to the arc path. More specifically, a user grips left hand grip317with the user's hand. As force is applied to downward to grip317, the force causes grip317to pivot, which in turn causes LS grip links315,316to pivot with respect to LS arm links312,314, which in turns causes LS drive-wheel309to rotate via linkage310because linkage310converts the translational or pivoting motion of LS interlinked links312,314,315, and316into rotational movement of LS drive-wheel309. This rotation causes energy to be transferred via drive chain327to LS drive-wheel hub325. Due to RS leg drive-wheel hub326being coupled to LS arm drive-wheel hub325, which are all coupled to wheels324, chair300moves forward or backward (depending on the direction of motion of grips13), and the RS foot mechanism subassembly moves contralateral with respect to LS hand mechanism subassembly304. In other words, forcing right grip317in forward motion ultimately causes left foot link3to move forward, and chair300to move forward, and vice versa, mimicking the contralateral movement of walking.

Referring now to another embodiment of the invention, and referring toFIGS.31A-53B, a wheelchair500generally can comprise a seat assembly502, a foldable tubular stability frame assembly504, a drive-wheel and chain assembly506, a hand mechanism assembly508, and a foot mechanism assembly510, similar to that described for wheelchair300.

Referring toFIGS.33A-33F, one-half of a drive-wheel and chain assembly506, a LS hand mechanism subassembly508, and a RS foot mechanism assembly510, similar to that described for wheelchair300, is depicted. In this embodiment, each of drive-wheel and chain assembly506, hand mechanism assembly508, and a foot mechanism assembly510can comprise two subassemblies, making up the RS and LS of chair500. Drive wheel subassembly506a, hand mechanism assembly508a, and foot mechanism subassembly510aare depicted inFIGS.33A-33F, in which drive wheel subassembly506alinks LS hand mechanism subassembly508ato RS foot mechanism assembly510a. Drive wheel subassembly506aincludes a wheel524a, such as a rubber wheel as known to one of ordinary skill in the art. A drive-wheel hub assembly525is positioned within wheel524a, which will be described in more detail. Hub assembly525is coupled to a leg drive chain529for operably coupling RS foot mechanism subassembly510ato drive-wheel and chain subassembly506a, and is coupled to an arm drive chain527for operably coupling LS hand mechanism subassembly508ato drive-wheel and chain subassembly506a. Hub assembly525and wheel524arotate together and transfer energy from hand mechanism subassembly508ato drive-wheel and chain subassembly506aand from drive-wheel and chain subassembly506ato foot mechanism subassembly510a. Subassemblies506b,508b, and510b, operate in a manner as described with respect to the previous embodiments, and which is not repeated here for efficiencies.

As shown inFIGS.32A-33B, drive-wheel and chain assembly506is operably coupled to foot mechanism assembly506by the pair of leg drive chains529which transfer energy from hub assembly525to foot mechanism assembly510. Referring now toFIG.34A, foot mechanism assembly510generally includes two subassemblies (right side and left side) positioned on each side of chair500, each of which include a leg drive-wheel556, linkage555, and a leg link553. More specifically, and referring to the RS subassembly510a, the drive chain (not shown) is coupled at a second end to leg drive-wheel556of foot mechanism subassembly510a. Leg drive-wheel556is in turn fixedly coupled of linkage555, which is pivotably coupled at a position along leg link553. A bottom end of link553can be adjustable (or alternatively fixedly) coupled to a foot rest assembly560for a user to rest its foot thereon, which will be described in more detail infra. Foot mechanism assembly510moves in an arced path as described above with respect to foot mechanism assembly206, and as depictedFIG.34B.

Now referring toFIGS.32A and35A, drive-wheel and chain assembly506is also operably coupled to hand mechanism assembly508by the pair of arm drive chains527which transfer energy from hand mechanism assembly508to hub assembly525. Hand mechanism assembly508generally includes two subassemblies (right side and left side) positioned on each side of chair500. More specifically, and referring to the LS hand mechanism subassembly508adepicted inFIGS.35A and35B, the drive chain (not shown) is coupled at a second end to an arm drive-wheel509having an axel511that is positioned in front of wheel524. More specifically, a linkage513is fixedly coupled at a first terminal end to drive-wheel509. A second terminal end of linkage513is pivotally coupled to an angled member515having a first arm515aconnected to a second arm515bat a vertex V, forming an obtuse angle. Linkage513is coupled near a top portion of first arm515a. A second linkage517is coupled at a first terminal end to the vertex V of angled member515, and is pivotably coupled at a second terminal end to first terminal end of an arm link519. A first arcuate grip link521is pivotably coupled to the first terminal end of second linkage517and vertex V of angled member515. A second arcuate grip link523is pivotably coupled at a first terminal end to a terminal end of second arm515bof angled member515. A grip526is pivotably coupled to a second terminal end of first and second grip links521,523.

Similar to hand mechanism assemblies204and304, in use, this interlinked four-sided geometry follows a curved or arced path causing the angle of grip526to adjust to be tangent to the arc path, as depicted inFIG.36. More specifically, a user grips left hand grip526with the user's hand. As force is applied to downward to grip526, the force causes grip526to pivot, which in turn causes grip links521,523to pivot with respect to arm links515,519which in turn causes drive-wheel509to rotate via linkage513because linkage513converts the translational or pivoting motion of interlinked links515,519,521, and523into rotational movement of drive-wheel509. This rotation causes energy to be transferred via axel511and drive chain527to hub assembly525. Due to hub assembly525being coupled to wheels524, chair500moves forward or backward (depending on the direction of motion of grips526), and the corresponding connected and opposite foot mechanism subassembly510amoves in motion with hand mechanism assembly508a, and vice versa for510band508b, causing a contralateral locomotion. In other words, forcing right grip526in forward motion ultimately causes left foot link553to swing outwardly, and chair500to move forward, and vice versa, mimicking the contralateral movement of walking.

Now referring toFIGS.37A and37B, a foot rest assembly560can generally include a foot rest link557, which fits telescopically within leg link553. Foot rest assembly560can be height adjusted by telescoping link557within leg link553until a desired height is reached as depicted inFIGS.38A-38D. Pivoting lock lever558can then be secured in a vertical position to fix link557with respect to leg link553. To re-adjust, lock lever558is moved to a horizontal position to unlock link557from leg link553. A foot rest portion559for resting the foot of a user can be pivotably connected to a bottom portion of link557. Referring toFIGS.38E-38H, foot rest portion559can be coupled to link557with at least two degrees of freedom such that an angle of inclination (i.e. pitch) of foot rest portion559can be adjusted, and/or foot rest portion559can be rotated about link557(i.e. yaw). Adjustment tab561can be used to adjust foot rest portion559with respect to link557. A foot strap portion562and foot rest bar563can optionally be present and adjustable to further secure a user's foot to foot rest portion559.

Referring back toFIGS.32A and32B, seat assembly502can generally include a seat532and a back rest534, both of which optionally have a molded seat frame531and533, respectively, for additional stability. Referring now toFIGS.39and40A-40D, an inclination of seat532is optionally adjustable either manually, automatically (e.g. by incorporating an electric or battery-operated motor), or both. In an embodiment shown inFIGS.39-40D, seat532includes an adjustment assembly536including a seat rod537fixedly coupled to a bottom of seat523, and an adjustment mechanism including a seat adjustment web538, an adjustment handle rod539, and one or more adjustment knobs540coupled to each end of adjustment handle rod539. As knobs540are rotated, rod539also rotates, which in turn allows web538to translate up or down seat rod537, thereby adjusting the inclination of seat532. For example, as web538translates toward the end of rod537, this in turn causes the seat to be pushed upward by rod537.

Referring now toFIGS.41and42A-42C, a handle assembly570can also be incorporated. Handle assembly570can be couple to seat assembly502via a tubular frame assembly572. Handle assembly570can include a height adjustable handle bar574that telescopes within frame assembly572. Referring toFIGS.43A-43D, handle bar574can be adjusted by rotating handle lock576to an outward position. When the desired height is determined, the handle lock576is pushed downwardly until it is flush with back rest534to lock the handle bar574relative to frame assembly572.

Referring now toFIGS.44A-44D, back rest534can include one or more finials575. In embodiments, finials575can shift between a substantially vertical position in which they are flush with back rest534, and a substantially horizontal position in which they extend outwardly from back rest534for use as an additional handle option, or for added comfort and/or stability to a user.

Referring toFIGS.45A-45D, back rest533can further include on or more adjustable arms or wings576. Wings576can independently shift between a first position in which they are substantially perpendicular to back rest533to be used as arms, and a second position in which they are substantially parallel to back rest533. This allows the user more flexibility to rotate in seat532, and can help secure the user on seat532.

Referring now toFIGS.46A-47B, stability frame assembly504generally includes a plurality of foldable tubular frame members which provides support and to seat assembly502. As mentioned previously, a portion of frame assembly504is connectable to handle assembly570at a rear portion580and can comprise a U-shaped upright section. A mid portion582generally provides support for seat assembly530, and to which the adjustment mechanism of seat adjustment assembly536is fixed. A bottom frame portion584includes a rectangular frame, and at each corner, an anti-tip or stability wheel586is pivotably coupled to the frame portion584via pivot couplers583. As shown inFIGS.48A and48B, wheels586provide additional stability to chair500when moving up and down inclined surfaces.

Referring now toFIGS.47C-47F, the tube members of frame assembly572are preferably pivotably coupled to one another such that anti-tip wheels586and bottom frame portion584can be folded inwardly toward a center of chair500when not in use or during transport or starge. This allows chair500to be vertically foldable to aid in transporting from one location to another in a vehicle or other means. When desired, frame portion584and wheels586can be folded outwardly which lends to a wider base for chair500than seat assembly502as shown inFIGS.48A and48B. Such pivotable connections between tube members can be accomplished via pivoting joint members586as depicted inFIGS.46aand46B.

Now referring toFIGS.49A-54B, movement of chair500is controlled by a dual clutch transmission assembly600. Dual clutch transmission assembly600generally includes hub assembly525and two wheels524coupled to hub assembly525. Referring toFIGS.50and51, hub assembly525includes an inner first hub602formed of an axel604and a drive wheel606fixedly coupled to each end of axel604. Axel604includes structure defining a spline608. Clutch drive610covers a portion of axel604, and includes structure defining an acme thread611in a center of clutch drive610. Clutch drive610is radially fixed to axel604via spline608such that it turns with axel604. A left clutch plate612is coupled to a first end (left end) of clutch drive610and is radially fixed to clutch drive610. A diaphragm spring613is sandwiched between left clutch plate612and clutch drive610. Wheel524ais sandwiched between left clutch plate612and left drive wheel606a, and is operably coupled to clutch drive610at an end thereof.

A second hub614is radially fixed to clutch drive610via thread611(an internal surface of hub614includes structure defining a corresponding threading (not shown) to engage threading611. A right clutch plate615is radially fixed to clutch drive610at a second (right end) of clutch drive610. A second diaphragm spring617is sandwiched right clutch plate615and clutch drive610, and a second wheel524bis sandwiched between right clutch plate615right drive wheel606b, and is operably coupled to clutch drive610at an end thereof.

Referring now toFIGS.52A-53B, in use, inner first hub602is driven by the left arm (via the LS hand mechanism assembly as described herein) which in turn drives the right leg (via the RS foot mechanism assembly as described herein). Second hub614is driven by the right arm (via the RS hand mechanism assembly as described herein) which in turn drives the left leg (via the LS foot mechanism assembly as described herein). When inner first hub602and outer second hub614are turning equally, clutch drive610remains engaged with both, allowing contralateral locomotion in the forward or backward direction. In the event the outer second hub614is moved slower than inner first hub602(i.e. by moving the grip on one side only), clutch drive610moves to the right and compresses diaphragm spring617(FIG.53A) until clutch drive610is unthreaded from hub614and disengages hub614(FIG.53B) and wheel524b, thereby stopping rotation of wheel524b. To re-engage clutch drive610, wheel524ais moved in the reverse direction until clutch drive610is reengaged with hub614. Contralateral locomotion is then re-established when clutch drive610is centered. However, if clutch drive610moves too far left, it will similarly depress diaphragm613until clutch drive610disengages hub612and wheel524a, stopping motion of wheel524a. Forward motion of wheel524bthen reengages clutch drive610to re-establish contralateral locomotion. Therefore, the clutch drive610, when centered, ensures 180 degree positioning of RS foot mechanism assembly/LS hand mechanism assembly to LS foot mechanism assembly/RS hand mechanism assembly for contralateral locomotion. Through the use of opposing diaphragm springs613,617, clutch drive610is forced to be centered and contralateral movement equilibrium is reached.

Dual clutch transmission assembly600can be incorporated into any embodiment of the invention as described, as the inner hub is connected to the LS hand mechanism assembly by chain527band RS foot mechanism assembly by chain529a, and outer hub is connect to the RS hand mechanism assembly by chain527aand LS foot mechanism assembly by chain529b.

Various embodiments of systems, devices, and methods have been described herein. These embodiments are given only by way of example and are not intended to limit the scope of the claimed inventions. It should be appreciated, moreover, that the various features of the embodiments that have been described may be combined in various ways to produce numerous additional embodiments. Moreover, while various materials, dimensions, shapes, configurations and locations, etc. have been described for use with disclosed embodiments, others besides those disclosed may be utilized without exceeding the scope of the claimed inventions.

Persons of ordinary skill in the relevant arts will recognize that the subject matter hereof may comprise fewer features than illustrated in any individual embodiment described above. The embodiments described herein are not meant to be an exhaustive presentation of the ways in which the various features of the subject matter hereof may be combined. Accordingly, the embodiments are not mutually exclusive combinations of features; rather, the various embodiments can comprise a combination of different individual features selected from different individual embodiments, as understood by persons of ordinary skill in the art. Moreover, elements described with respect to one embodiment can be implemented in other embodiments even when not described in such embodiments unless otherwise noted.

Although a dependent claim may refer in the claims to a specific combination with one or more other claims, other embodiments can also include a combination of the dependent claim with the subject matter of each other dependent claim or a combination of one or more features with other dependent or independent claims. Such combinations are proposed herein unless it is stated that a specific combination is not intended.

Any incorporation by reference of documents above is limited such that no subject matter is incorporated that is contrary to the explicit disclosure herein. Any incorporation by reference of documents above is further limited such that no claims included in the documents are incorporated by reference herein. Any incorporation by reference of documents above is yet further limited such that any definitions provided in the documents are not incorporated by reference herein unless expressly included herein.

For purposes of interpreting the claims, it is expressly intended that the provisions of 35 U.S.C. § 112(f) are not to be invoked unless the specific terms “means for” or “step for” are recited in a claim.