Mobility device

Abstract

A powered balancing mobility device that can provide the user the ability to safely navigate expected environments of daily living including the ability to maneuver in confined spaces and to climb curbs, stairs, and other obstacles, and to travel safely and comfortably in vehicles. The mobility device can provide elevated, balanced travel.

Description

CROSS REFERENCE TO RELATED APPLICATIONS

[0001] This application is a continuation-in-part of U.S. Patent Application Serial No. 15 / 787,613, filed on October 18, 2017 entitled MOBILITY DEVICE (Atty. Dkt. No. W10), and a continuation-in-part of U.S. Patent Application Serial No. 15 / 982,737, entitled SYSTEM AND METHOD FOR SECURE REMOTE CONTROL OF A MEDICAL DEVICE, filed on May 17, 2018 (Atty. Dkt. No. X55). This application claims the benefit of U.S. Provisional Application Serial No. 62 / 532,993, filed July 15, 2017, entitled MOBILITY DEVICE IMPROVEMENTS (Attorney Docket No. U30), U.S. Provisional Application Serial No. 62 / 559,263, filed September 15, 2017, entitled MOBILITY DEVICE SEAT (Attorney Docket No. V85), and U.S. Provisional Application Serial No. 62 / 581,670, filed November 4, 2017, entitled MOBILITY DEVICE SEAT (Attorney Docket No. WO7).BACKGROUND

[0002] The present teachings relate generally to mobility devices, and more specifically to vehicles that have heightened requirements for safety and reliability.

[0003] A wide range of devices and methods are known for transporting human subjects experiencing physical incapacitation. The design of these devices has generally required certain compromises to accommodate the physical limitations of the users. When stability is deemed essential, relative ease of locomotion can be compromised. When transporting a physically disabled or other person up and down stairs is deemed essential, convenient locomotion along regions that do not include stairs can be compromised. Devices that achieve features that could be useful to a disabled user can be complex, heavy, and difficult for ordinary locomotion. Some systems provide for travel in upright positions, while others provide for ascending or descending stairs. Some systems can provide fault detection and operation after a fault has been detected, while others provide for transporting a user over irregular terrain.

[0004] The control system for an actively stable personal vehicle or mobility device can maintain the stability of the mobility device by continuously sensing the orientation of the mobility device, determining the corrective action to maintain stability, and commanding the wheel motors to make the corrective action. Currently, if the mobility device loses the ability to maintain stability, such as through the failure of a component, the user may experience, among other things, discomfort at the sudden loss of balance. Further, the user may desire enhanced safety features and further control over the reaction of the mobility device to unstable situations.

[0005] Mobility devices such as, for example, wheelchairs, typically include a seat that is integrated with a chassis and wheels. Seats can include a variety of features, and some seats may be structured to help a user accommodate for certain challenges. Likewise, the mobility device chassis and wheels can come in a variety of configurations, for example some are motorized and some are not. When the seat is integrated with the chassis, the user may have to weigh the features of the integrated seat against the features of the chassis and wheels to decide which features are most important to the user. Combining the most important features in a seat with the most important features in a chassis and wheels can be useful when selecting a mobility device. Conveniently engaging a user-preferred seat with the mobility device can provide additional user options. Quickly releasing the engaged seat can provide for readily interchanging various seating options.

[0006] Wheelchair seats are further required to provide a user control device engaged therewith to maneuver the wheelchair as per user preference. Positioning of the user control (UC) can be challenging. The UC must be placed to align with comfort of the user or the wheelchair operator. Additionally, the positioning of the UC should be qualified to avoid obstructing any other movements or activities of the user. A rigidly positioned UC can cause such constraints to the user. Adjustable positioning of the UC can enable the user to perform required or routine activities without the UC's being a hindrance.

[0007] Electromagnetic holding brakes with and without manual brakes, can be coupled to each motor in a mobility device. In each brake, a friction disk that is keyed to the motor shaft can be trapped between two plates. One plate can be fixed, and the other can move axially under pressure. A magnet can be energized when the motor supply is switched on, releasing the pressure on the plates, allowing the motor shaft to rotate. A motor interface can include a prismatic profile that can mate with a like prismatic motor shaft. Mobility devices can exhibit noise under low motor speed operation. The noise can originate from the interface between the brake disk and motor coupling. This interface can function as a clearance fit between a shaft which passes through a hole in the brake disk. Because there can be a clearance in this interface, the brake disk can have rotational freedom with respect to the brake coupling. During low motor speed operation, this clearance can allow the brake disk to vibrate which can cause a sound due to motor speed fluctuations. A brake disk / motor coupling interface can reduce the vibrations while maintaining a relatively low sensitivity to brake position, the ability to transfer torque, the ability to restrain the brake disk rotational freedom under the no brake load condition, or cushion the rotational impacts that occur between the two parts.

[0008] On occasion, motors in a mobility device such as a powered wheelchair need to run faster to accommodate the needs of a user, in particular safety needs. A reliable, lightweight, and stable mobility device can include an automatic response capability to situations that are commonly encountered by a disabled user such as, for example, but not limited to positional obstacles, slippery surfaces, tipping conditions, and component failure. A mobility device can include long-lived redundant batteries, ergonomically positioned and shock buffered caster wheel assemblies, and ride management bumpers. A mobility device can include automatic mode transitions, improved performance over other mobility vehicles, remote control, and a vehicle locking mechanism. A mobility device can include foreign substance sealing and slope management, a cabled charging port, and accommodations for an increased payload over the prior art. A mobility device can include mode control based on battery charge, thumbwheel speed control, and accommodations for a loss of communications among processors.

[0009] US 2014 / 018994 describes dive-control systems for personal-transportation vehicles that function as active driving aids that enable autonomous and semi-autonomous cooperative navigation of electric-powered wheelchairs (EPWs) and other vehicles both indoors and in dynamic, outdoor environments. The systems can help to compensate for the loss of cognitive, perceptive or motor function in the drive by interpreting the driver's intent and seeing out into the environment on the driver's behalf.

[0010] US 2013 / 218380 describes a control system for a powered wheelchair that detects when a user is in a first orientation to cause movement of the powered wheelchair. The control system inhibits movement of the wheelchair when the user is not in the first orientation.

[0011] US 2007 / 055424 describes a method and apparatus for setting or modifying a programmable operating parameter associated with a power driven wheelchair. The method includes operating a user interface device associated with a power driven wheelchair in a programming mode, selecting a programmable operating parameter associated with operation of the power driven wheelchair using the user interface device, selecting a value for the programmable operating parameter using the user interface device, and saving the selected value for the programmable operating parameter in a portion of a storage device associated with the power driven wheelchair using the user interface device. A method for selecting one or more programmable parameter sets from a portable storage medium and saving the selected sets to a local storage device associated with a power driven wheelchair is also described.

[0012] WO 2017 / 053689 A1 describes a wheelchair including a frame, a seat attached to the frame, a first forward wheel on a first side of the frame and a second forward wheel on a second side of the frame, a first rearward wheel on the first side of the frame and a second rearward wheel on the second side of the frame, a first drive wheel on the first side of the frame positioned intermediate between the first forward wheel and the first rearward wheel and a second drive wheel on the second side of the frame positioned intermediate between the second forward wheel and the second rearward wheel, and actuators to independently control the vertical position of the first forward wheel relative to the frame, the vertical position of the second forward wheel relative to the frame, the vertical position of the first rearward wheel relative to the frame, the vertical position of the second rearward wheel relative to the frame, the vertical position of the first drive wheel relative to the frame and the vertical position of the second drive wheel relative to the frame.SUMMARY

[0013] The invention is defined in the attached independent claim to which reference should now be made. Further, optional features may be found in the sub-claims appended thereto.

[0014] The powered balancing mobility device of the present teachings can include, but is not limited to including a powerbase assembly processing movement commands for the mobility device, and at least one cluster assembly operably coupled to the powerbase assembly, the at least one cluster assembly being operably coupled to a plurality of wheels, the plurality of wheels supporting the powerbase assembly, the plurality of wheels and the at least one cluster assembly moving the mobility device based at least on the processed movement commands. The mobility device can include an active stabilization processor estimating the center of gravity of the mobility device, the active stabilization processor estimating at least one value associated with the mobility device required to maintain balance of the mobility device based on the estimated center of gravity. The powerbase processor can actively balance the mobility device on at least two of the plurality of wheels based at least on the at least one value. The powerbase assembly can optionally include redundant motors moving the at least one cluster assembly and the plurality of wheels, redundant sensors sensing sensor data from the redundant motors and the at least one cluster assembly, redundant processors executing within the powerbase assembly, the redundant processors selecting information from the sensor data, the selecting being based on agreement of the sensor data among the redundant processors, the redundant processors processing the movement commands based at least on the selected information.

[0015] The powered balancing mobility device can optionally include an anti-tipping controller stabilizing the mobility device based on stabilization factors, the anti-tipping controller executing commands including computing a stabilization metric, computing a stabilization factor, determining movement commands information required to process the movement commands, and processing the movement commands based on the movement command information and the stabilization factor if the stabilization metric indicates that stabilization is required. The powered balancing mobility device can optionally include a stair-climbing failsafe means forcing the mobility device to fall safely if stability is lost during stair climbing. The powered balancing mobility device can optionally include a caster wheel assembly operably coupled with the powerbase assembly, a linear acceleration processor computing mobility device acceleration of the mobility device based at least on the speed of the wheels, the linear acceleration processor computing the inertial sensor acceleration of an inertial sensor mounted upon the mobility device based at least on sensor data from the inertial sensor, a traction control processor computing the difference between the mobility device acceleration and the inertial sensor acceleration, the traction control processor comparing the difference to a pre-selected threshold, and a wheel / cluster command processor commanding the at least one cluster assembly to drop at least one of the plurality of wheels and the caster assembly to the ground based at least on the comparison.

[0016] The powerbase processor can optionally use field weakening to provide bursts of speed to motors associated with the at least one cluster assembly and the plurality of wheels. The powerbase processor can optionally estimate the center of gravity of the mobility device by (1) measuring data including a pitch angle required to maintain balance of the mobility device at a pre-selected position of the at least one wheel cluster and a pre-selected position of the seat, (2) moving the mobility device / user pair to a plurality of points, repeats step (1) at each of the plurality of points, (3) verifying that the measured data fall within pre-selected limits, and (4) generating a set of calibration coefficients to establish the center of gravity during operation of the mobility device, the calibration coefficients based at least on the verified measured data. The powerbase processor can optionally include a closed loop controller maintaining stability of the mobility device, the closed loop controller automatically decelerating forward motion and accelerating backward motion under pre-selected circumstances, the pre-selected circumstances being based on the pitch angle of the mobility device and the center of gravity of the mobility device.

[0017] The powered balancing mobility device can optionally include an all-terrain wheel pair including an inner wheel having at least one locking means accessible by an operator of the mobility device while the mobility device is operating, the inner wheel having at least one retaining means, the all-terrain wheel pair including an outer wheel having an attachment base, the attachment base accommodating the at least one locking means and the at least one retaining means, the at least one retaining means operable by the operator while the mobility device is in operation to connect the inner wheel to the outer wheel.

[0018] The powered balancing mobility device can optionally include a powerbase processor board including at least one inertial sensor, the at least one inertial sensor being mounted on an inertial sensor board, the at least one inertial sensor board being flexibly coupled with the powerbase processor board, the at least one inertial sensor board being separate from the powerbase processor board, the at least one inertial sensor being calibrated in isolation from the powerbase processor board. The powered balancing mobility device can optionally include at least one inertial sensor including a gyro and an accelerometer.

[0019] The powerbase processor can optionally include a mobility device wireless processor enabling communications with an external application electronically remote from the mobility device, the mobility device wireless processor receiving and decoding incoming messages from a wireless radio, the powerbase processor controlling the mobility device based at least one the decoded incoming messages. The powerbase processor can optionally include a secure wireless communications system including data obfuscation and challenge-response authentication.

[0020] The powered balancing mobility device can optionally include an indirect heat dissipation path between the powerbase processor board and the chassis of the mobility device. The powered balancing mobility device can optionally include a seat support assembly enabling connection of a plurality of seat types to the powerbase assembly, the powerbase assembly having seat position sensors, the seat position sensors providing seat position data to the powerbase processor. The seat support assembly can optionally include seat lift arms lifting the seat, a shaft operably coupled with the seat lift arms, the shaft rotation being measured by the seat position sensors, the shaft rotating through < 90°, the shaft being couple to the seat position sensor by a one-stage gear train causing the seat position sensor to rotate > 180°, the combination doubling the sensitivity of the seat position data.

[0021] The powerbase assembly can optionally include a plurality of sensors fully enclosed within the powerbase assembly, the plurality of sensors including co-located sensor groups sensing substantially similar characteristics of the mobility device. The powerbase assembly can optionally include a manual brake including internal components, the internal components including a hard stop and a damper, the manual brake including a brake release lever replaceable separately from the internal components.

[0022] The powerbase processor can optionally include user-configurable drive options limiting speed and acceleration of the mobility device based on pre-selected circumstances. The powered balancing mobility device can optionally include a user control device including a thumbwheel, the thumbwheel modifying at least one speed range for the mobility device.

[0023] The powered balancing mobility device can optionally include a drive lock element enabling operable coupling between the powerbase assembly and a docking station, and a skid plate having a pop-out cavity accommodating the drive lock element, the skid plate enabling retention of oil escaping from the powerbase assembly.

[0024] The powered balancing mobility device can optionally include a seat, wherein the powerbase processor receiving an indication that the mobility device is encountering a ramp between the ground and a vehicle, the powerbase processor directing the clusters of wheels to maintain contact with the ground, the powerbase processor changing the orientation of the at least one cluster assembly according to the indication to maintain the center of gravity of the mobility device based on the position of the plurality of wheels, the powerbase processor dynamically adjusting the distance between the seat and the at least one cluster assembly to prevent contact between the seat and the plurality of wheels while maintaining the seat as close to the ground as possible.

[0025] The powerbase processor can optionally include an obstacle system including receiving obstacle data, automatically identifying the at least one obstacle within the obstacle data, automatically determining at least one situation identifier, automatically maintaining a distance between the mobility device and the at least one obstacle based on the at least one situation identifier, automatically accessing at least one allowed command related to the distance, the at least one obstacle, and the at least one situation identifier, automatically accessing at least one automatic response to at least one movement command, receiving at least one movement command, automatically mapping the at least one movement command with one of the at least one allowed commands, and automatically moving the mobility device based on the at least one movement command and the at least one automatic response associated with the mapped allowed command.

[0026] The powerbase processor can optionally include a stair processor including receiving at least one stair command, receiving sensor data from sensors mounted on the mobility device, automatically locating, based on the sensor data, at least one staircase within the sensor data, receiving a selection of a selected staircase of the at least one staircase, automatically measuring at least one characteristic of the selected staircase, automatically locating, based on the sensor data, obstacles, if any, on the selected staircase, automatically locating, based on the sensor data, a last stair of the selected staircase, and automatically navigating the mobility device on the selected staircase based on the measured at least one characteristic, the last stair, and the obstacles, if any.

[0027] The powerbase processor can optionally include a rest room processor including automatically locating a rest room stall door, automatically moving the mobility device through the rest room stall door into the rest room stall, automatically positioning the mobility device relative to rest room fixtures, automatically locating the rest room stall door, and automatically moving the mobility device through the rest room stall door exiting the rest room stall.

[0028] The powerbase processor can optionally include a door processor including receiving sensor data from sensors mounted on the mobility device, automatically identifying the door within the sensor data, automatically measuring the door, automatically determining the door swing, automatically moving the mobility device forward through the doorway, the mobility device opening the door and maintaining the door in an open position, if the door swing is away from the mobility device, and automatically positioning the mobility device for access to a handle of the door, moving the mobility device away from the door, as the door opens, by a distance based on the width of the door, and moving the mobility device forward though the doorway, the mobility device maintaining the door in an open position, if the door swing is towards the mobility device.

[0029] The powerbase processor can optionally include a door processor including receiving sensor data from sensors mounted on the mobility device, automatically identifying the door within the sensor data, automatically measuring the door, including the width of the door, automatically generating an alert if the door is smaller than the a pre-selected size related to the size of the mobility device, automatically positioning the mobility device for access to the door, the positioning being based on the width of the door, automatically generating a signal for opening the door, and automatically moving the mobility device though the doorway.

[0030] The powerbase processor can optionally include a docking processor including automatically locating a transfer point at which a patient transfers out of the mobility device, automatically positioning the mobility device in the vicinity of the transfer point, automatically determining when the patients transfers out of the mobility device, automatically locating a docking station, automatically positioning the mobility device at the docking station, and operably connecting the mobility device to the docking station.

[0031] The method of the present teachings for controlling the speed of a mobility device, where the mobility device can include a plurality of wheels and a plurality of sensors, the method can include, but is not limited to including receiving terrain and obstacle detection data from the plurality of sensors, mapping terrain and obstacles, if any, in real time based at least on the terrain and obstacle detection data, computing collision possible areas, if any, based at least on the mapped data, computing slow-down areas if any based at least on the mapped data and the speed of the mobility device, receiving user preferences, if any, with respect to the slow-down areas and desired direction and speed of motion, computing wheel commands to command the plurality of wheels based at least on the collision possible areas, the slow-down areas, and the user preferences, and providing the wheel commands to the plurality of wheels.

[0032] The method of the present teachings for moving a balancing mobility device on relatively steep terrain, where the mobility device including clusters of wheels and a seat, and the clusters of wheels and the seat are separated by a distance, and the distance varies based on pre-selected characteristics, the method can include, but is not limited to including, receiving an indication that the mobility device will encounter the steep terrain, directing the clusters of wheels to maintain contact with the ground, and dynamically adjusting the distance between the seat and the clusters of wheels based on maintaining the balance of the mobility device and the indication.

[0033] The mobility device of the present teachings includes a reliable, lightweight, stable mobility device that includes a powerbase operably coupled with a user controller. The powerbase can include a powerbase controller, a power source controller, wheel cluster assemblies, all-terrain wheels, caster arms, and casters. The powerbase can include long-lived redundant batteries having, for example, on-board battery management systems, ergonomically positioned and shock buffered caster wheel assemblies, a docking capability, generic seat attachment hardware, and ride management bumpers. The powerbase and the user controller can communicate with an external device that can, for example, monitor and control the mobility device. The mobility device can be protected from foreign substance entry and tipping hazards, and can accommodate an increased payload over the prior art.

[0034] The powerbase controller can include, but is not limited to including, at least two redundant processors controlling the mobility device. The at least one user controller can receive desired actions for the mobility device and can, along with the powerbase controller, process the desired actions. The at least two processors can each include at least one controller processing task. The at least one controller processing task can receive sensor data and motor data associated with sensors and motors that can be operably coupled with the mobility device. The mobility device can include at least one inertial measurement unit (IMU) board that can be operably coupled with the powerbase controller. The at least one IMU can be mounted on a daughter board, and can be calibrated remotely from the mobility device. The coupling of the daughter board with the powerbase controller can enable shock-resistance in the IMU.

[0035] In addition to redundant processors, the mobility device of the present teachings can include reliability features such as, for example, redundant motors and sensors, such as, for example, IMU sensors. Eliminating data that could be incorrect from the redundant components can improve the safety and reliability of the mobility device. The method of the present teachings, referred to herein as "voting", for resolving which value to use from redundant of the at least one processor of the present teachings can include, but is not limited to including, initializing a counter, averaging values, for example, but not limited to, sensor or command values, from each processor (referred to herein as processor values), computing the absolute value difference between each processor value and the average, and discarding the highest difference. The method can further include computing differences between the remaining processor values and each other. If there are any differences greater than a preselected threshold, the method can include comparing the values that have the highest difference between them to the remaining value, voting out the value with the highest difference from the remaining value, comparing the voted out values to the remaining values, and voting out any difference above the pre-selected threshold and selecting one of the remaining processor values or an average of the processor values. If there are no differences greater than the pre-selected threshold, the method can compare the voted out value to the remaining values. If there are any differences greater than the pre-selected threshold, the method can include voting out the value voted out in the compare step, and selecting one of the remaining processor values or an average of the remaining processor values. If there are no differences greater than the pre-selected threshold, the method can include selecting one of the remaining processor values or an average of the remaining processor values. If a processor value is voted out a pre-selected number of times, the method can include raising an alarm. If the voting scheme fails to find a processor value that satisfies the selection criteria, the method can include incrementing the counter. If the counter has not exceeded a pre-selected number, the method can include discarding the frame having no remaining processor values and selecting a previous frame having at least one processor value that meets the selection criteria. If the frame counter is greater than the pre-selected number, the method can include moving the mobility device to a failsafe mode. The mobility device of the present teachings can include a filter to fuse gyro and accelerometer data to produce an accurate estimate of a gravity vector, and the gravity vector can be used to define the orientation and inertial rotation rates of the mobility device. The orientation and inertial rotation rates of the mobility device can be shared and combined across redundant processors of the present teachings.

[0036] To facilitate a beneficial user experience, the mobility device can operate in several functional modes including, but not limited to, standard, 4-Wheel, stair, balance, remote, utility, calibration, and, optionally, docking modes, all described herein. When first powered, the mobility device can include a pre-determined start-up process. The mobility device can perform self-diagnostics to check the integrity of features of the mobility device that are not readily testable during normal operation. Power off requests can be detected and qualified by the mobility device to determine whether to grant the request or not. Prior to powering off, the mobility device position can be secured and all state information and logged information can be stored.

[0037] In some configurations, the mobility device of the present teachings can accommodate users of varying levels of physical ability and device acumen. In particular, users can adjust the response of the mobility device to joystick commands. In some configurations, the mobility device of the present teachings can allow user configurable drive options in the form of joystick command shaping and thumbwheel control that can allow individual users to configure the mobility device, including the user controller of the present teachings, for driving preferences. The mobility device of the present teachings can accommodate speed sensitive steering that can adjust the turn behavior of the mobility device as a function of the speed of the mobility device, making the mobility device responsive at high speeds and less jerky at low speeds.

[0038] In some configurations, the mobility device of the present teachings can still further accommodate adaptive speed control to assist users in avoiding potentially dangerous conditions while driving. Adaptive speed control can reduce required driver concentration by using sensors to detect obstacles, and can help users negotiate difficult terrain or situations. The method of the present teachings for adaptive speed control of the mobility device can include, but is not limited to including, receiving terrain and obstacle detection data, and mapping terrain and obstacles, if any, in real time based at least on the terrain and obstacle detection data. The method can optionally include computing virtual valleys, if any, based at least on the mapped data. The method can still further include computing collision possible areas, if any, based at least on the mapped data, and computing slow-down areas if any based at least on the mapped data and the speed of the mobility device. The method can also include receiving user preferences, if any, with respect to the slow-down areas and desired direction and speed of motion. The method can still further include computing at least one wheel command based at least on the collision possible areas, the slow-down areas, and the user preferences and optionally the virtual valleys, and providing the at least one wheel command to the wheel motor drives.

[0039] The method for obstacle processing of the present teachings can include, but is not limited to including, receiving and segmenting PCL data, identifying at least one plane within the segmented PCL data, and identifying at least one obstacle within the at least one plane. The method for obstacle processing can further include determining at least one situation identifier based at least on the obstacles, user information, and movement commands, and determining the distance between the mobility device and the obstacles based at least on the situation identifier. The method for obstacle processing can also include accessing at least one allowed command related to the distance, the obstacle, and the situation identifier. The method for obstacle processing can still further include accessing an automatic response to the allowed command, receiving a movement command, mapping the movement command with one of the allowed commands, and providing the movement command and the automatic response associated with the mapped allowed command to the mode-dependent processors.

[0040] The obstacles can be stationary or moving. The distance can include a fixed amount and / or can be a dynamically varying amount. The movement command can include a follow command, a pass-the-obstacle command, a travel-beside-the-obstacle command, and a do-not-follow-the- obstacle command. The obstacle data can be stored and retrieved locally and / or in a cloud-based storage area, for example. The method for obstacle processing can include collecting sensor data from a time-of-flight camera mounted on the mobility device, analyzing the sensor data using a point cloud library (PCL), tracking the moving object using SLAM based on the location of the mobility device, identifying a plane within the obstacle data using, and providing the automatic response associated with the mapped allowed command to the mode-dependent processors. The method for obstacle processing can receive a resume command, and provide, following the resume command, a movement command and the automatic response associated with the mapped allowed command to the mode-dependent processors. The automatic response can include a speed control command.

[0041] The obstacle processor of the present teachings can include, but is not limited to including, a nav / PCL data processor. The nav / PCL processor can receive and segment PCL data from a PCL processor, identify a plane within the segmented PCL data, and identify obstacles within the plane. The obstacle processor can include a distance processor. The distance processor can determine a situation identifier based user information, the movement command, and the obstacles. The distance processor can determine the distance between the mobility device and the obstacles based at least on the situation identifier. The moving object processor and / or the stationary object processor can access the allowed command related to the distance, the obstacles, and the situation identifier. The moving object processor and / or the stationary object processor can access an automatic response from an automatic response list associated with the allowed command. The moving object processor and / or the stationary object processor can access the movement command and map the movement command with one of the allowed commands. The moving object processor and / or stationary object processor can provide movement commands and the automatic response associated with the mapped allowed command to the mode-dependent processors. The movement command can include a follow command, a pass command, a travel-beside command, a move-to-position command, and a do-not-follow command. The nav / PCL processor can store obstacles in local storage and / or on storage cloud, and can allow access to the stored obstacles by systems external to the mobility device.

[0042] In some configurations, the mobility device of the present teachings can include weight sensitive controllers that can accommodate the needs of a variety of users. Further, the weight sensitive controllers can detect an abrupt change in weight, for example, but not limited to, when the user exits the mobility device. The weight and center of gravity location of the user can be significant contributors to the system dynamics. By sensing the user weight and adjusting the controllers, improved active response and stability of the mobility device can be achieved.

[0043] The method of the present teachings for stabilizing the mobility device can include, but is not limited to including, estimating the weight and / or change in weight of a load on the mobility device, choosing a default value or values for the center of gravity of the mobility device and load combination, computing controller gains based at least on the weight and / or change in weight and the center of gravity values, and applying the controller gains to control the mobility device. The method of the present teachings for computing the weight of a load on the mobility device can include, but is not limited to including, receiving the position of the load on the mobility device, receiving the setting of the mobility device to standard mode, measuring the motor current required to move the mobility device to enhanced mode at least once, computing a torque based at least on the motor current, computing a weight of the load based at least on the torque, and adjusting controller gains based at least on the computed weight to stabilize the mobility device.

[0044] In some configurations, the mobility device of the present teachings can include traction control that can adjust the torque applied to the wheels to affect directional and acceleration control. In some configurations, traction control can be assisted by rotating the cluster so that four wheels contact the ground when braking above a certain threshold is requested. The method of the present teachings for controlling traction of the mobility device can include, but is not limited to including, computing the linear acceleration of the mobility device, and receiving the IMU measured acceleration of the mobility device. If the difference between an expected linear acceleration and a measured linear acceleration of the mobility device is greater than or equal to a preselected threshold, adjusting the torque to the cluster / wheel motor drives. If the difference between an expected linear acceleration and a measured linear acceleration of the mobility device is less than a preselected threshold, the method can continue testing for loss of traction.

[0045] The mobility device of the present teachings can include a user controller (UC) assist that can assist a user in avoiding obstacles, traversing doors, traversing stairs, traveling on elevators, and parking / transporting the mobility device. The UC assist can receive user input and / or input from components of the mobility device, and can enable the invocation of a processing mode that has been automatically or manually selected. A command processor can enable the invoked mode by generating movement commands based at least on previous movement commands, data from the user, and data from sensors. The command processor can receive user data that can include signals from a joystick that can provide an indication of a desired movement direction and speed of the mobility device. User data can also include mode selections into which the mobility device could be transitioned. Modes such as door mode, rest room mode, enhanced stair mode, elevator mode, mobile storage mode, and static storage / charging mode can be selected. Any of these modes can include a move-to-position mode, or the user can direct the mobility device to move to a certain position. UC assist can generate commands such as movement commands that can include, but are not limited to including, speed and direction, and the movement commands can be provided to wheel motor drives and cluster motor drives.

[0046] Sensor data can be collected by sensor-handling processors that can include, but are not limited to including, a geometry processor, a point cloud library (PCL) processor, a simultaneous location and mapping (SLAM) processor, and an obstacle processor. The movement commands can also be provided to the sensor handling processors. The sensors can provide environmental information that can include, for example, but not limited to, obstacles and geometric information about the mobility device. The sensors can include at least one time-of-flight sensor that can be mounted anywhere on the mobility device. There can be multiple sensors mounted on the mobility device. The PCL processor can gather and process environmental information, and can produce PCL data that can be processed by a PCL library.

[0047] The geometry processor of the present teachings can receive geometry information from the sensors, can perform any processing necessary to prepare the geometry information for use by the mode-dependent processors, and can provide the processed of geometry information to mode-dependent processors. The geometry of the mobility device can be used for automatically determining whether or not the mobility device can fit in and / or through a space such as, for example, a stairway and a door. The SLAM processor can determine navigation information based on, for example, but not limited to, user information, environmental information, and movement commands. The mobility device can travel in a path at least in part set out by navigation information. An obstacle processor can locate obstacles and distances to the obstacles. Obstacles can include, but are not limited to including, doors, stairs, automobiles, and miscellaneous features in the vicinity of the path of the mobility device.

[0048] The method of the present teachings for navigating stairs can include, but is not limited to including, receiving a stair command, and receiving environmental information from the obstacle processor. The method for navigating stairs can include locating, based on the environmental information, staircases within environmental information, and receiving a selection of one of the staircases located by the obstacle processor. The method for navigating stairs can also include measuring the characteristics of the selected staircase, and locating, based on the environmental information, obstacles, if any, on the selected staircase. The method for navigating stairs can also include locating, based on the environmental information, a last stair of the selected staircase, and providing movement commands to move the mobility device on the selected staircase based on the measured characteristics, the last stair, and the obstacles, if any. The method for navigating stairs can continue providing movement commands until the last stair is reached. The characteristics can include, but are not limited to including, the height of the stair riser of the selected staircase, the surface texture of the riser, and the surface temperature of the riser. Alerts can be generated if the surface temperature falls outside of a threshold range and the surface texture falls outside of a traction set.

[0049] The navigating stair processor of the present teachings can include, but is not limited to including, a staircase processor receiving at least one stair command included in user information, and a staircase locator receiving, through, for example, the obstacle processor, environmental information from sensors mounted on the mobility device. The staircase locator can locate, based on environmental information, the staircases within the environmental information, and can receive the choice of a selected staircase. The stair characteristics processor can measure the characteristics of the selected staircase, and can locate, based on environmental information, obstacles, if any, on the selected staircase. The stair movement processor can locate, based on environmental information, a last stair of the selected staircase, and can provide to movement processor movement commands to instruct the mobility device to move on the selected staircase based on the characteristics, the last stair, and the obstacles, if any. The staircase locator can locate staircases based on GPS data, and can build and save a map of the selected staircase. The map can be saved for use locally and / or by other devices unrelated to the mobility device. The staircase processor can access the geometry of the mobility device, compare the geometry to the characteristics of the selected staircase, and modify the navigation of the mobility device based on the comparison. The staircase processor can optionally generate an alert if the surface temperature of the risers of the selected staircase falls outside of a threshold range and the surface texture of selected staircase falls outside of a traction set. The stair movement processor can determine, based on the environmental information, the topography of an area surrounding the selected staircase, and can generate an alert if the topography is not flat. The stair movement processor can access a set of extreme circumstances that can be used to modify the movement commands generated by the stair movement processor.

[0050] When the mobility device traverses the threshold of a door, where the door can include a door swing, a hinge location, and a doorway, the method of the present teachings for navigating a door can include receiving and segmenting environmental information from sensors mounted on the mobility device. The environmental information can include the geometry of the mobility device. The method can include identifying a plane within the segmented sensor data, and identifying the door within the plane. The method for navigating a door can include measuring the door, and providing movement commands that can move the mobility device away from the door if the door measurements are smaller than the mobility device. The method for navigating a door can include determining the door swing and providing movement commands to move the mobility device for access to a handle of the door. The method for navigating a door can include providing movement commands to move the mobility device away from the door as the door opens by a distance based on the door measurements. The method for navigating a door can include providing movement commands to move the mobility device forward though the doorway. The mobility device can maintain the door in an open position if the door swing is towards the mobility device.

[0051] The method of the present teachings for processing sensor data can determine, through information from the sensors, the hinge side of the door, the direction and angle of the door, and the distance to the door. The movement processor of the present teachings can generate commands to the MD such as start / stop turning left, start / stop turning right, start / stop moving forward, start / stop moving backwards, and can facilitate door mode by stopping the mobility device, cancelling the goal that the mobility device can be aiming to complete, and centering the joystick. The door processor of the present teachings can determine whether the door is, for example, a push to open, a pull to open, or a slider. The door processor can determine the width of the door based on the current position and orientation of the mobility device, and can determine the x / y / z location of the door pivot point. If the door processor determines that the number of valid points in the image of the door derived from the set of obstacles and / or PCL data is greater than a threshold, the door processor can determine the distance from the mobility device to the door. The door processor can determine if the door is moving based on successive samples of PCL data from the sensor processor. In some configurations, the door processor can assume that a side of the mobility device is even with the handle side of the door, and can use that assumption, along with the position of the door pivot point, to determine the width of the door. The door processor can generate commands to move the mobility device through the door based on the swing and the width of the door. The mobility device itself can maintain the door in an open state while the mobility device traverses the threshold of the door.

[0052] In some configurations, the mobility device can automatically negotiate the use of rest room facilities. The doors to the rest room and to the rest room stall can be located as discussed herein, and the mobility device can be moved to locations with respect to the doors as discussed herein. Fixtures in the rest room can be located as obstacles as discussed herein, and the mobility device can be automatically positioned in the vicinity of the fixtures to provide the user with access to, for example, the toilet, the sink, and the changing table. The mobility device can be automatically navigated to exit the rest room stall and the rest room through door and obstacle processing discussed herein. The mobility device can automatically traverse the threshold of the door based on the geometry of the mobility device.

[0053] The method of the present teachings for automatically storing the mobility device in a vehicle, such as, for example, but not limited to, an accessible van, can assist a user in independent use of the vehicle. When the user exits the mobility device and enters the vehicle, possibly as the vehicle's driver, the mobility device can remain parked outside of the vehicle. If the mobility device is to accompany the user in the vehicle for later use, the mobile park mode of the present teachings can provide movement commands to the mobility device to cause the mobility device to store itself either automatically or upon command, and to be recalled to the door of the vehicle as well. The mobility device can be commanded to store itself through commands received from external applications, for example. In some configurations, a computer-driven device such as a cell phone, laptop, and / or tablet can be used to execute one or more external applications and generate information that could ultimately control the mobility device. In some configurations, the mobility device can automatically proceed to mobile park mode after the user exits the mobility device. Movement commands can include commands to locate the door of the vehicle at which the mobility device will enter to be stored, and commands to direct the mobility device to the vehicle door. Mobile park mode can determine error conditions such as, for example, but not limited to, if the vehicle door is too small for the mobility device to enter, and mobile park mode can alert the user of the error condition through, for example, but not limited to, an audio alert through audio interface and / or a message to one or more external applications. If the vehicle door is wide enough for the mobility device to enter, mobile park mode can provide vehicle control commands to command the vehicle to open the vehicle door. Mobile park mode can determine when the vehicle door is open and whether or not there is space for the mobility device to be stored. Mobile park mode can invoke the method for obstacle processing to assist in determining the status of the vehicle door and if there is room in the vehicle to store the mobility device. If there is enough room for the mobility device, mobile park mode can provide movement commands to move the mobility device into the storage space in the vehicle. Vehicle control commands can be provided to command the vehicle to lock the mobility device into place, and to close the vehicle door. When the mobility device is again needed, one or more external applications, for example, can be used to bring the mobility device back to the user. The status of the mobility device can be recalled, and vehicle control commands can command the vehicle to unlock the mobility device and open the door of the vehicle. The vehicle door can be located and the mobility device can be moved through the vehicle door and to the passenger door to which it had been summoned by, for example, one or more external applications. In some configurations, the vehicle can be tagged in places such as, for example, the vehicle entry door where the mobility device can be stored.

[0054] The method of the present teachings for storing / recharging the mobility device can assist the user in storing and possibly recharging the mobility device, possibly when the user is sleeping. After the user exits the mobility device, commands can be initiated by one or more external applications, to move the perhaps riderless mobility device to a storage / docking area. In some configurations, a mode selection by the user while the user occupies the mobility device can initiate automatic storage / docking functions after the user has exited the mobility device. When the mobility device is again needed, commands can be initiated by one or more external applications to recall the mobility device to the user. The method for storing / recharging the mobility device can include, but is not limited to including, locating at least one storage / charging area, and providing at least one movement command to move the mobility device from a first location to the storage / charging area. The method for storing / recharging the mobility device can include locating a charging dock in the storage / charging area and providing at least one movement command to couple the mobility device with the charging dock. The method for storing / recharging the mobility device can optionally include providing at least one movement command to move the mobility device to the first location when the mobility device receives an invocation command. If there is no storage / charging area, or if there is no charging dock, or if the mobility device cannot couple with the charging dock, the method for storing / recharging the mobility device can optionally include providing at least one alert to the user, and providing at least one movement command to move the mobility device to the first location.

[0055] The method of the present teachings for negotiating an elevator while maneuvering the mobility device can enable a user to get on and off the elevator while seated in the mobility device. When the elevator is, for example, automatically located, and when the user selects the desired elevator direction, and when the elevator arrives and the door opens, movement commands can be provided to move the mobility device into the elevator. The geometry of the elevator can be determined and movement commands can be provided to move the mobility device into a location that makes it possible for the user to select a desired activity from the elevator selection panel. The location of the mobility device can also be appropriate for exiting the elevator. When the elevator door opens, movement commands can be provided to move the mobility device to fully exit the elevator.

[0056] The powered balancing mobility device of the present teachings can include, but is not limited to including, a powerbase assembly including a powerbase controller and a power source controller. The power source controller can supply power to the powerbase controller, and the powerbase assembly can process movement commands for the mobility device. The powered balancing mobility device can include cluster assemblies operably coupled to the powerbase assembly. The cluster assemblies can include operable coupling with a plurality of wheels. The wheels can support the powerbase assembly and can move based on the processed movement commands. The powerbase assembly and the cluster assembly can enable balance of the mobility device on two of the plurality of wheels.

[0057] The powered balancing mobility device can optionally include caster arms that can be operably coupled to the powerbase assembly. The caster arms can include operable coupling to the caster wheels, and the caster wheels can support the powerbase assembly. The powered balancing mobility device can optionally include a seat support assembly that can enable connection of a seat to the powerbase assembly. The powerbase assembly can include seat position sensors, and the seat position sensors can provide seat position data to the powerbase assembly. The powered balancing mobility device can optionally include terrain wheels that can include a means for user-detachability. The powered balancing mobility device can optionally include a powerbase controller board including the powerbase controller and at least one inertial measurement unit (IMU). The at least one IMU can be mounted upon an IMU board, and the IMU can include flexibly coupling with the powerbase controller board. The IMU board can be separate from the powerbase controller board, and the at least one IMU can be calibrated in isolation from the powerbase controller board.

[0058] The powered balancing mobility device can optionally include at least one field-effect transistor (FET) positioned on the powerbase controller board, and at least one heat spreader plate receiving heat from the FET. The at least one heat spreader plate can transfer the heat to the chassis of the mobility device. The powered balancing mobility device can optionally include at least one motor being thermally pressed into at least one housing of the mobility device, and at least one thermistor associated with the at least one motor, the at least one thermistor enabling reduced power usage when the associated at least one motor exceeds a heat threshold. The powered balancing mobility device can optionally include a plurality of batteries that can power the mobility device. The plurality of batteries can be mounted with mounting gaps between each pair of the batteries. The batteries can be connected to the powerbase assembly through environmentally isolated seals. The powered balancing mobility device can optionally include a powerbase controller board that can include redundant processors. The redundant processors can be physically separated from each other, and can enable fault tolerance based on a voting process.

[0059] The powered balancing mobility device can optionally include a drive lock element that can enable operable coupling between the powerbase assembly and a docking station. The powered balancing mobility device can optionally include a skid plate having a pop-out cavity that can accommodate the drive lock element. The skid plate can enable retention of oil escaping from the powerbase assembly. The powered balancing mobility device can optionally include an anti-tipping process that can reduce the likelihood of the mobility device tipping over. The powered balancing mobility device can optionally include a field weakening process that can enable management of abnormal circumstances by the mobility device by supplying relatively short bursts of relatively high motor speed. The powered balancing mobility device can optionally include a stair-climbing failsafe means that can force the mobility device to fall backwards if stability is lost during stair climbing. The powered balancing mobility device can optionally include at least one magnet mounted within the cluster assembly. The at least one magnet can attract particles within the cluster assembly. The powered balancing mobility device can optionally include at least one seal between sections of the cluster assembly. The powered balancing mobility device can optionally include electrical connectors that can include printed circuit boards (PCBs) having electromagnetic (EM) energy shielding. The PCBs can disable transmission of EM energy along cables associated with the electrical connectors.

[0060] The mobility device of the present teachings can include, but is not limited to including, a seat and a cluster. The mobility device can include a fully internal and redundant sensor system, and the sensor system can include a plurality of sensors. The plurality of sensors can include a plurality of absolute position sensors that can enable new location reports if the seat and / or cluster move during a power off of the mobility device. The plurality of sensors can include a plurality of seat sensors and a plurality of cluster sensors operating during power on. The sensor system can enable fail-over from a failing one of the plurality of sensors to another of the plurality of the sensors. The plurality of sensors can include co-located sensor groups that can sense substantially similar characteristics of the mobility device. The mobility device can include an environmentally isolated gearbox. The contents of the gearbox being can be shielded from physical contaminants and electromagnetic transmissions. The gearbox can be oiled by an oil port in a housing of the mobility device. The mobility device can include a manual brake that can include a hard stop and a damper. The manual brake can include a brake release lever isolated from the contents of the gearbox. The manual brake can include a mechanically isolated sensor reporting when the manual brake is engaged, and the isolated sensor can include a flux shield.

[0061] The method of the present teachings for establishing the center of gravity for a mobility device / user pair, where the mobility device can include a balancing mode that can include a balance of the mobility device / user pair, and where the mobility device can include at least one wheel cluster and a seat, can include, but is not limited to including, (1) entering the balancing mode, (2) measuring data including a pitch angle required to maintain the balance at a pre-selected position of the at least one wheel cluster and a pre-selected position of the seat, (3) moving the mobility device / user pair to a plurality of pre-selected points, (4) repeating step (2) at each of the plurality of pre-selected points, (5) verifying that the measured data fall within pre-selected limits, and (6) generating a set of calibration coefficients to establish the center of gravity during operation of the mobility device. The calibration coefficients can be based at least on the verified measured data. The method can optionally include storing the verified measured data in non-volatile memory.

[0062] The method of the present teachings for filtering parameters associated with the movement of a mobility device having an IMU, where the IMU includes a gyro, and the gyro includes a gyro bias and gyro data, can include, but is not limited to including, (1) subtracting the gyro bias from gyro data to correct the gyro data, (2) integrating a filtered gravity rate over time to produce a filtered gravity vector, (3) computing a gravity rate vector and a projected gravity rate estimate based at least on filtered body rates and the filtered gravity vector, (4) subtracting the product of a first gain K1 and a gravity vector error from the gravity rate vector, the gravity vector error being based at least on the filtered gravity vector and a measured gravity vector, (5) computing a pitch rate, a roll rate, a yaw rate, a pitch, and a roll of the mobility device based on a filtered gravity rate vector and the filtered body rates, (6) subtracting a differential wheel speed between wheels of the mobility device from the projected gravity rate estimate to produce a projected rate error and the gyro bias, (7) computing the cross product of gravity vector error and the filtered gravity vector, and adding the cross product to the dot product of the filtered gravity vector and a projected gravity rate estimate error to produce a body rate error, (8) applying a second gain to an integration over time of the body rate error to produce the gyro bias, and (9) looping through steps (1) - (8) to continually modify the gyro data.

[0063] The method of the present teachings for making an all-terrain wheel pair can include, but is not limited to including, constructing an inner wheel having at least one locking pin receiver, the inner wheel having a retaining lip accommodating twist-lock attachment, and constructing an outer wheel having an attachment base. The attachment base can include a locking pin cavity, and the locking pin cavity can accommodate a locking pin. The locking pin cavity can include at least one retaining tang that can accommodate twist-lock attachment. The method can include attaching the outer wheel to the inner wheel by mating the locking pin with one of the at least one locking pin receivers and mating the retaining lip with the at least one retaining tang.

[0064] The method of the present teachings for traveling over rough terrain in a mobility device can include, but is not limited to including, attaching an inner wheel having at least one locking pin receiver. The inner wheel can include a retaining lip accommodating twist-lock attachment. The method can include attaching an outer wheel having at least one retaining tang and an attachment base having a locking pin cavity to the inner wheel by threading a locking pin into the locking pin cavity and mating the locking pin with one of the at least one locking pin receivers, and mating the retaining lip with the at least one retaining tang.

[0065] The all-terrain wheel pair of the present teachings can include, but is not limited to including, an inner wheel having at least one locking pin receiver. The inner wheel can include a retaining lip accommodating twist-lock attachment. The wheel pair can include an outer wheel having an attachment base. The attachment base can include a locking pin cavity, and the locking pin cavity can accommodate a locking pin. The locking pin cavity can include at least one retaining tang that can accommodate twist-lock attachment. The outer wheel can be attached to the inner wheel by mating the locking pin with one of the at least one locking pin receivers and mating the retaining lip with the at least one retaining tang.

[0066] The user controller for a mobility device of the present teachings can include, but is not limited to including, a thumbwheel that can modify at least one speed range for the mobility device. The thumbwheel can generate signals during movement of the thumbwheel, and the signals can be provided to the user controller. The user controller can maintain environmental isolation from the thumbwheel while receiving the signals. The user controller can optionally include a casing first part including mounting features for at least one speaker, at least one circuit board, and at least one control device. The control device can enable selection of at least one option for the mobility device. The user controller can optionally include at least one first environmental isolation device, and a casing second part that can include mounting features for at least one display, at least one selection device, and at least one antenna. The casing second part and the casing first part can be operably coupled around the at least one first environmental isolation device. The at least one display can enable monitoring of the status of the mobility device, and the at least one display can present the at least one option. The at least one selection device can enable selection of the at least one option. The user controller can optionally include a power / data cable enabling power to flow from the mobility device to the user controller. The power / data cable can enable data exchange between the user controller and the mobility device. The user controller can optionally include a toggle platform first part including toggles, and the toggles can be field replaceable. The toggles can enable selection of the at least one option. The user controller can optionally include at least one second environmental isolation device, and a toggle platform second part that can include mobility device mounting features. The toggle platform second part and the toggle platform first part can be operably coupled around the at least one second environmental isolation device. The mobility device mounting features can enable mounting of the user controller on the mobility device. The user controller can optionally include 2-way shortcut toggles, 4-way shortcut toggles, and at least one integration device integrating the 2-way shortcut toggles with the 4-way shortcut toggles.

[0067] The at least one option can include desired speed, desired direction, speed mode, mobility device mode, seat height, seat tilt, and maximum speed. The control device can include at least one joystick and at least one thumbwheel. The at least one joystick can enable receiving the desired speed and the desired direction, and the at least one thumbwheel can enable receiving the maximum speed. The at least one toggle can include at least one toggle switch and at least one toggle lever. The at least one display can include at least one battery status indicator, a power switch, at least one audible alert and mute capability, and at least one antenna receiving wireless signals.

[0068] The thumbwheel for a user controller of the present teachings can include, but is not limited to including, a full rotation selector that can enable movement of the thumbwheel to produce movement data throughout a full rotation of the thumbwheel. The movement data can be dynamically associated with at least one user controller characteristic. The thumbwheel can include a thumbwheel position, at least one sensor receiving the movement data, and memory that can retain the thumbwheel position and the at least one user controller characteristic across a power down state. The at least one user controller characteristic can include maximum speed. The at least one sensor can be environmentally isolated from the user controller. The at least one sensor can include a Hall-effect sensor.

[0069] The method of the present teachings for controlling the speed of a mobility device that includes a non-stop thumbwheel and a joystick, where the thumbwheel includes a persistently stored position, can include, but is not limited to including, (a) accessing a relationship between a change in the rotational position of the thumbwheel and a multiplier for a maximum speed of the personal transport device, (b) receiving a change in the persistently stored position of the non-stop thumbwheel, (c) determining the multiplier based on the change and the relationship, (d) persistently storing the changed position, (e) receiving a speed signal from the joystick, (f) adjusting the speed signal based on the multiplier, and (g) repeating steps (a) through (f) while the mobility device is active. The method can optionally include receiving an indication of the sensitivity of the thumbwheel, and adjusting the relationship based on the indication. The multiplier can be < 1.

[0070] The mobility device of the present teachings can overcome the limitations of the prior art by including redundancy, a lightweight housing, an inertial measurement system, advanced heat management strategy, wheel and cluster gear trains specifically designed with the wheelchair user in mind, lightweight, long-lived redundant batteries, ergonomically positioned and shock buffered caster wheel assemblies, and ride management bumpers. Other improvements can include, but are not limited to including, automatic mode transitions, anti-tipping, improved performance, remote control, a generic mounting for a vehicle locking mechanism and the locking mechanism itself, foreign substance sealing, slope management, and a cabled charging port. Because of the reduction in weight of the mobility device, the mobility device can accommodate increased payload over the prior art.

[0071] The powered balancing mobility device of the present teachings can include, but is not limited to including, a plurality of redundant processors processing movement commands for the mobility device, each of the plurality of redundant processors receiving sensor data, and a voting processor executing on each of the plurality of redundant processors. The voting processor can receive the sensor data from each of the plurality of redundant processors, and can determine valid data of the sensor data based at least on whether the sensor data are within a pre-selected range. The voting processor can determine whether the voting processor has received invalid of the sensor data from an associated one of the plurality of sensors, and whether there are communications among the plurality of redundant processors. The plurality of redundant processors can compute the movement commands based at least on the valid data. The voting processor can optionally execute commands that can create a list of candidate processors from the plurality of redundant processors associated with the valid data, determine the average value of the valid data for the candidate processors, order the list of the candidate processors based at least on the comparison between the valid data for each of the candidate processors and the average values, perform a three-way vote of the valid data if there are at least three of the candidate processors, and indicate which of the candidate processors is associated with voted out sensor data. The voting processor can optionally execute commands that can perform a two-way vote of the valid data if there are two of the candidate processors, indicate that the two candidate processors are associated with voted out sensor data if the valid data from each of the two candidate processors do not agree, indicate that one of the candidate processors is associated with voted out sensor data if there is only a single candidate processor associated with valid data, and average any of the valid data that is not voted out. The powered balancing mobility can optionally include at least four processors.

[0072] The powered balancing mobility device of the present teachings can include, but is not limited to including, a plurality of redundant processors processing movement commands for the mobility device, at least four batteries, and a power source controller including connections for the at least four batteries. The power source controller can receive power from the at least four batteries, and can manage power to the plurality of redundant processors. The power source controller can include at least one sensor collecting current data and voltage data for the at least four batteries. The mobility device can include a plurality of modes governing the movement commands. The plurality of redundant processors can determine which of the plurality of modes the mobility device can enter based at least in part on the current data and voltage data. The powered balancing mobility device can optionally include six batteries. The connections can include, but are not limited to including, up to four of the connections for operably coupling up to four batteries with the power source controller. The power source controller can include at least one battery recharge circuit. At least one of the connections can operably couple at least one shunt circuit with the power source controller. The at least one shunt circuit can prevent overcharge of the at least four batteries. The power source controller can optionally include a plurality of states including an on state, a charging state, a sleep state, and an off state.

[0073] The powered balancing mobility device of the present teachings can include, but is not limited to including, a plurality of redundant processors processing movement commands for the mobility device. Each of the plurality of redundant processors can receive sensor data. The mobility device can include a user controller including a thumbwheel. The thumbwheel can be associated with a virtual thumbwheel position. The user controller can receive signals based on movement of the thumbwheel. The sensitivity of the thumbwheel can be adjustable according to the virtual thumbwheel position. The signals can be processed to produce a value, and the movement commands can be based at least in part on the value. The mobility device can optionally include at least one drive speed setting. The at least one drive speed setting can limit the speed of the mobility device. The value can be based at least in part on the at least one drive speed setting. The powered balancing mobility device can optionally include a thumbwheel position processor. The thumbwheel position processor can include a sampler that can sample the signals and save the virtual thumbwheel position for the drive speed setting. The sampler can recover a previous of the virtual thumbwheel position for the drive speed setting. The position processor can include a recorder that can record the sampled signals, and a filter that can filter the signals to determine a set of filtered signals. The filter can determine a change in the signals. The position processor can include an absolute position processor that can integrate the change in signals into the virtual thumbwheel position, and a speed percent processor that can calculate a speed percent based at least on the virtual thumbwheel position. The position processor can include a transmittor that can make the speed percent available for further processing. The thumbwheel position processor can optionally include storing the virtual thumbwheel position for the drive speed setting. The filter can optionally include a change in signals processor that can compute the change in signals, a threshold processor that can set the change in signals to zero if the change in signals exceeds a wrap threshold, and a weighted average processor that can compute a weighted average on the computed change in signals between a first sample of the signals and a second sample of the signals. The weighted average processor can calculate a weighted average of data stored in an historic buffer and can set the change in signals equal to the weighted average. The filter can include a deadband processor that can set the change in signals to zero, flag the change in signals as noise, and integrate the change in signals into the virtual thumbwheel position if the change in signals does not exceed, or is equal to, a deadband. The deadband processor can set the change in signals to zero and integrate the change in signals into the virtual thumbwheel position if the change in signals exceeds the deadband and if the previous one of the samples was noise. The deadband processor can integrate the change in signals into the virtual thumbwheel position if the change in signals exceeds the deadband, and if the previous one of the samples was not noise. The filter can include an historical buffer processor that can add the change in signals to the historic buffer. The historical buffer processor can set the change in signals equal to a maximum of the previous samples and can add the change in signals to the historical buffer if the change in signals does not exceed the wrap threshold, and if the change in signals exceeds the maximum of the previous samples. The deadband optionally includes a threshold filtering noise signals. The filtered noise signals can be unlikely to constitute actual movement of the thumbwheel. The change in signals can optionally include the difference between a first sample of the signal and a second sample of the signal.

[0074] A powered balancing mobility device of the present teachings can include, but is not limited to including, a control device and a controlled device. The controlled device can include a plurality of redundant processors processing movement commands for the mobility device, each of the plurality of redundant processors receiving data from the control device, a second protocol relaying commands specific to the controlled device from the control device, and a first protocol supporting communications between the control device and the controlled device. The controlled device can be physically remote from the control device. The first protocol can transparently tunnel messages formatted in the second protocol and encapsulated within messages formatted according to the first protocol for transmission and reception. The mobility device can include a communication message manager that can identify first protocol messages and extract tunneled second protocol messages. The first protocol can optionally include a RIS protocol. The control device can optionally include a portable computer processor. The controlled device can optionally include a medical device. The control device can optionally include a virtual joystick. The second protocol can optionally include a SCA protocol.

[0075] The quick-release system of the present teachings can enable a user to combine the most important features in a seat with the most important features in a chassis and wheels when selecting a mobility device. The seat can be engaged with base of the mobility device, and seats can be readily interchanged. The quick-release feature can include a pairing assembly comprising the pairing bracket in combination with the first and second mounts, pins related to the mounts. The two mounts can jointly function to provide quick-release. The quick-release assembly can include a rotating handle that can lock in a pocket of first mount can partially and subsequently completely release the seat. The quick-release assembly can include a first mount providing supplemental features that can engage the pairing bracket, for example, but not limited to, a catch that can capture a part of the pairing bracket when the mount pins perform complete engagement. The quick-release feature can include a pairing assembly that can allow rapid engaging and disengaging of a seat to a mobility device.

[0076] At least two seat support brackets can mount to powerbase 21514 (FIG. 1) by bolting to their corresponding lifting arm pivot in the front and stabilizer link pivot in the back. A seat mounting pin is bolted on to each seat support bracket in the rear, facing outwards. The seat support brackets and rear mounting pins stay attached to the powerbase and interface with the seat assembly as it is attached to and removed from the powerbase. Each of the 2 rear mounting pins interface with a seat mounted rear bracket. The rear brackets are each mounted to the seat by bolting to an outer component to clamp across the seat tubes and hold the bracket in place with friction. The seat mounted rear brackets both have a groove that accepts its corresponding pin when the seat is being placed on. Once the seat mounted rear bracket grooves are guided over the pins, the seat assembly is constrained to one degree of rotation. The seat assembly is then rotated forwards until the alignment features of the seat support brackets accept the corresponding alignment features of two seat mounted forward brackets. The front brackets are each mounted to the seat by bolting to an outer component to clamp across the seat tubes and hold the bracket in place with friction. With these features aligned and the seat assembly held in place by gravity, the retractable pins can be engaged. This is accomplished by pulling both retractable pin handles out of their locked position in resting grooves, and rotating them each approximately 180 degrees. Each retractable pin handle can sit at a different position, causing each pin to be inserted into its corresponding hole in the seat support bracket. The seat assembly can be reversed by reversing the mounting procedure.

[0077] The mobility device of the present teachings can include, but is not limited to including, a brake disk / motor coupling interface that can reduce chattering while maintaining a low sensitivity to brake position. The brake disk / motor coupling can maintain a low sensitivity to brake position. The tight clearance of the interface of the present teachings can allow the brake disk to use the motor coupling to define a rotation axis, which can allow the brake to be assembled without tight control of its radial position, because the brake disk and the brake assembly do not require perfect radial alignment. The shape of the motor coupling can allow the brake disk to be positioned anywhere along its length, which can remove the sensitivity of the brake disk / motor coupling to axial position. The brake disk / motor coupling assembly can transmit all of the available brake torque, and can restrain the brake disk rotational freedom under the no brake load condition, and can cushion the rotational impacts that occur between the two parts.

[0078] The method of the present teachings for reducing motor brake noise, where the motor brake includes a brake disk and a motor coupling, can include, but is not limited to including, manufacturing a compliant insert, providing a brake disk having cavity including a geometry compatible with the compliant insert, mounting the compliant insert in the cavity, and assembling the motor brake by sliding the motor coupling into the compliant insert. The compliant insert can optionally include an enclosed shape including a first surface and a second surface. The first surface can optionally include at least one protrusion. The first surface can optionally enable flush mounting of the motor coupling against the at least one protrusion. The second surface can optionally rest within the cavity. The second surface can optionally include a geometry compatible with the cavity. At least one retention clip can optionally be operably coupled with the enclosed shape. The at least one retention clip can supply pressure to the motor coupling. The second surface can optionally include a hexagonal shape. The first surface can optionally include at least one face including the at least one protrusion, and at least one face including the at least one retention clip.

[0079] The compliant insert of the present teachings for reducing motor brake noise, where the motor brake includes a brake disk and a motor coupling, can include, but is not limited to including, an enclosed shape including a first surface and a second surface. The first surface can include at least one protrusion, and the first surface can enable flush mounting of the motor coupling against the at least one protrusion. The second surface can rest within the cavity, and the second surface can include a geometry that can be compatible with the cavity. The compliant insert can include at least one retention clip that can be operably coupled with the enclosed shape. The at least one retention clip can supply pressure to the motor coupling. The second surface can optionally include a hexagonal shape. The first surface can optionally include at least one face including the at least one protrusion, and at least one face including the at least one retention clip.

[0080] The method for reducing motor brake noise, where the motor brake includes a brake disk and a motor coupling, can include, but is not limited to including, manufacturing a motor coupling. The motor coupling can include a first surface and a second surface. The motor coupling can include at least one groove machined circumferentially into the first surface. The method can include fitting a gasket into the at least one grooved, and providing a brake disk having a cavity. The cavity can include a geometry compatible with the first surface. The method can include assembling the motor brake by sliding the motor coupling into the cavity adjacent to the gasket. The gasket can optionally include an o-ring. The first surface can optionally include a hexagonal shape.

[0081] The method of the present teachings for controlling a motor using field weakening can include, but is not limited to including, measuring system parameters, converting phase current and voltage to a stationary frame, converting the stationary phase current and voltage to a synchronous rotary frame, calculating the minimum and maximum quadrature and direction current commands from the measured motor parameters, calculating the desire direct current, closing the loop on commanded motor voltage, commanded direct current, and command quadrature current, adjusting the measured motor angle, converting the direct and quadrature command voltage to the stationary frame, and converting the stationary command voltage to phase voltage commands.

[0082] The seat of the present teachings can include a combination of features. A first feature relates to the connection of the seat to a wheelchair base. The connection can consequently allow the user to remove and replace the seat from the wheelchair base. A second feature relates to a removable attendant handle that can allow the wheelchair to operate with or without an attendant handle. A third feature relates to adjustability and changeability of the seat backrest. In some configurations, the angle of the seat backrest can be adjusted, and the seat backrest cushion, and the entire seat backrest, can be removed and replaced. The backrest can be selected based on a desired curvature. A fourth feature relates to the adjustability of the armrest positions. The armrests, mounted between coupling brackets, can be raised and lowered independently from one another along a slide between the coupling brackets, by the user, with a simple button depression. A fifth feature relates to the removability of the seat cushion structure and the seat cushion itself. The seat cushion structure can be selected based on a desired shape and comfort level. A sixth feature relates to the height and tilt angle adjustments of the footrest. A seventh feature relates to the transportability of the seat. The backrest can be hinged and can be folded upon the seat cushion, and the footrest can be hinged and can be folded towards the footrest post. When the backrest is folded towards the seat cushion, the armrests can fold flush with the backrest. A single footrest can accommodate both feet.

[0083] The method of the present teachings for assembling a seat for a mobility device, where the seat includes a footrest, a bracket, at least one arm, a seat shell, and a backrest, the method can include, but is not limited to including, pivotally connecting the footrest to a rod. The rod can include a rod first end and a rod second end. The footrest can include a first pivot means at the connection between the footrest and the rod first end. The method can include sliding, to adjust the footrest to a desired height, the rod second end into a receiving port of a hollow tube. The hollow tube can include a connection port, and the connection port can include shock absorbing features. The method can include pivotally connecting the connection port to the bracket. The bracket can include seat shell connection features, and at least one mobility device motor connection feature. The method can include operably connecting the seat shell to the seat shell connection features and bracket, and pivotally connecting the backrest to the bracket. The backrest can include a third pivot means, that can be enabled by a spring-loaded latch. The method can include operably connecting at least one armrest mount to the bracket. The at least one armrest mount can include a height adjustment means. The method can include pivotally connecting the at least one arm to the at least one armrest mount. The bracket can optionally include an aluminum alloy. The method can optionally include operably connecting a seat cushion to the seat shell. The height adjustment means can optionally include a push button actuation mounted on the at least one armrest mount. The footrest can optionally include an accommodation for two feet. The first pivot means can optionally include a thumbscrew. The second pivot means can optionally include a multipositional clamping means. The at least one mobility device connection feature can optionally include at least one bracket extension. The backrest can optionally include a backrest angle adjustment means, and the backrest angle adjustment means can optionally include a tension knob. The connection port can optionally include the second pivot means.

[0084] The method of the present teachings for transporting a seat of a mobility device, where the seat can include a footrest operably coupled with to a seat bracket, and the seat bracket can be operably coupled with a tube holder bracket. The tube holder bracket can be operably coupled with at least one armrest and a frame bracket, and the frame bracket can be operably coupled with a backrest. The method can include, but is not limited to including, pivoting the footrest towards a rod connected to the footrest until the footrest is approximately flush with the rod. The rod can include a rod first end and a rod second end, and the footrest can include a first pivot means at the connection between the footrest and the rod first end. The method can include sliding the rod second end into a receiving port of a hollow tube. The hollow tube can include a connection port, and the connection port can be operably coupled with the seat bracket. The method can include pivoting the backrest towards the seat bracket at a second pivot means. The second pivot means can be enabled by a spring-loaded latch. The method can include pivoting the at least one armrest towards the backrest. The method can include reducing the height of the at least one arm rest mount by adjusting a height adjustment means, and pivoting the at least one arm towards the at least one arm rest mount until the at least one arm is flush with the at least one arm rest mount.

[0085] The seat for a mobility device of the present teachings can include, but is not limited to including, a footrest pivotally connected to a footrest rod. The footrest rod can include a rod first end and a rod second end, and a first pivot means at the connection between the footrest and the rod first end. The rod second end can be operably coupled with a receiving port of a hollow tube, and the hollow tube can include a connection port. The connection port can be pivotally connected a seat bracket. The seat bracket can include seat shell connection features, and at least one mobility device motor connection feature. The seat shell can be operably connected to the seat shell connection features and bracket, and can pivotally connect a backrest to the bracket. The backrest can include a second pivot means that can be enabled by a spring-loaded latch. At least one armrest mount can be pivotally connected the to the bracket. The at least one armrest mount can include a height adjustment means. The at least one arm can be pivotally connected to the at least one armrest mount. The bracket can optionally include aluminum alloy. A seat cushion can optionally be operably connected to the seat shell. The height adjustment means can optionally include a push button actuation mounted on the at least one armrest mount. The footrest can optionally include an accommodation for two feet. The first pivot means can optionally include a thumbscrew. The second pivot means can optionally include a multipositional clamping means. The at least one mobility device connection feature can optionally include at least one bracket extension. The backrest can optionally include a backrest angle adjustment means, and the backrest angle adjustment means can optionally include a tension knob. The connection port can optionally include the second pivot means.

[0086] The locking mechanism of the present teachings for adjusting a length of a handle projecting from a portable device, where the handle includes a user-operable portion and a rail portion exposed to the locking mechanism, and the rail portion travels along rail slots occupying a portion of the portable device, where the locking mechanism can include, but is not limited to including, a user-operable segment. The user-operable segment can be disposed externally to the portable device and can advance a user operation to a plurality of inter-operable components of the locking mechanism. The user-operable segment can include, but is not limited to including, a latch with a flange portion. The latch can be switched from a locked position to an unlocked position and can cause a motion of the flange. The flange can serve as an intermediate component between the latch and the inter-operable components of the locking mechanism. The inter-operable components can include, but are not limited to including, a first stopper operably engaged with one of the rails of the rail portion. The first stopper can operate on at least one of the rails occupying the corresponding rail slot. The inter-operable components can include a second stopper that can engage with a second of the rails in the rail portion when the second of the rails is occupying a second corresponding rail slot. The inter-operable components can include a central beam in contact with the flange in receiving the user-operation and controlling the first and second stopper. The central beam can include, but is not limited to including, a focal point on one end and a flexible joint on the other end. At least one first side beam can include, but is not limited to including, a first end and a second end. The at least one first side beam can engage with the central beam on the focal point and can engage with the first stopper on the second end. The at least one second side beam can include, but is not limited to including, a first end and a second end. The at least one second side beam can engage with the central beam on the focal point and with the second stopper on the second end. When the latch is in the locked position, the first and second stopper can restrain movement of the rail portion along the rail slots. When the latch is in the unlocked position the first and second stopper can decouple from the rails, and allow the rails to travel in the rail slots.

[0087] An adjustable mount of the present teachings for supporting a user control assembly, where the user control assembly can control a mobility device, the mount can include, but is not limited to including, a platform supporting the user control assembly, and a bar including a proximal end, a distal end and a central region there between. The bar can be operably coupled with the platform at the distal end. The mount can include a pivoting assembly operably coupled with the proximal end. The pivoting assembly can include, but is not limited to including, at least one bracket that can engage the user control mount with an armrest of the mobility device. The bracket can include, but is not limited to including, a roller facing away from the bar. The mount can include a housing fastened to the at least one bracket. The housing can include, but is not limited to including, a receptacle. The mount can include a rotary structure that can include, but is not limited to including, a protrusion segment and an elongated segment. The rotary structure can operably couple with the bracket and the housing. The receptacle can movably receive the protrusion segment. The elongated segment can operably couple with the proximal end of the bar. The roller can receive the rotary structure, and a pre-determined radial fit can be achieved there between. The mount can include a locking assembly occupying the central region of the bar. The locking assembly can include, but is not limited to including, a lever portion and a barb portion. The lever portion and the barb portion can jointly engagd the bar of the user control assembly mount. When the bar is displaced, the platform is displaced.

[0088] The pivotable mount assembly for a mobility device of the present teachings can include, but is not limited to including, a platform to engage a user-operable component, and a shaft having a distal end and a proximal end. The distal end can operably couple with the platform, and the platform can operably couple with an armrest of the mobility device through the proximal end. The assembly can include a rotary structure that can operably couple with the proximal end. The rotary structure can enable the shaft to pivot with respect to the armrest. The rotary structure can include, but is not limited to including, a brace that can operably couple with the armrest. The brace can include, but is not limited to including, an axle facing away from the shaft. The assembly can include a receiver that can operably couple with the brace. The receiver can include, but is not limited to including, a pocket. The assembly can include a roller that can include, but is not limited to including, a projection and an elongation. The roller can operably couple with the brace by receiving the axle into a roller space. The roller can pivot around the axle, and the pivoting can be constrained by the projection in the pocket. The roller can operably couple with the shaft through the elongation. The assembly can include a lock assembly that can include, but is not limited to including, a clasp that can include, but is not limited to including, a handle portion and a spike portion. The operation of the handle portion can cause the spike portion to trap into or release the shaft from the clasp.

[0089] The method of the present teachings for adjustably mounting a user-operable device to a mobility device can include, but is not limited to including, engaging a brace piece with an armrest of the mobility device. The brace piece can include, but is not limited to including, at least one roller projecting away from the brace piece. The method can include providing a bar having a proximal end, a distal end, and a central region. The central region can operably couple the proximal end and the distal end. The proximal end, the distal end, and the central region can cooperate to telescopically adjust a length of the bar. The method can include coupling a support platform with the distal end. The support platform can retain the user-operable device therewith. The method can include coupling a pivoting assembly with the proximal end. The pivoting assembly can operably couple the bar with the armrest by coupling the bar with the brace piece. The method can include providing a locking mechanism that can operably couple with the central region of the bar. The locking mechanism can be operated by a user to engage the bar with and disengage the bar from the armrest. The method can optionally include receiving a housing on the brace piece. The housing can at least partially occupy the brace piece.

[0090] The method of the present teachings for assembling a mount for engaging a user-operable device therewith, where the mount can operably couple with a seating device providing an armrest, the method can include, but is not limited to including, providing a shaft with a first end and a second end. The first end and the second end can define a central region there between. The method can include operably coupling a support platform to the first end. The support platform can engage the user-operable device. The method can include providing a pivoting assembly on the second end. The pivoting assembly can include, but is not limited to including, a rotary structure having a projection and an elongation. The projection can oppose the elongation, and the rotary structure can include, but is not limited to including, a roller space. The roller space can receive a complementing component from the armrest. The roller space can pivotally engage the shaft with the armrest.

[0091] The seat assembly of the present teachings for a mobility device, where the seat can include, but is not limited to including, a backrest, a seat pan, and an armrest, and the seat assembly can include, but is not limited to including, a back frame bracket enabling coupling with the backrest, a tube holder bracket enabling coupling with the seatpan, an armrest bracket enabling coupling with the armrest, and a cane. The cane can be surrounded by the armrest bracket, and can enable adjustment of the armrest bracket. The cane can enable coupling between the back frame bracket and the tube holder bracket. The armrest bracket can optionally include a cane cavity receiving the cane. The cane can include a plurality of set cavities. The armrest bracket can optionally include at least one fastener cavity, and an armrest geometry that can accommodate bracket geometry in the armrest. The armrest geometry and the bracket geometry can enable movement of the armrest. The cane can optionally include at least one channel surrounding the plurality of set cavities, and the armrest bracket can optionally include cane geometry complementing the at least one channel. The cane geometry can enable alignment between at least one of the plurality of set cavities and the at least one fastener cavity. The seat assembly can optionally include an armrest height adjustment button, a button slide including a straight edge interrupted by a divot, and a button transition rod achieving aligned coupling with the button slide. The button transition rod can operably couple the height adjustment button with the button slide. The seat assembly can optionally include a lock pin having a first end and a second end. The first end can be in contact with the straight edge of the button slide when there is no pressure on the height adjustment button, and the first end being in contact with the divot when there is pressure on the height adjustment button. The second end can be captured in one of the plurality of set cavities when the first end is in contact with the straight edge of the button slide, and the second end being in contact with one of the at least one cane channels when the first end is in contact with the divot.

[0092] The seat assembly of the present teachings for a mobility device, where the seat can include, but is not limited to including, a backrest assembly, a seat pan, an armrest, and an attendant handle, and the seat assembly can include, but is not limited to including, a back frame bracket enabling coupling with the backrest. The back frame bracket can include an attendant handle operating mechanism that can enable movement of the attendant handle. The seat assembly can include a tube holder bracket enabling coupling with the seatpan, an armrest bracket enabling coupling with the armrest, and a cane. The cane can be surrounded by the armrest bracket, and can enable adjustment of the armrest bracket. The cane can enable coupling between the back frame bracket and the tube holder bracket. The attendant handle operating mechanism can optionally include at least one attendant handle stopper in contact with the attendant handle, and a first beam that can have a first beam first end and a first beam second end. The first beam second end can be movably coupled with one of the at least one attendant handle stoppers. The attendant handle operating mechanism can optionally include a second beam that can have a second beam first end and a second beam second end. The second beam second end can be movably coupled with one of the at least one attendant handle stoppers. The attendant handle operating mechanism can optionally include a central beam that can have a central beam first end and a central beam second end. The central beam first end can movably couple the first beam first end and the second beam first end. The movement of the attendant handle can be based at least on movement of the central beam. The seat assembly can optionally include a latch that can be operably coupled with the central beam second end. The latch can be disengaged from the central beam second end which can enable movement of the attendant handle. The latch being engaged with the central beam second end which can disable movement of the attendant handle. The backrest further can optionally include a frame housing the attendant handle operating mechanism. The backrest can optionally include a plate between the attendant handle operating mechanism and a backrest cushion.BRIEF DESCRIPTION OF THE DRAWINGS

[0093] The present teachings will be more readily understood by reference to the following description, taken with the accompanying drawings, in which: FIG. 1A is a perspective schematic diagram of a front views the mobility device base of the present teachings; FIG. 1B is a perspective schematic diagram of side views the wheelchair base of the present teachings; FIG. 1C is a perspective schematic diagram of the wheelchair base of the present teachings including batteries; FIG. 1D is a perspective schematic diagram of the wheelchair base of the present teachings illustrating removable batteries; FIG. 1E is a perspective schematic diagram of an exploded side view of the battery pack of the present teachings; FIG. 1F is a perspective schematic diagram of the gearbox of the present teachings; FIG. 1G is a perspective diagram of the e-box lid of the present teachings; FIG. 1H is a perspective diagram of the top cap of the present teachings; [0096-1] FIG. 1 H-1 is a perspective diagram of the top cap of the present teachings having variable cable restraint locations; FIGs. 1I and 1J are perspective schematic diagrams of the sections of the gearbox of the present teachings; FIG. 1J-1 is a detailed perspective view of the spring pins of the present teachings; FIG. 1K is a cross section diagram of the sector gear cross shaft of the present teachings; FIG. 1L is a plan diagram of the sealing bead location of the present teachings; FIG. 1M is a perspective schematic diagram of the oil port of the gearbox of the present teachings; FIG. 1N is a perspective schematic diagram of the drive lock kingpin of the present teachings; FIG. 1O is a perspective schematic diagram of the rear securement loop of the present teachings; FIGs. 1P, 1Q, and 1R are perspective schematic diagrams of the skid plate and drive lock kingpin of the present teachings; FIG. 2A is a perspective diagram of the gears within the gearbox of the present teachings; FIGs. 2B-2E are perspective diagrams and plan views of the detail of the gears and cluster cross shaft of the present teachings; FIG. 2F is a perspective diagram of the cluster cross shaft and the sector gear cross shaft of the present teachings; FIG. 2G is a perspective diagram of detail of the gears and the sector gear cross shaft of the present teachings; FIG. 2H is a perspective diagram of detail of the gears and pinion height actuator stage 1 of the present teachings; FIGs. 2I and 2J are plan views of detail of the gears and pinion height actuator stage 1 of the present teachings; FIG. 2K is a perspective diagram of the gears and cluster cross shaft of the present teachings; FIG. 2L is a perspective diagram of the pinion-gear height actuator stage 2 pinion with retaining ring of the present teachings; FIG. 2M is a perspective diagram of the shaft pinion cluster rotation stage 1 with inner ring of the present teachings; FIG. 2N is a perspective diagram of the pinion height actuator shaft stage 1 of the present teachings; FIGs. 2O and 2P are perspective diagrams of the cluster rotate pinion-gear stage 2 pinion of the present teachings; FIG. 2Q is a perspective diagram of the cluster rotate pinion-gear stage 3 pinion of the present teachings; FIG. 2R is a perspective diagram of the cluster rotate gear-pinion cross-shaft stage 3 of the present teachings; FIG. 2S is a perspective diagram of the sector gear cross shaft of the present teachings; FIG. 2T is a perspective diagram of the pinion-gear height actuator stage 3 pinion of the present teachings; FIG. 2U is a perspective diagram of the pinion-gear height actuator stage 4 of the present teachings; FIG. 2V is a perspective diagram of the second configuration of the pinion-gear height actuator stage 4 of the present teachings; FIG. 3A is a perspective diagram of the motors and sector gear cross shaft of the present teachings; FIG. 3B is a perspective diagram of the cluster and seat position sensor of the present teachings; FIG. 3C is a perspective diagram of the motors and sensors of the present teachings; FIG. 3D is a perspective diagram of the seat / cluster motor of the present teachings; FIG. 3E is an exploded perspective diagram of the seat / cluster motor of the present teachings; FIG. 3F is a perspective diagram of the wheel motor of the present teachings; FIG. 3G is an exploded perspective diagram of the wheel motor of the present teachings; FIG. 3H is a perspective diagram of the brake without brake lever of the present teachings; FIG. 3I is a perspective diagram of the brake with brake lever of the present teachings; FIG. 3I-1 is an exploded perspective diagram of an exemplary mobility device base including motor and brake examples; FIG. 3I-2 is a perspective diagram of an exemplary motor brake; FIG. 3I-3 is a perspective diagram of a motor brake with the insert of the present teachings; FIG. 3I-4 is an exploded perspective diagram of a motor brake with the insert of the present teachings; FIG. 3I-5 is a perspective diagram of a motor coupling, disk, and insert of the present teachings; FIG. 3I-6 is a perspective diagram of the insert of the present teachings; FIG. 3I-7 shows front, side, and perspective schematic diagrams of the insert of the present teachings; FIG. 3I-8 shows front, side, and perspective schematic diagrams of the second configuration of the insert of the present teachings; FIG. 3I-9 is a perspective diagram of a motor brake with grooved motor coupling of the present teachings; FIG. 3I-10 is an exploded perspective diagram of a motor brake with grooved motor coupling of the present teachings; FIG. 3I-11 is a perspective diagram of the grooved motor coupling and o-rings of the present teachings; FIG. 3I-12 is a perspective detailed diagram of grooves and o-rings of the present teachings; FIG. 3I-13 is a perspective detailed diagram of the o-ring protrusion of the present teachings; FIG. 3J is a perspective diagram of the mating notch on the gear clamp of the present teachings; FIG. 3K is a perspective diagram of the seat position sensor gear teeth clamp with mating notch of the present teachings; FIG. 3K-1 is a perspective diagram of a second configuration of the seat position sensor gear teeth clamp with mating notch of the present teachings; FIG. 3L is a perspective diagram of the mating notch of the seat position sensor of the present teachings; FIG. 3M is an exploded perspective diagram of the seat position sensor of the present teachings; FIG. 3N is a plan view of the seat position sensor of the present teachings; FIG. 3O is an exploded perspective diagram of the cluster position sensor of the present teachings; FIG. 3P is a plan view of the cluster position sensor of the present teachings; FIG. 4 is a perspective diagram of the caster arm of the caster of the present teachings; FIG. 5A is a perspective diagram of the linkage arms and seat support structure of the gearbox of the present teachings; FIG. 5B is a perspective diagram of the connective features of the seat support structure of the present teachings; FIG. 5C is a perspective diagram of the seat height linkage stabilizer link of the present teachings; FIG. 5D is a perspective diagram of a first view of the seat height linkage lift arm of the present teachings; FIG. 5E is a perspective diagram of a second view of the seat height linkage lift arm of the present teachings; FIGs. 5F-5H are pictorial representations of a release mechanism between seat rails and base of a mobility device; FIG. 5I is a bottom right-side perspective view depicting seat rail / s captured by an exemplary pairing assembly; FIGs. 5J-5M are right-side perspective views depicting engagement and disengagement of seat rail with exemplary pairing assembly; FIGs. 5N and 5O are right side detailed perspective views depicting alignment before engagement of first and second mounts with exemplary pairing bracket; FIGs. 5P and 5Q are right side detailed views depicting engagement of first and second mounts with exemplary pairing bracket; FIGs. 5R and 5S are perspective views of the attachment mechanism between the seat bracket of the present teachings and a seat; FIG. 6A is a perspective diagram of a the cluster assembly of the present teachings; FIG. 6B is a perspective diagram of the cluster motor assembly of the present teachings; FIG. 6B-1 is an exploded perspective diagram of the second configuration of the cluster motor assembly of the present teachings; FIG. 6C is a perspective diagram of the cluster motor assembly with splines of the present teachings; FIG. 6D is a perspective diagram of the gear-pinion cluster rotate stage 3 cross shaft and pinion shaft cluster rotate stage 4 of the present teachings; FIG. 6E is a perspective diagram of views of the pinion shaft cluster rotate stage 4 and cluster position sensor tooth cluster cross shaft gear of the present teachings; FIG. 6F is a perspective diagram of the gear-pinion cluster rotate stage 3 cross shaft of the present teachings; FIG. 6G is a cross section perspective diagram of the cross shaft cluster rotate of the present teachings; FIG. 6H is a perspective diagram of the cluster plate interface of the present teachings; FIG. 6I is a perspective diagram of the second configuration cluster plate interface of the present teachings; FIG. 6J is a perspective diagram of the ring gear of the present teachings; FIG. 6K is a perspective diagram of the cluster housings and gears of the present teachings; FIG. 6L is a perspective diagram of the wheel drive intermediate stage of the present teachings; FIG. 6M is a plan view of the cluster housing of the present teachings including a sealing bead; FIG. 7A is a perspective diagram of the tire of the present teachings; FIG. 7B is a perspective diagram of the tire assembly of the present teachings; FIGs. 7B-1 and 7B-2 are exploded perspective diagrams of the second configuration of the tire assembly of the present teachings; FIG. 7C is a perspective diagram of the dual tire assembly of the present teachings; FIG. 7D is a perspective diagram of the tire of the present teachings; FIG. 7E is a perspective diagram of the wheel of the present teachings; FIG. 7F is a perspective diagram of the attachment base of the present teachings; FIG. 7G is a perspective diagram of the inner split rim of the present teachings; FIG. 7H is a perspective diagram of the hubcap of the present teachings; FIG. 7I is a perspective diagram of the locking pin spring of the present teachings; FIG. 7J is a perspective diagram of the fastener housing of the present teachings; FIG. 7K is a perspective diagram of the locking pin of the present teachings; FIG. 7L is a perspective cross section diagram of the dual tire assembly with locking pin partially inserted; FIG. 7M is a perspective cross section diagram of the dual tire assembly with locking pin fully inserted; FIG. 8 is a pictorial representation of a configuration of the positioning of sensors of the mobility device of the present teachings; FIG. 9A is a perspective diagram of an exploded view of the manual brake assembly of the present teachings; FIG. 9A-1 is a perspective diagram of the second configuration of the manual brake assembly of the present teachings; [00194-1] FIG. 9A-2 is a magnified view of the diagram of FIG. 9A-1; FIG. 9B is a perspective diagram of the damper of the manual brake assembly of the present teachings; FIG. 9C is a perspective diagram of the damper in motion of the manual brake assembly of the present teachings; FIG. 9D is a perspective diagram of the manual brake release shaft of the present teachings; FIG. 9E is a perspective diagram of the manual brake release bracket of the present teachings; FIG. 9F is a perspective diagram of the manual brake release pivot interface of the present teachings; FIG. 9G is a perspective diagram of the manual brake release spring arm of the present teachings; FIG. 9H is a perspective diagram of the manual brake release shaft arm of the present teachings; FIG. 9I is a perspective diagram of the brake release lever of the present teachings; FIG. 9J is a perspective diagram of the manual brake release assembly of the present teachings; FIG. 9K is a perspective diagram of the manual brake lever hard travel of the present teachings; FIG. 9L is an exploded perspective diagram of the manual brake lever travel stop of the present teachings; FIG. 9M is an exploded perspective diagram of the manual brake lever travel stop of the present teachings; FIG. 9N is an exploded plan view of the manual brake lever travel stop of the present teachings; FIG. 10A is a perspective diagram of the cable ports of the present teachings; FIG. 10B is an exploded perspective diagram of the harnesses of the present teachings; FIG. 10C is a perspective diagram of the UC port harness of the present teachings; FIG. 10D is a perspective diagram of the charge input port harness of the present teachings; FIG. 10E is a perspective diagram of the accessory port harness of the present teachings; FIGs. 11A-11D are schematic block diagrams of various wiring configurations of the present teachings; FIG. 11 E is a perspective diagram of the power off request switch of the present teachings; FIGs. 12A and 12B are perspective diagrams of the first configuration of the UC of the present teachings; FIGs. 12C and 12D are perspective diagrams of the second configuration of the UC of the present teachings; FIGs. 12E and 12F are perspective diagrams of the third configuration of the UC of the present teachings; FIG. 12G is a perspective diagram of the forward-facing components of the second configuration of the UC of the present teachings; FIG. 12H is a perspective diagram of the joystick of the UC of the present teachings; FIGs. 12I, 12J, and 12K are exploded perspective diagrams of the first configuration of the UC of the present teachings; FIGs. 12L and 12M are perspective diagrams of the upper and lower housings of the first configuration of the UC of the present teachings; FIG. 12N is an exploded perspective diagram of the thumbwheel components of the lower housing of the third configuration of the UC of the present teachings; FIG. 12O is a cross section diagram of the thumbwheel sensor environmental isolation of the lower housing of the third configuration of the UC of the present teachings; FIG. 12P is a perspective diagram of the display coverglass of the UC of the present teachings; FIG. 12Q is a perspective diagram of the joystick backer ring of the UC of the present teachings; FIG. 12R is a perspective diagram of the toggle housing of the UC of the present teachings; FIGs. 12S and 12T are perspective diagrams of the toggle housing of the UC of the present teachings; FIGs. 12U and 12V are perspective diagrams of the undercap of the UC of the present teachings; FIGs. 12W and 12X are cross section and exploded perspective diagrams of the EMI suppression ferrite of the UC of the present teachings; FIG. 12Y is a perspective diagram of the UC mounting device of the present teachings; FIG. 12Y-1 is a perspective diagram of the cleated mounting mechanism of the present teachings; FIG. 12Y-2 is a perspective diagram of the power charging receiver bracket mounting mechanism of the present teachings; FIG. 12Z is a perspective diagram of the mounting cleat of the UC of the present teachings; FIG. 12AA is a perspective diagram of the grommet of the UC of the present teachings; FIGs. 12BB and 12CC are perspective diagrams of the button assembly of the UC of the present teachings; FIGs. 12DD and 12EE are perspective diagrams of the toggle module of the UC of the present teachings; FIGs. 12FF through 12FF-3 are perspective diagrams of the toggles optional configuration of the present teachings; FIGs. 12GG and 12GG-1 are perspective diagrams of the toggles with an integral UC connection of the present teachings; FIGs. 12HH through 12HH-2 are perspective diagrams of the cap back clamp configuration of the present teachings; FIGs. 12II through 12II-2 are perspective diagrams of the tooless screw mounting configuration of the present teachings; FIGs. 12JJ and 12JJ-1 are perspective diagrams of the UC / clamp post configuration of the present teachings; FIGs. 12KK through 12KK-6 are perspective diagrams of the cap latch configuration of the present teachings; FIGs. 12LL through 12LL-5 are perspective diagrams of the UC top plate configuration of the present teachings; FIGs. 12MM through 12MM-3 are perspective diagrams of the undercapconfiguration of the present teachings; FIGs. 12NN through 12NN-9 are perspective diagrams of a second toggles optional configuration of the present teachings; FIGs. 13A and 13B are perspective diagrams of the fourth configuration the UC of the present teachings; FIG. 13C is a perspective diagram of the UC assist holder of the UC of the present teachings; FIG. 13D is a perspective diagram of the tabbed binding mechanism of the UC of the present teachings; FIG. 13E is a perspective diagram of the tab lock mounting mechanism of the UC of the present teachings; FIG. 13F is a perspective diagram of the shaped mounting base of the UC of the present teachings; FIG. 13G is a perspective diagram of the second configuration of the tabbed mounting mechanism of the UC of the present teachings; FIG. 13H is a perspective diagram of the flanged mounting mechanism of the UC of the present teachings; FIG. 13I is a perspective diagram of the retention cam mounting mechanism of the UC of the present teachings; FIG. 13J is a perspective diagram of the flange / faceted mounting mechanism of the UC of the present teachings; FIG. 13K is a perspective diagram of the receiving bracket / tubing clamp mounting mechanism of the UC of the present teachings; FIGs. 13K-1 and 13K-2 are cross-section diagrams of the ring / lock mounting mechanism of the UC of the present teachings; FIG. 13L is a perspective diagram of the grooved flange mounting mechanism of the UC of the present teachings; FIG. 14A is a perspective diagram of the UC circuit board of the UC of the present teachings; FIGs. 14B and 14C are schematic block diagrams of the layout of the UC circuit board of the UC of the present teachings; FIGs. 14D-14E are flowcharts of the method for thumbwheel processing of the present teachings; FIG. 14F is a schematic block diagram of the system for thumbwheel processing of the present teachings; FIG. 15A is a perspective diagram of the electronics component boards of the present teachings; FIG. 15B is an exploded perspective diagram of the circuit boards of the present teachings; FIGs. 15C-15D are perspective diagrams of the IMU assembly of the present teachings; FIG. 15E is a perspective diagram of a first view of the IMU board and the EMF shield of the present teachings; FIG. 15F is a perspective diagram of a second view of the IMU board and the EMF shield of the present teachings; FIG. 15G is a perspective diagram of the first configuration of the power source controller board of the present teachings; FIG. 15H is a perspective diagram of the second configuration of the power source controller board of the present teachings; FIGs. 15I-15J are schematic block diagrams of the power source controller board of the present teachings; FIG. 15K is a state diagram of the states of the user controller of the present teachings; FIG. 16A is a schematic block diagram of an overview of the system of the present teachings; FIG. 16B is a schematic block diagram of the electronic components of the mobility device of the present teachings; FIG. 17A is a schematic block diagram of a powerbase controller of the present teachings; FIGs. 17B-17C are message flow diagrams of the powerbase controller of the present teachings; FIGs. 18A-18D are schematic block diagrams of the processors of the present teachings; FIG. 19A is a schematic block diagram of the inertial measurement unit filter of the present teachings; FIG. 19B is a flowchart of the method of the present teachings for filtering gyro and acceleration data; FIG. 20 is a flowchart of the method of the present teachings for field weakening; FIG. 20-1 is a graphical representation of the locus of allowed limits referenced during the field weakening calculation of the present teachings. FIG. 21A is a schematic block diagram of the voting processor of the present teachings; FIGs. 21 B and 21C are flowcharts of the method of the present teachings for 4-way voting; FIGs. 21D through 21G are tabular representations of voting examples of the present teachings; FIGs. 21H-1 and 21H-2 are flowcharts of the second configuration of the voting process of the present teachings; FIG. 22A is a schematic block diagram of allowed mode transitions in one configuration of the present teachings; FIG. 22A-1 is a pictorial representation of the center of gravity with respect to the wheelchair of the present teachings; FIGs. 22B-22D are schematic block diagrams of the control structure with respect to modes of the system of the present teachings; FIGs. 23A-23K are flow diagrams of the operational use of the mobility device of the present teachings; FIGs. 23L-23X are flow diagrams of a second configuration of the operational use of the mobility device of the present teachings; FIGs. 23Y-23KK are flow diagrams of a third configuration of the operational use of the mobility device of the present teachings; FIGs. 23LL-23WW-3 are flow diagrams of a fourth configuration of the operational use of the mobility device of the present teachings; FIGs. 24A and 24B are representations of the graphical user interface of the home screen display of the present teachings; FIGs. 24C and 24D are representations of the graphical user interface of the main menu display of the present teachings; FIGs. 24E-24H are representations of the graphical user interface of the selection screen display of the present teachings; FIGs. 24I and 24J are representations of the graphical user interface of the transition screen display of the present teachings; FIGs. 24K and 24L are representations of the graphical user interface of the forced power off display of the present teachings; FIGs. 24M and 24N are representations of the CG fit screen of the present teachings; FIG. 25A is a schematic block diagram of the components of the speed processor of the present teachings; FIG. 25B is a flowchart of the method of speed processing of the present teachings; FIG. 25C is a graph of the manual interface response template of the present teachings; FIGs. 25D, 25D-1, 25D-2, and 25D-3 are graphs of interface responses of the present teachings based on speed categories; FIGs. 25E and 25F are graphical representations of joystick control profiles of the present teachings; FIG. 25G is a schematic block diagram of the components of the adaptive speed control processor of the present teachings; FIG. 25H is a flowchart of the method of adaptive speed processing of the present teachings; FIGs. 25I-25K are pictorial descriptions of exemplary uses of the adaptive speed control of the present teachings; FIG. 26A is a schematic block diagram of the components of the traction control processor of the present teachings; FIG. 26B is a flowchart of the method of traction control processing of the present teachings; FIG. 27A is a pictorial representation of a comparison of a mobility device of the present teachings tipping versus a mobility device of the present teachings traversing an incline; FIG. 27B is a flowchart of the method of anti-tipping processing of the present teachings; FIG. 27C is a schematic block diagram of an anti-tipping controller of the present teachings; FIG. 27D is a schematic block diagram of the CG fit processor of the present teachings; FIG. 27E is a flowchart of the method of CG fit processing of the present teachings; FIG. 28A is a schematic block diagram of the weight processor of the present teachings; FIG. 28B is a flowchart of the method of weight processing of the present teachings; FIG. 28C is a schematic block diagram of the weight-current processor of the present teachings; FIG. 28D is a flowchart of the method of weight-current processing of the present teachings; FIG. 29A is a schematic block diagram of the components of the UC assist of the present teachings; FIGs. 29B-29C are flowcharts of the method of obstacle detection of the present teachings; FIG. 29D is a schematic block diagram of the components of the obstacle detection of the present teachings; FIGs. 29E-29H are computer-generated representations of the mobility device configured with a sensor; FIG. 29I is a flowchart of the method of enhanced stair climbing of the present teachings; FIG. 29J is a schematic block diagram of the components of the enhanced stair climbing of the present teachings; FIGs. 29K-29L are flowcharts of the method of door traversal of the present teachings; FIG. 29M is a schematic block diagram of the components of the door traversal of the present teachings; FIG. 29N is a flowchart of the method of rest room navigation of the present teachings; FIG. 29O is a schematic block diagram of the components of the rest room navigation of the present teachings; FIGs. 29P-29Q are flowcharts of the method of mobile storage of the present teachings; FIG. 29R is a schematic block diagram of the components of the mobile storage of the present teachings; FIG. 29S is a flowchart of the method of storage / charging of the present teachings; FIG. 29T is a schematic block diagram of the components of the storage / charging of the present teachings; FIG. 29U is a flowchart of the method of elevator navigation of the present teachings; FIG. 29V is a schematic block diagram of the components of the elevator navigation of the present teachings. FIG. 30A is a table of communications packets exchanged in the MD of the present teachings; FIGs. 30B-30E are tables of communication packet contents of the present teachings; FIG. 31A is a schematic block diagram of remote communications interfaces of the present teachings; FIGs. 31 B and 31C are packet formats for exemplary protocols of the present teachings; FIG. 31D is a schematic block diagram of the wireless communications system of the present teachings; FIGs. 31E and 31F are bubble format diagrams for wireless communications state transitions of the present teachings; FIGs. 31G and 31H are message communications diagrams for wireless communications of the present teachings; FIG. 32A is a threat / solution block diagram of possible threats to the MD of the present teachings; FIG. 32B is a flowchart of the method for obfuscating plain text of the present teachings; FIG. 32C is a flowchart of the method for de-obfuscating plain text of the present teachings; FIG. 32D is a transmitter / receiver communications block diagram of the method for challenge / response of the present teachings; and FIG. 33 is a schematic block diagram of event processing of the present teachings. FIG. 34A is a schematic perspective diagram of the first configuration of the seat assembly of the present teachings; FIG. 34B is a schematic perspective diagram of the attachment bracket, seat back, and attendant handle of the first configuration of the seat assembly of the present teachings; FIG. 34C is a schematic perspective front view diagram of the second configuration of the seat assembly of the present teachings; FIG. 34D is a schematic perspective exploded diagram of the second configuration of the armrest and user controller of the present teachings; FIG. 34E is a schematic perspective exploded diagram of the second configuration of the seat assembly and user controller of the present teachings; FIG. 34F is a schematic perspective rear view diagram of the second configuration of the seat assembly of the present teachings; FIG. 34G is a schematic perspective undercarriage view diagram of the second configuration of the seat assembly of the present teachings; FIGs. 34H-34I are schematic perspective diagrams of the second configuration of the seat assembly of the present teachings with a rotated armrest; FIG. 35A is a schematic perspective exploded first view diagram of the connection features of the second configuration of the seat assembly of the present teachings; FIG. 35B is a schematic perspective exploded second view diagram of the connection features of the second configuration of the seat assembly of the present teachings; FIGs. 35C-35E are cross section diagrams of the second configuration of the armrest mount bracket operably coupled with the armrest and vertical back frame cane of the present teachings; FIG. 35F is a schematic perspective diagram of the second configuration armrest of the present teachings; FIG. 35G is a schematic perspective exploded diagram of the second configuration armrest of the present teachings; FIG. 36A is a schematic perspective undercarriage diagram of the seat bracket, footrest, and rear bracket of the second configuration of the seat assembly of the present teachings; FIG. 36B is a schematic perspective exploded diagram of the seat bracket, bracket fold hinge, and rear bracket of the second configuration of the seat assembly of the present teachings; FIG. 37A is a schematic perspective diagram of the seatpan mounting bracket of the present teachings; FIG. 37B is a schematic perspective detailed diagram of the seat bracket, bracket fold hinge, and rear bracket of the second configuration of the seat assembly of the present teachings; FIG. 37C is a schematic perspective detailed exploded diagram of the seat bracket, bracket fold hinge, and rear bracket of the second configuration of the seat assembly of the present teachings; FIG. 37D is a schematic perspective exploded diagram of the connecting bracket, rear bracket, and release handle of the second configuration of the seat assembly of the present teachings; FIG. 37E is a cross section diagram of a first view of the release handle of the present teachings; FIG. 37F is a cross section diagram of a second view of the release handle of the present teachings; FIG. 37G is a schematic perspective diagram of the rear bracket of the second configuration of the seat assembly of the present teachings; FIG. 37H is a schematic perspective detailed diagram of the seat shell, bracket fold hinge, and rear bracket of the second configuration of the seat assembly of the present teachings; FIG. 37I is a schematic perspective diagram of the seat shell of the present teachings; FIG. 37J is a schematic perspective exploded diagram of the seat shell of the present teachings; FIG. 37K is a schematic perspective exploded first view diagram of the seat shell, seat cushion, rear bracket, and footrest of the second configuration of the seat assembly of the present teachings; FIG. 37L is a schematic perspective exploded second view diagram of the seat shell, seat cushion, rear bracket, and footrest of the second configuration of the seat assembly of the present teachings; FIG. 37M is a schematic perspective exploded third view diagram of the seat shell, seat cushion, rear bracket, and footrest of the second configuration of the seat assembly of the present teachings; FIG. 37N is a schematic perspective diagram of the seat cushion of the present teachings; FIG. 38 is a schematic perspective diagram of the attendant handle of the first configuration of the seat assembly of the present teachings; FIG. 39A is a schematic perspective exploded diagram of the attendant handle, backrest shell, backrest cushion, brackets, and armrest of the first configuration of the seat assembly of the present teachings; FIG. 39B is a schematic perspective diagram of the backrest shell of the present teachings; FIG. 39C is a schematic perspective exploded diagram of the second configuration of the top back frame bracket, backrest shell, and backrest cushion of the seat assembly of the present teachings; FIG. 39D is a schematic perspective exploded diagram of the second configuration of the backrest shell, backrest cushion, and armrests of the seat assembly of the present teachings; FIG. 39E is a schematic perspective exploded diagram of the rear tube holder bracket, backrest cushion, armrests, and backrest shell of the seat assembly of the present teachings; FIG. 39F is a schematic perspective exploded diagram of the cushion and backrest shell of the seat assembly of the present teachings; FIG. 39G is a schematic perspective diagram of the first configuration of the top back frame bracket of the seat assembly of the present teachings; FIG. 39H is a schematic perspective exploded first view diagram of the first configuration of the top back frame bracket of the seat assembly of the present teachings; FIG. 39I is a schematic perspective exploded second view diagram of the first configuration of the top back frame bracket of the seat assembly of the present teachings; FIG. 39J is a schematic perspective exploded first view diagram of the second configuration of the top back frame bracket of the seat assembly of the present teachings; FIG. 39K is a schematic perspective exploded second view diagram of the second configuration of the top back frame bracket of the seat assembly of the present teachings; FIG. 39L is a schematic perspective exploded diagram of the second configuration of the top back frame bracket and backrest shell of the seat assembly of the present teachings; FIG. 40A is a schematic perspective diagram of the first configuration of the armrest mount bracket of the present teachings; FIG. 40B is a schematic perspective detailed diagram of the first configuration of the armrest mount bracket, armrest, and vertical back frame cane of the present teachings; FIG. 40C is a schematic perspective detailed first view diagram of the second configuration of the armrest mount bracket, armrest, and vertical back frame cane of the present teachings; FIG. 40D is a schematic perspective detailed second view diagram of the second configuration of the armrest mount bracket, armrest, and vertical back frame cane of the present teachings; FIGs. 40E-40G are various views of schematic perspective diagrams of the second configuration of the armrest mount bracket of the present teachings; FIG. 40H is a cross section diagram of the second configuration of the armrest mount bracket of the present teachings; FIG. 40I is a perspective diagram of the button slide of the present teachings; FIG. 40J is a perspective diagram of the vertical back frame cane of the present teachings; FIG. 40K is a perspective diagram of the vertical back frame cane operably coupled with the top back frame bracket and the rear tube holder bracket of the present teachings; FIG. 40L is a cross section diagram of the female and male lock pins engaged with the vertical back frame cane of the present teachings; FIGs. 41A-41B are cross section diagrams of the footrest assembly operably coupled with the seat bracket of the present teachings; FIG. 41C is a perspective diagram of the first configuration of the footrest assembly and seat cushion of the present teachings; FIG. 41D is a perspective diagram of the first configuration of the footrest assembly of the present teachings; FIG. 41E is a perspective exploded diagram of the first configuration of the footrest assembly of the present teachings; FIG. 41F is a perspective diagram of the second configuration of the footrest assembly of the present teachings; FIGs. 41G-41H are perspective exploded diagrams of the second configuration of the footrest assembly of the present teachings; FIG. 41I is a detailed diagram of the footrest mounting rods of the present teachings; FIGs. 42A-42C are perspective diagrams of another configuration of the seat assembly of the present teachings including a user control mounting means; FIGs. 43A-43B are perspective diagrams of the coupling assembly for the user control mounting means of FIGs. 42A-42C; FIGs. 44A-44D are perspective diagrams of details of the user control mounting means of the present teachings; FIGs. 45A-45C are perspective diagrams of the attendant handle and headrest of another configuration of the seat assembly of the present teachings; FIGs. 46A-46D are perspective diagrams of the backrest of another configuration of the seat assembly of the present teachings; and FIGs. 47A-47D are perspective diagrams of the attendant handle attachment of another configuration of the seat assembly of the present teachings. DETAILED DESCRIPTION

[0094] The mobility device (MD) of the present teachings can include a small, lightweight, powered vehicle which can provide the user the ability to navigate environments of daily living including the ability to maneuver in confined spaces and to climb curbs, stairs, and other obstacles. The MD can improve the quality of life for individuals who have mobility impairments by allowing for traversing aggressive and difficult terrain and by operating at elevated seat heights. The elevated seat heights can offer benefits in activities of daily living (e.g., accessing higher shelves) and interaction with other people at "eye level" - while either stationary or moving.

[0095] Referring now primarily to FIGs. 1A and 1B, the mobility device (MD) of the present teachings can include a powerbase assembly that can include central gearbox 21514, power mechanisms, and wheel cluster assembly 21100 / 21201 (FIG. 6A). Central gearbox 21514 can control the rotation of assembly 21100 / 21201 (FIG. 6A), can limit backlash, and can provide structural integrity to the MD. In some configurations, central gearbox 21514 can be constructed of highly durable materials that can be lightweight, thereby increasing the possible payload that the MD can accommodate, and improving the operational range of the MD. Central gearbox 21514 can include the drive transmissions for the cluster drive and seat height transmissions, and can provide structural mounting interfaces for the electronics, two caster assemblies, two wheel cluster assemblies, two sets of seat height arms, and motors and brakes for two wheel drives. Other components and the seat can be attached to the powerbase assembly, for example, by use of rail 30081. Moving transmission parts can be contained internal to the powerbase assembly and sealed to protect from contamination. Central gearbox 21514 can include gear trains that can provide power to rotate the wheel clusters and drive the seat height actuator. The powerbase assembly can provide the structure and mounting points for the elements of the four-bar linkage, two drive arms (one on each side of central gearbox 21514), two stabilizer arms (one on each side of central gearbox 21514), and seat brackets 24001. The powerbase assembly can provide the electrical and mechanical power to the drive the wheels and clusters, and provide seat height actuation. Central gearbox 21514 can house the cluster transmission, the seat height actuator transmissions, and the electronics. Two wheel cluster assemblies 21100 (FIG. 6A) can be attached to central gearbox 21514. The seat support structure, casters, batteries, and optional docking bracket can also attach to central gearbox 21514. Central gearbox 21514 can be constructed to provide EM shielding to the parts housed within central gearbox 21514. Central gearbox 21514 can be constructed to block electromagnetic energy transmission, and can be sealed at its joints by a material that can provide EM shielding, such as, for example, but not limited to, NUSIL ®< room temperature vulcanizing (RTV) silicone.

[0096] Continuing to refer to FIGs. 1A and 1B, the MD can accommodate seating through connection of a seating option to lifting and stabilizing arms. The MD can provide power, communication and structural interface for optional features, such as lights and seating control options such as, for example, but not limited to, power seating. Materials that can be used to construct the MD can include, but are not limited to including, aluminum, polyoxymethylene, magnesium, plywood, medium carbon steel, and stainless steel. Active stabilization of the MD can be accomplished by incorporating, into the MD, sensors that can detect the orientation and rate of change in orientation of the MD, motors that can produce high power and high-speed servo operation, and controllers that can assimilate information from the sensors and motors, and can compute appropriate motor commands to achieve active stability and implement the user's commands. The left and right wheel motors can drive the main wheels on the either side of the device. The front and back wheels can be coupled to drive together, so the two left wheels can drive together and the two right wheels can drive together. Turning can be accomplished by driving the left and right motors at different rates. The cluster motor can rotate the wheel base in the fore / aft direction. This can allow the MD to remain level while the front wheels become higher or lower than the rear wheels. The cluster motor can be used to keep the device level when climbing up and down curbs, and it can be used to rotate the wheel base repeatedly to climb up and down stairs. The seat can be automatically raised and lowered.

[0097] Referring now to FIGs. 1C and 1D, battery packs 70001 can generate heat when charging and discharging. Positioning battery packs 70001 atop the central housing 21514, and including air gaps 70001-1 between battery packs 70001 can allow air flow that can assist with heat dissipation. Battery packs 70001 can operably couple with gearbox lid 21524 at fastener port 70001-4. The MD can include multiple slots for batteries 70001 (FIG. 1E) to operably couple with connectors 21524-1 (FIG. 1F). When four of batteries 70001 (FIG. 1E) are used, there can be two of connectors 21524-1 (FIG. 1F) that are free. In cold weather, during recharging of batteries 70001 (FIG. 1E), either while the MD is operating or while the MD is idle and being recharged, to protect against overcharge of batteries 70001 (FIG. 1E) below a certain pre-selected temperature or range of temperatures, the charge can be diverted to at least one shunt circuit that can be operably coupled with at least one connector 21524-1 (FIG. 1F). The shunt circuit can include at least one resistor, and optionally at least one fuse.

[0098] Referring now to FIG. 1E, batteries 70001 can serve as the main energy source for the MD. Multiple separate, identical batteries 70001 can provide a redundant energy supply to the device. Each battery 70001 can supply a separate power bus, from which other components can draw power. Each battery 70001 can provide power to sensors, controllers, and motors, through switching power converters. Batteries 70001 can also accept regeneration power from the motors. Batteries 70001 can be changeable and can be removable with or without tools. Each battery 70001 can connect to the MD via, for example, but not limited to, a blind-mate connector. During battery installation, the power terminals of the connector can mate before the battery signal terminals to prevent damage to the battery circuit. The connector can enable correct connection, and can discourage and / or prevent incorrect connection. Each battery 70001 can include relatively high energy density and relatively low weight cells 29, such as, for example, but not limited to, rechargeable lithium ion (Li-ION) cells, for example, but not limited to, cylindrical 18650 cells in a 16s2p arrangement, providing a nominal voltage of about 58V and about 5Ah capacity. Each battery can operate within the range about 50-100V.

[0099] Continuing to refer to FIG. 1E, in some configurations, at least two batteries 70001 must be combined in parallel. These combined packs can form a battery bank. In some fail-operative configurations, there can be two independent battery banks ("Bank A" and "Bank B"). In some configurations, there can be an optional third battery in each battery bank. In some configurations, the load can be shared equally across all packs. In some configurations, up to six battery packs can be used on the system at one time. In some configurations, a minimum of four battery packs is needed for operation. An additional two batteries can be added for extended range. In some configurations, the energy storage level for these battery packs can be the same as standard computer batteries, enabling transport by commercial aircraft possible. Placement of empty of battery packs 70001 can protect the unused battery connection port on the MD and can provide a uniform and complete appearance for the MD. In some configurations, empty battery packs slots can be replaced with a storage compartment (not shown) that can store, for example, a battery charger or other items. The storage container can seal off the empty battery openings to the electronics to prevent environmental contamination of the central housing. The battery packs can be protected from damage by walls 21524A.

[0100] Continuing to refer to FIG. 1E, information from a fuel gauge such as, for example, but not limited to, TI bq34z100-G1 wide range fuel gauge, can be provided to PSC board 50002 (FIG. 15G) over an I2C bus connection. Battery pack 70001 can communicate with PSC board 50002 (FIG. 15G) and therefore with power base (PB) controller (PBC) board 50001 (FIG. 15G). Battery packs 70001 can be mounted in pairs to maintain redundancy. One battery pack 70001 of the pair can be connected to processors A1 / A2 43A / 43B (FIG. 18C) and one can be connected to processors B1 / B2 43C / 43D (FIG. 18D). Therefore, if one of the pair of battery packs 70001 fails to function, the other of the pair can remain operational. Further, if both of battery packs 70001 in a pair fail to function, one or more other pairs of battery packs 70001 can remain operational.

[0101] Continuing to refer to FIG. 1E, a battery controller that can execute on processor 401 (FIG. 15J) can include, but is not limited to including, commands to initialize each battery, run each battery task if the battery is connected, average the results of the tasks from each battery, obtain the bus battery voltage that will be seen by processors A / B 39 / 41 (FIGs. 18C / 18D), obtain the voltage from an ADC channel for the battery that is currently in use, obtain the battery voltage from fuel gauge data, compare the voltage from the fuel gauge data to the voltage from the ADC channel, obtain the number of connected batteries, connect batteries 70001 to a bus to power the MD, monitor the batteries, and check the battery temperature. The temperature thresholds that can be reported can include, but are not limited to including, cold, warm, and hot battery states. The battery controller can check the charge of batteries 70001, compare the charge to thresholds, and issue warning levels under low charge conditions. In some configurations, there can be four thresholds - low charge, low charge alert, low charge with restrictions, and minimum charge. The battery controller can check to make sure that batteries 70001 can be charged. In some configurations, batteries 70001 must be a least a certain voltage, for example, but not limited to, about 30V, and must be communicating with PSC 50002 (FIG. 15G) in order to be charged. The battery controller can recover batteries 70001 by, for example, pre-charging batteries 70001 if, for example, batteries 70001 have been discharged to the point at which a battery protection circuit has been enabled. DC power for charging batteries 70001 can be supplied by an external AC / DC power supply. A user can be isolated from potential shock hazards by isolating the user from batteries 70001.

[0102] Referring now primarily to FIG. 1F, central gearbox 21514 can include e-box lid 21524 (FIG. 1G), brake lever 30070 (FIG. 1A), power off request switch 60006 (FIG. 1A), fastening port 257, lift arm control port 255, caster arm port 225, cluster port 261, and bumper housing 263. Power off request switch 60006 (FIG. 11E) can be mounted on the front of gearbox 21514 (FIG. 1A) and can be wired to PBC board 50001 (FIG. 11A). At least one battery pack 70001 (FIG. 1C) can be mounted upon e-box lid 21524. Cleats 21534 can enable positioning and securing of battery packs 70001 (FIG. 1C) at battery pack lip 70001-2 (FIG. 1E). Connector cavities 21524-1 can include a snout that can protrude from lid 21524. Connector cavities 21524-1 can include a gasket (not shown), for example, but not limited to, an elastomeric gasket, around the base of the snout. Battery connectors 50010 (FIG. 1E) can operably couple batteries 70001 (FIG. 1C) to the electronics of the MD though connector cavities 21524-1, and the pressure of batteries 70001 (FIG. 1C) enabled by fasteners mounted in fastening cavity 70001-4 (FIG. 1D) can seal against the gaskets in connector cavities 21524-1, protecting the gears and electronics of the MD from environmental contamination.

[0103] Referring now to FIG. 1G, an electronics enclosure can house the primary stabilization sensors and decision-making systems for the MD. The electronics enclosure can protect the contents from electro-magnetic interference while containing emissions. The electronics enclosure can inhibit foreign matter ingress while dissipating the excess heat generated within the enclosure. The enclosure can be sealed with a cover and environmental gaskets. Components within the enclosure that can generate significant amounts of heat can be physically connected to the enclosure frame via heat conductive materials. E-box lid 21524 can include battery connector openings 201, a form-in-place gasket (not shown), and mounting cleat attachment points 205 to accommodate mounting of battery packs 70001 (FIG. 1E) on e-box lid 21524. Battery connector openings 201 can include slim rectangles that can include planar gaskets. Batteries can compress against the planar gaskets during assembly, and these gaskets can form an environmental seal between the batteries and chassis of the MD. A form-in-place gasket (not shown) can seal the part of central gearbox 21514 that can include gears, motors, and electronics from intrusion of foreign substances including fluids. In some configurations, harnesses 60007 (FIG. 10C), 60008 (FIG. 10D), and 60009 (FIG. 10E) can connect to sealed, panel-mounted connectors to maintain environmental and EMC protection. Harnesses 60007 (FIG. 10C), 60008 (FIG. 10D), and 60009 (FIG. 10E) can be surrounded by glands and / or panel-mounted connectors that incorporate planar gaskets or o-rings that can be impervious to foreign substances.

[0104] Referring now to FIGs. 1H and 1H-1, surfaces within central gearbox 21514 can be sloped such that environmental contamination, if present, can be channeled away from sensitive parts of the MD. Between the powerbase and the underside of the seat is flexible cable carrier 1149 (FIGs. 11A-11D) that can contain and protect the cables. Central gearbox top cap housing 30025 (FIG. 1H) can include hinge 30025-1 (FIG. 1H) and cable routing guide 30025-2 (FIG. 1H). Cables can be routed between UC 130 (FIG. 12A) and central gearbox 21514 through routing guide 30025-2, for example, that can avoid entanglement of the cables with a seat, especially as the seat moves up and down. The lower end of cable carrier 1149 (FIGs. 11A-11D) can be removably coupled with hinged feature 30028 (FIG. 1H-1) along the top edge of the powerbase on top cap 30025. A hinged cable housing (not shown) can be operably attached to hinge 30025-1 (FIG. 1H). The hinged cable housing (not shown) can further restrain cables to avoid entanglement. In some configurations, top cap 30025-5 (FIG. 1H-1) can include notches 30025-6 (FIG. 1H-1) that can accept hinged feature 30028 (FIG. 1H-1) at various locations across top cap 30025-8 (FIG. 1H-1). In some configurations, hinged feature 30028 (FIG. 1H-1) can be mounted near a first edge of top cap 30025-5 (FIG. 1H-1) at notch 30025-6 (FIG. 1H-1), or at an approximate mid-location 30025-7 (FIG. 1H-1), or near a second edge 30025-8 (FIG. 1H-1) of top cap 30025-5 (FIG. 1H-1). In some configurations, multiple hinged features 30028 (FIG. 1H-1) can be mounted in multiple notches 30025-6 (FIG. 1H-1) in top cap 30025-5 (FIG. 1H-1), thus accommodating multiple cable carriers 1149 (FIGs. 11A-11D).

[0105] Referring now to FIGs. 1I and 1J, central gearbox 21514 can include of first section enclosure 30020, second section enclosure 30021, third section enclosure 30022, and fourth section enclosure 30023 that can be bonded together to form an enclosure for the seat and cluster gear trains and an enclosure for the electronics of the MD. The sections can be bound together by, for example, but not limited to, an elastomeric bonding material. The bonding material can be applied to the edge of each of the sections, and the sections can be fastened together with edges meeting to form the enclosures.

[0106] Referring now to FIG. 1K, sector gear cross shaft 21504 can be supported on glass filled plastic bushings 21504-1, 21504-2, 21504-3, and 21504-4. Each bushing can be supported by one of first section enclosure 30020, second section enclosure 30021, third section enclosure 30022, and fourth section enclosure 30023. Redundant shaft support can efficiently share the load among first section enclosure 30020, second section enclosure 30021, third section enclosure 30022, and fourth section enclosure 30023, and can reduce the load on any single of first section enclosure 30020, second section enclosure 30021, third section enclosure 30022, and fourth section enclosure 30023, enabling the housing structures to be lighter.

[0107] Referring now to FIG. 1L, prior to mating one of sections 30020-30023 with each other, a sealant bead having such characteristics as high temperature resistance, acid and alkali resistance, and aging resistance, such as, for example, but not limited to, a room temperature vulcanization silicon bead, can be applied to perimeter 30023-1, for example.

[0108] Referring now to FIG. 1M, oil port 40056-1, stopped by bolt 40056, can be used to add oil to the gear train enclosure. Each shaft that penetrates the housings can be surrounded by an elastomeric lip and / or o-ring seals. Electrical cable harness housings that exit the central housing do so through leak proof connectors that can seal to the housings with o-rings. The electronics enclosure is closed off by lid 21524 (FIG. 1F) that can include a seal around the perimeter that is clamped to the central housings. The electronics enclosure can provide shielding from the transmission of electromagnetic energy into or out of the enclosure. In some configurations, the sealing material that can bond the housings together and the gaskets coupling e-box lid 21524 (FIG. 1G) and the central housing can be manufactured from electrically conductive materials, improving the ability of the enclosure to shield against electromagnetic energy transmission. Electrical connectors that exit the central housing can include printed circuit boards having electromagnetic energy shielding circuits, stopping the transmission of electromagnetic energy along the cables that can be held in place by cable clamps 30116. Each of central housings 30020 / 30021 / 30022 / 30023 (FIGs. 1I and 1J) can be aligned to adjacent housings by spring pins 40008 (FIG. 1J-1) pressed into the adjacent housing.

[0109] Referring now to FIGs. 1N-1R, skid plate 30026 (FIG. 1R) can protect the underside of the housings from impacts and scrapes. Skid plate 30026 (FIG. 1R) can accommodate optional drive lock kingpin 30070-4 (FIGs. 1N and 1P) when installed. In some configurations, skid plate 30026 (FIG. 1R) can be manufactured of a fracture resistant plastic that can be tinted to limit the visibility of scrapes and scratches. Skid plate 30026 (FIG. 1R) can provide a barrier to oil if the oil drips from central gearbox 21514. When equipped with optional docking attachments, the MD can be secured for transport in conjunction with a vehicle-mounted user-actuated restraint system that can, for example, be commercially available. The docking attachments can include, but are not limited to including, docking weldment 30700 (FIG. 1P) and rear stabilizer loop 20700 (FIG. 1O). Docking weldment 30700 (FIG. 1P) can be mounted to the main chassis of the MD. Docking weldment 30700 (FIG. 1P) can engage with a vehicle mounted restraint system, can provide anchorage for the MD, and can limit its movement in the event of an accident. The restraint system of the MD can enable a user to remain seated in the MD for transport in a vehicle. Docking weldment 30700 (FIG. 1P) can include, but is not limited to including, drive lock kingpin 30700-4 (FIGs. 1N and 1P), drive lock plate base 30700-2 (FIG. 1P), and drive lock plate front 30700-3 (FIG. 1P). Docking weldment 30700 (FIG. 1P) can be optionally included with the MD and can be attached to central gearbox 21514 (FIG. 1N) at drive lock plate front 30700-3 (FIG. 1P). Drive lock base 30700-2 (FIG. 1P) can include drive lock base first side 297 (FIG. 1P) that can include drive lock kingpin 30700-4 (FIG. 1P), and drive lock base second side 299 (FIG. 1Q) that can oppose drive lock base first side 297 (FIG. 1Q) and can be mounted flush with central gearbox 21514 (FIG. 1N). Drive lock plate base 30700-2 (FIG. 1P) can optionally include at least one cavity 295 (FIG. 1Q) that can, for example, enable weight management of the MD, and reduce weight and materials costs. Drive lock kingpin 30700-4 can protrude from drive lock base first side 297, and can interlock with a female connector (not shown) in, for example, a vehicle. Drive lock kingpin 30700-4 can protrude from the underside of the MD to provide enough clearance to interlock with the female connector (not shown), and also to provide enough clearance from the ground to avoid any operational interruptions. In some configurations, drive lock kingpin 30700-4 can clear the ground by, for example, 1.5 inches. In some configurations, the rear securement loop 20700 (FIG. 1O) can engage a hook (not shown) in, for example, a vehicle, at the same time or before or after drive lock kingpin 30700-4 (FIG. 1R) interlocks with a female connector. The hook that engages with rear securement loop 20700 (FIG. 1O) can include a sensor that can report, for example, to the vehicle if rear securement loop 20700 (FIG. 1O) is engaged. If rear securement loop 20700 (FIG. 1O) is not engaged, the vehicle can provide a warning to the user, or may not allow the vehicle to move until engagement is reported. In some configurations, drive lock base plate 30700-2 (FIG. 1P) can include a removable punch-out 30026-1 (FIG. 1R) that can be used to insert and remove drive lock kingpin 30700-4 at any time. For example, the MD could be equipped with drive lock base plate 30700-2 (FIG. 1P) with the removable punch-out 30026-1 (FIG. 1R). Various types of drive lock kingpins 30700-4 can be accommodated to enable mounting flexibility.

[0110] Referring now to FIG. 2A, central gearbox wet section can include, but is not limited to including, central gearbox housing left outer 30020 (FIG. 2A), central gearbox housing left inner 30021 (FIG. 2A), and right inner housing 30022 (FIG. 2A) that can include seat and cluster gears and shafts, and position sensors.

[0111] Referring now to FIGs. 2B-2E, gear trains for cluster and seat are shown. The cluster drive gear train can include four stages with two outputs. The shaft on the third stage gear can span the powerbase. The final stage gear on each side can provide the mounting surface for the wheel cluster assembly. Central gearbox wet section can include the cluster drive gear set that can include shaft pinion stage one cluster rotate 21518 (FIG. 2M), that itself can drive pinion-gear cluster rotate stage 2 pinion 21535 (FIGs. 2O, 2P, 2B), that can drive cluster rotate pinion-gear stage 3 pinion 21536 (FIGs. 2Q, 2B), that itself can drive cluster rotate gear-pinion cross-shaft stage 3 21537 (FIG. 2R, 2B) that is connected to the left and right cluster cross shafts 30888 and 30888-1 (FIGs. 6D, 2D, and 2E), that can drive the cluster rotate stage 4 ring gears 30891 (FIG. 6D). The left and right cluster ring gears 30891 (FIG. 6D) can be operably coupled with wheel cluster housings 21100 (FIG. 6A). The cluster drive gear train can include pinion shaft stage 1 30617 (FIG. 2D), that can drive gear cluster stage 1 30629 (FIG. 2D) and pinion shaft stage 2 30628 (FIG. 2D), that can in turn drive gear cluster stage 2 30627 (FIG. 2D) and pinion shaft 30626 (FIG. 2D), that can drive gear cluster rotate stage 3 30766 (FIG. 2D) and cross shaft cluster rotate 30765 (FIG. 2D). The input shaft of the wheel cluster assembly can engage two gear trains, placed symmetrically with respect to the input shaft. There are two stages of gear reduction to transmit power from the input shaft to the output shafts, on which wheel assemblies 21203 (FIG. 1A) can be mounted. The two wheel cluster assemblies can be identical.

[0112] Referring now to FIGs. 2F-2V, the seat drive transmission gear train can include four stages with two outputs. The shaft on the final stage gear can span the powerbase and can provide interfaces to the drive arms. Central gearbox wet section can also include the seat drive gear train that can include the pinion height actuator shaft stage 1 30618 (FIG. 2G, 2N) that can drive pinion-gear height actuator stage 2 21500 (FIG. 2H), that can drive gear height actuator stage 2 30633 (FIG. 2T), that can drive gear height actuator stage 3 30625 (FIG. 2U) and pinion height actuator shaft stage 4 30877 (FIG. 2U). Gear height actuator stage 3 30625 (FIG. 2U) can drive pinion height actuator shaft stage 3 30632 (FIG. 2T). Stage four pinion-gear height actuator 21502 (FIG. 2U) can drive the cross shaft sector gear stage four height actuator 30922 (FIG. 2S) that is mounted upon cross shaft sector gear height actuator stage 4 30909 (FIG. 2S), that is operably coupled at 255 to the left and right lifting arms 30065 (FIG. 5A). Seat absolute position sensor 21578 (FIG. 3L) can be associated with cross shaft sector gear height actuator 30909 (FIG. 2S).

[0113] Referring now to FIGs. 3A and 3B, seat motors assemblies 21582 (FIG. 3A) and cluster motor assemblies 21583 can be securely positioned within housings 30020, 30021, and 30022. Seat height absolute position sensor 21578 (FIG. 3B) can be operably coupled with gear teeth rear clamp 30135 (FIG. 3J) operably coupled with rear half gear clamp 30135 (FIG. 3J) and mounted upon sector gear cross shaft 30909 (FIG. 3B).

[0114] Referring now primarily to FIG. 3C, central gearbox housings 21515 can include mounting areas for seat / cluster brakes, motors, and sensors. Each drive transmission can include a motor, brake, and gear transmission. The brake can be disengaged when electrical power is applied, and can be engaged when electrical power is removed. A seat / cluster motor mounting area can house motor mount bottom 30126 (FIGs. 3D and 3E) and motor mount top 30127 (FIGs. 3D and 3E), seat / cluster motor assembly 21582 (FIGs. 3D and 3E), DC motor 70707 (FIG. 3D) and brake without manual release 70708-2 (FIG. 3H). A wheel motor mounting area can house wheel motor assembly 21583 (FIGs. 3F and 3G), motor mount top 30125, and brake without manual release 70708-2 (FIG. 3H). In some configurations, seat and cluster cross shafts, motors, brakes, and motor couplings can include the same or similar parts. Motors can provide the primary types of motion on the MD: wheel, cluster and seat. Wheel motors 21583 (FIG. 3F) can drive each wheel transmission. Cluster motor 21582 (FIG. 3D) can drive the cluster transmission. Device safety and reliability requirements can suggest a dual redundant, load sharing motor configuration. Each motor can have two sets of stator windings, mounted in a common housing. Two separate motor drives can be used to power the two sets of stator windings. The power supply for each drive can be a separate battery. This configuration can minimize the effects of any single point failure in the path from battery 70001 (FIG. 1E) to motor output. Each set of stator windings, together with its corresponding segment of the rotor (referred to as a motor half) can contribute approximately equal torque during normal operation. One motor half can be capable of providing the required torque for device operation. Each motor half can include a set of rotor position feedback sensors for commutation. Seat / cluster motors 21582 (FIG. 3D) and wheel motors 21583 (FIG. 3F) can include, but are not limited to including, a single shaft and a dual (redundant) stator brushless DC electric (BLDC) motor operating at up to 66 VDC with a sine drive (voltage range 50 - 66 VDC). The motors can include two 12-V relays mounted on an interface board. One relay can govern the activity of the motor. In some configurations, there can be three sensor outputs per motor half, each sensor being 60° offset from the next. Sensors can include, for example, but not limited to, Hall sensors. The sensors can be used for commutation and can provide position information for further feedback. The motors can include a dual motor winding, drive, and brake coil configuration. That is, two separate sets of motor windings and two separate motor drives can be utilized in driving one shaft. Similarly, the brake drives can be used to drive two coils to disengage the brake for one shaft. This configuration can allow the system to respond to a single point failure of the electronics by continuing to operate its motors and brakes until a safe state can be achieved. The seat and cluster motor shafts are aligned with the seat and cluster drive train input shafts by the motor couplings as the motors are installed. The motor shafts are secured in this correct alignment by motor mount fasteners.

[0115] Continuing to refer to FIG. 3C, the mechanical package of each seat sensor 21578 (FIG. 3M) and cluster sensor 21579 (FIG. 3O) can house two independent electronic sensors that can relay information to PBC board 50001 (FIG. 15B). Seat position sensor processor A (FIG. 18C) and cluster position sensor processor A (FIG. 18C) can receive position information into A-side electronics, and seat position sensor processor B (FIG. 18D) and cluster position sensor processor B (FIG. 18D) receive position information into the B-side electronics, providing redundant electronics that can enable full system operation even if one side of the electronics has issues. Seat sensors and cluster sensors that feed A- and B-side electronics can be co-located to enable measurement of similar mechanical movement. Co-location can enable results comparison and fault detection. The absolute seat and cluster position sensors can report the position of the seat and cluster, and can be referenced each time the MD is powered up, and as a backup position reference when the MD is powered. While the MD is powered, position sensors built into seat and cluster motors can be used to determine seat and cluster position. Seat position sensor upper / lower housings 30138 / 30137 (FIG. 3M) can house the electronic sensors, shaft, and gear of the single stage gear train that connects the sensors to sector gear cross shaft assembly 21504 (FIG. 3J) and the cluster cross shaft 30765 (FIG. 6D) respectively. The shaft and gear can be molded as a single part, for example, from a plastic such as, for example, a lubricous plastic that can enable molding with no additional bearing material or lubricant.

[0116] Referring now to FIGs. 3D-3G, seat / cluster motor 21583 (FIG. 3F) and wheel motors 21582 (FIG. 3D) can each include at least one thermistor 70025 that can be thermally connected to the motors. At least one thermistor 70025 can report temperature data to the A-side and B-side electronics. The temperature data can be used, for example, but not limited to, for reducing power usage when the motors reach a pre-selected threshold temperature to avoid damage to the motors. In some configurations, each motor can include two thermistors 70025 - one for each redundant half of the motor. Thermistor 70025 can be affixed to a sleeve that can be operably coupled with the laminations that make up the motor body. Thermistor 70025 can enable an indirect estimate of the motor winding temperature. The temperature data for a particular motor can be routed to the processor associated with the motor. In some configurations, the temperature data can be quantized by the analog / digital converter on the processor, if necessary, and the quantized values can be fed into a temperature estimator algorithm. The algorithm can include a model of the heat transfer path, empirically derived for each motor, that can account for the electrical power delivered to the windings, the heat flux through the windings and housing (where thermistor 70025 makes its measurement), and from the housing to the chassis the motor is mounted to. A thermal estimator algorithm can use the electrical current going to the motor as well as the motor housing (thermistor) temperature to provide an estimate of motor winding temperature and other variables such as, but not limited to, motor speed. If the motor is spinning quickly, there can be greater heating due to, for example, eddy current losses. If the motor is stalled, the current can be concentrated in one phase and can increase the rate of heating in that winding. The thermistor signal can be transmitted along the cable between the motor and PBC 50001 (FIG. 15B). At PBC 50001 (FIG. 15B), each motor cable can break into two connectors: (1) first connector 50001-1A (FIG. 15B) including pins for three motor phase wires, and second connector 50001-1B (FIG. 15B) for Hall sensors, phase relay, brake, and thermistors 70025. In some configurations, first connector 50001-1A (FIG. 15B) can include, but is not limited to including, a 4-pin Molex Mega-Fit connector. In some configurations, second connector 50001-1B (FIG. 15B) can include, but is not limited to including, a 10-pin Molex Micro-Fit connector. The motors of the MD can be thermally pressed into the housings of the MD that are fastened to the central housing. The thermal pressing can provide a thermal conduction path from the motors to the central housing.

[0117] Referring now to FIGs. 3H and 3I, separate electromagnetic holding brakes can be coupled to each motor. The electromagnetic holding brakes can include two electrically isolated coils, and each can be energized by a brake drive in each of the motor drives. The brake can disengage when both of its coils are energized, and can be disengaged when only one of its coils is energized. The brakes can be designed to automatically engage when the unit is off or in the case of a total power loss, therefore holding position and / or failing safe. The electromagnetic brakes can be used to hold the MD in place when the wheels are not in motion and similar brakes can hold the cluster and seat in place when not in motion. The brakes can be controlled by commands from the powerbase processors. When the MD is powered down, the brakes can automatically engage to prevent the MD from rolling. If the automatic brakes are manually disengaged at power on, the motor drives can activate to hold the MD in position and the system can report to the user that the wheel brakes have been disengaged. If a brake lever is disengaged after power is on, power off requests can be blocked, under some circumstances, to avoid unintentional rolling of the MD after it has powered down. Disengaging the automatic brakes can be used to manually push the MD when it is powered off. Each of the four motors that drive the right wheels, left wheels, cluster and seat can be coupled to a holding brake. Each brake can be a spring-applied, electromagnetically released brake, with dual redundant coils. In some configurations, the motor brakes can include a manual release lever. Brake without brake lever 70708-2 (FIG. 3H) can include, but is not limited to including, motor interface 590 and mounting interface 591. In some configurations, motor interface 590 can include a hexagonal profile that can mate with a hexagonal motor shaft. Brake with brake lever 70708-1 (FIG. 3I) can include mounting interface 591A that can include hexagonal profile 590A. Brake with brake lever 70708-1 can include manual brake release lever 592A that can operably couple with brake release spring arms 30000 (FIG. 9G) that can operably couple with spring 40037 (FIG. 9J).

[0118] Referring to FIGs. 3I-1 and 3I-2, noise encountered during operation of the MD can be reduced. In some configurations, a coating of, for example, but not limited to, a rubber-like substance can be applied to either the exterior of motor coupling 70808-1 (FIG. 3I-1) or 70808-2 (FIG. 3I-2), or the interior of disk 590A (FIG. 3I-2) to cushion low speed impacts and reduce sound.

[0119] Referring now to FIGs. 3I-3 through 3I-5, brake assembly 70808-3 of the present teachings, that can reduce vibration, and therefore reduce noise during operation of the MD can include, but is not limited to including, plates 1001 / 1011, spacers 1003 (FIG. 3I-4), disk 1005 (FIG. 3I-4), motor coupling 1009, and insert 1007. Motor coupling 1009 can be encompassed by insert 1007. Motor coupling 1009 can include any shape, for example, but not limited to, hexagonal, and insert 1007 can be constructed to accommodate any shape. Insert 1007 can remove rotational freedom between motor coupling 1009 and disk 1005. Disk 1005 and insert 1007 can together be positioned anywhere along the length motor coupling 1009. Insert 1007 can effectively expand motor coupling 1009 towards disk 1005. Under low load, insert 1007 can prevent relative motion between motor coupling 1009 and disk 1005. Under higher loads, motor coupling 1009 and disk 1005 can come into contact to transmit the operating torque.

[0120] Referring now to FIGs. 3I-6 and 3I-7, insert 1007 can include, but is not limited to including, at least one protrusion 1007-2 that can enable flush mounting between motor coupling 1009 and insert 1007. Insert 1007 can include any number and size of protrusions 1007-2 along the interface surface between insert 1007 and motor coupling 1009. The number of protrusions 1007-2 can affect the size of the gap between motor coupling 1009 and insert 1007, and can affect the ability of insert 1007 to slide along motor coupling 1009. Insert 1007 can include chamfered edges 1007-3 that can enable smooth assembling of motor coupling 1009 with insert 1007. In some configurations, the interface surface between motor coupling 1009 and insert 1007 can include any number of interior faces 1007-1. In some configurations, protrusions 1007-2 can be positioned on some or all of interior faces 1007-1. In some configurations, protrusions 1007-2 can be placed on alternate of interior faces 1007-1. Insert 1007 can include any number of exterior faces 1007-5 along the interface surface between insert 1007 and disk 1005. The number of interior faces 1007-1 and the number of exterior faces 1007-5 can be the same or different. Insert 1007 can include clips 1007-6 that can accommodate assembly with disk 1005. Clips 1007-6 can include grip 1007-4 that can flexibly retain motor coupling 1009 while enabling axial movement along motor coupling 1009. Grip 1007-4 can be positioned to allow for ease of part moldability. The flexibility of insert 1007 can enable the metal parts of brake assembly 70808-3 to accommodate torque under a relatively high load.

[0121] Referring now to FIG. 3I-8, second configuration brake insert 30708 can include, but is not limited to including, geometrically similar interior edge 30708-C and exterior edge 30708-B. Reinforcement material 30708-A can strengthen the intersection between clips 1007-6 and interior edge 30708-C. Clips 1007-6 can include retention geometry 30708-D.

[0122] Referring now to FIGs. 3I-9 through 3I-12, brake assembly 70808-4 of the present teachings can allow for some relative motion between motor coupling 2009 and disk 2005, and can cushion the interface to reduce impact sounds. Motor coupling 2009 can include at least one groove machined into motor coupling 2009 to fit a recessed O-ring 2008 (FIG. 3I-11). O-ring 2008 (FIG. 3I-11) can prevent metal-to-metal contact during low loads. Under high brake loads, O-ring 2008 (FIG. 3I-11) can be compressed into groove 2007, and the metal can contact each other to transmit the necessary torque. Brake assembly 70808-4 can allow brake disk 2005 to function properly while tolerating error in axial position. Brake assembly 70808-4, that can reduce vibration, and therefore reduce noise during operation of the MD can include, but is not limited to including, plates 2001 / 2011, spacers 2003, disk 2005 (FIG. 3I-10), motor coupling 2009, and at least one o-ring 2008 (FIG. 3I-11). Motor coupling 1009 can be encircled by at least one groove 2007. Motor coupling 2009 can include any shape, for example, but not limited to, hexagonal, and at least one groove 2007 can include any depth that can accommodate the placement and protrusion of at least one o-ring 2008. To determine a desired depth of at least one groove 2007 and the desired size of at least one o-ring 2008, a target amount of o-ring protrusion 2010 (FIG. 3I-12) can be selected, for example, but not limited to, 0.4 mm to 0.5 mm. Selecting o-ring protrusion 2010 (FIG. 3I-12) can be based on balancing the amount of clearance desired between disk 2005 and motor coupling 2009, and the amount of vibration damping desired. For example, if o-ring protrusion 2010 (FIG. 3I-12) is too high, there can be too much clearance between disk 2005 and motor coupling 2009. If o-ring protrusion 2010 (FIG. 3I-12) is too low, there can be a deficit of vibration damping and allowance for tolerancing. In some configurations, the diameter of o-ring 2008 can be selected to achieve a maximum compression of ~30% before metal-to-metal contact occurs between motor coupling 2009 and disk 2005. The depth of groove 2007 can be chosen to accommodate o-ring 2008 (FIG. 3I-11), and achieve the desired height of protrusions 2010 to properly position o-ring 2008 (FIG. 3I-11). Brake assembly 70808-4 (FIG. 3I-9) can tolerate a relatively large range of axial positions, possibly reducing assembly constraints.

[0123] Referring now to FIG. 3I-13, motor coupling 2009 along with at least one properly-selected o-ring 2008 can remove rotational freedom between motor coupling 2009 and disk 2005. Motor coupling 2009 can include any number of grooves 2007 and accompanying o-rings 2008, the number being based at least on how much axial movement of disk 2005 along motor coupling 2009 is desired. Disk 2005 can be positioned against o-ring 2008 at disk cavity edge 2013. Disk 2005 and o-ring 2008 / groove 2007 can together be positioned anywhere along the length motor coupling 2009. Under low load, o-ring 2008 / groove 2007 can prevent relative motion between motor coupling 2009 and disk 2005. Under higher loads, motor coupling 2009 and disk 2005 can come into contact to transmit the operating torque.

[0124] Referring now to FIGs. 3J-3L, central gearbox housings 21515 can include at least one absolute seat position sensor 21578 (FIG. 3M) that can be operably coupled with seat position sensor gear teeth clamp 30135 (FIG. 3K). Seat position sensor gear teeth clamp 30135 (FIG. 3K) can include embossing 273 (FIG. 3K) to assist in aligning and orientation of seat position sensor gear teeth clamp 30135 (FIG. 3K) around cross shaft stage 4 sector gear 21504, and fastened to rear half gear clamp 30136. Seat position sensor tooth gear 30134 (FIG. 3M) of absolute seat position sensor 21578 (FIG. 3M) can interlock seat position sensor tooth gears 30134 (FIG. 3M) with position sensor gear teeth clamp 30135 (FIG. 3K) as cross shaft sector gear height actuator 30909 (FIG. 21A-3) moves. Sector cross shaft 30909 (FIG. 3L) can include a hollow shaft that can operably couple the seat drive train to the seat lifting arms on the left and right side of the central housing. The fourth stage seat height sector gear is clamped onto the shaft and restrained from rotating about the shaft by a key connection between the shaft and gear. The left and right lifting arms are needed to be aligned with each other to assure the seat will be lifted symmetrically. The left and right lifting arms are connected by pins and bolts in an asymmetric pattern that can only be assembled in the correct orientation. This forces the lifting arms to always be aligned. Seat absolute position sensor 21578 (FIG. 3M) can measure the rotation of sector gear cross shaft 30909 (FIG. 3L) that connects to and lifts the seat lifting drive arms 21301 (FIG. 5D) on the left and right side of central gearbox 21514 (FIG. 1A). Sector gear cross shaft 30909 (FIG. 3J) can rotate through less than 90° of rotation, and can be coupled to seat position sensor 21578 (FIG. 3M) through a one-stage gear train that can cause seat position sensor 21578 (FIG. 3M) to rotate more than 180°, thereby doubling the sensitivity of the position measurement of the seat. Seat position sensor gear clamp 30136 (FIG. 3J) can matingly interlock with seat position sensor gear teeth clamp 30135 (FIG. 3K) around sector gear cross shaft 30909 (FIG. 3J). The interlocked combination can provide geared interaction with seat absolute position sensor 21578 (FIG. 3M). Seat absolute position sensor 21578 (FIG. 3M) can include, but is not limited to including, seat position sensor tooth gear 30134 (FIG. 3M), Hall sensor 70020 (FIG. 3M), magnet 70019 (FIG. 3M), seat position sensor upper plate 30138 (FIG. 3M), and seat position sensor lower plate 30137 (FIG. 3M). Magnet 70019 (FIG. 3M) can be mounted on upper plate 30138 (FIG. 3M). Upper plate 30138 (FIG. 3M) can be securely mounted upon lower plate 30137 (FIG. 3M).

[0125] Referring now to FIG. 3O, at least one absolute cluster position sensor 21579 (FIG. 3O) can include Hall sensor 70020 (FIG. 3O), cluster position sensor cluster cross-shaft gear 30145 (FIG. 6E) and cluster position tooth gear 30147 (FIG. 3O). Cluster rotate stage three cross shaft 21537 (FIG. 2R) can be geared to interface with absolute cluster position sensor 21579 (FIG. 3O) through cluster position sensor tooth gear 30147 (FIG. 3O). Seat absolute position sensor 21578 (FIG. 3M) can determine the location of the seat support bracket 24001 (FIG. 8B) relative to central gearbox 21514 (FIG. 9). Cluster position sensor 21579 (FIG. 3O) can determine the position of wheel cluster housing 21100 (FIG. 6A) relative to central gearbox 21514 (FIG. 9). Seat absolute position sensor 21578 (FIG. 3M) and cluster position sensor 21579 (FIG. 3O) can together determine the position of the seat with respect to the wheel cluster assembly 21100 (FIG. 6A). Seat position sensor 21578 (FIG. 3M) and cluster position sensor 21579 (FIG. 3O) can sense absolute position. Absolute seat position sensor 21578 (FIG. 3M) can sense that the seat has moved since a previous power off / on. If the MD is powered off and the seat or cluster drive train move, the seat and cluster sensors can sense the new location of the seat and cluster relative to central gearbox 21514 (FIG. 9) when the MD is powered back on. The fully internal sensor system of the MD can provide protection to the sensors with respect to mechanical impact, debris, and water damage.

[0126] Referring now primarily to FIG. 4, caster wheels 21001 can be attached to central gearbox 21514 for use when the seat height is at its lowest position, supporting a portion of the MD when the MD is in standard mode 100-1 (FIG. 22A). Caster wheels 21001 can swivel about a vertical axis allowing changes in direction. Caster wheels 21001 can allow maneuverability and obstacle traversal. Caster assembly 21000 can include caster arm 21000-201 that can be operably connected, at a first end, to caster wheel 21001 (FIG. 27A). Caster arm 21000-201 can include caster arm shaft 229 that can enable operable connection between caster arm 21000-201 and central gearbox 21514 at caster arm port 225. Caster arms 21000-201 can be secured in pockets 225 to prevent sliding out while enabling rotation. Pockets 225 can be lined with plastic bushings to enable caster arms 21000-201 to rotate. Caster spring plate 30044 can be operably connected to central gearbox 21514. Compression spring 40038 can enable shock absorption, stability, and continued operation when caster assembly 21000 encounters obstacles. Compression spring 40038 can provide suspension to the system when caster wheels 21001 (FIG. 27A) are in operation. Caster assembly 21000 can rest upon compression spring 40038 that can itself rest upon caster spring plate 30044. Compression spring 40038 can be attached to caster spring plate 30044 by spring cap 30037, sleeve bushing 40023, and o-ring 40027. In some configurations, o-ring 40027-3 can be used as a rebound bumper. Compression spring 40038 can restrict the range of rotation of caster arms 21000-201 to maintain caster wheel 21001 (FIG. 27A) in an acceptable location.

[0127] Referring now primarily to FIG. 5A, the vertical position of the user can be changed through the seat drive mechanism, consisting of a transmission and a four-bar linkage attaching the seat assembly to central gearbox 21514. The elements of the four-bar linkage can include, but are not limited to including, central gearbox 21514, two drive arms 30065 (one on each side of the central gearbox), two stabilizer arms 30066 (one on each side), and seat brackets 30068. The seat drive transmission can include a significant reduction to provide torque to both drive arm links for lifting the user and seat assembly relative to central gearbox 21514. Because central gearbox 21514 acts as an element of the four-bar linkage driving the seat, central gearbox 21514 can rotate relative to the ground to maintain the seat angle during a seat transition. Thus, the cluster drive and seat drive can act in concert during a seat transition. The rotation of central gearbox 21514 can move caster assemblies 21000, the movement of which can avoid obstacles such as, for example, but not limited to, curbs. A seat of any kind can be used with the MD by attaching the seat to seat brackets 30068. Lift arm 21301 (FIGs. 5D / 5E) can operably couple with seat brackets 30068 at a lift arm first end. Lift arm 21301 (FIGs. 5D / 5E) can be operably coupled with central gearbox 21514 at a lift arm second end. The movement of lift arm 21301 (FIGs. 5D / 5E) can be controlled with signals transmitted from electronics housed in central gearbox 21514 through control port 255 (FIG. 1F) to lift arm 21301 (FIGs. 5D / 5E). Lift arm 21301 (FIGs. 5D / 5E) can include a tie-down that can enable a secure placement of the MD in, for example, but not limited to, a vehicle. Stabilizer arm 21302 (FIG. 5C) can operably couple with seat brackets 30068 at a link first end. Stabilizer arm 21302 (FIG. 5C) can be operably coupled with central gearbox 21514 at a link second end. The movement of stabilizer arm 21302 (FIG. 5C) can be controlled by the movement of lift arm 21301 (FIGs. 5D / 5E). Stabilizer link rest bumper 30055 can smooth the ride for the user of the MD, and can reduce wear on gears within central gearbox with electronics 21514. In some configurations, bumper 30055 can rest in bumper housing 263, and can be secured in place by stabilizer link rest end cap 30073. The linkage assembly that is formed by lift arm 21301 and stabilizer arm 21302 (FIG. 5C) can rest on bumper 30055 when the MD is in standard mode. The absolute position of the motor, determined by an absolute position sensor associated with the motor, can determine when the linkage assembly should be resting on bumper 30055. The motor current required to move the linkage can be monitored to determine when the linkage assembly is resting on the bumper 30055. When the linkage assembly is resting on bumper 30055, the gear train may not be exposed to impacts that can result from, for example, obstacles encountered by the MD and / or obstacles and vehicle motion encountered by a vehicle transporting the MD.

[0128] Referring now to FIG. 5B, vehicle tie-downs 30069 can be operably coupled with seat brackets 30068 to allow the MD to be secured in a motor vehicle. The restraint system of the MD can be designed to allow a user to remain seated in the MD for transport in a vehicle. Seat brackets 30068 can include, but are not limited to including, a seat support bracket plate that can provide an interface between seat support bracket 30068 and central gearbox 21514 (FIG. 5A). Seat attachment rail 30081 can be sized according to the seat chosen for use. Seat brackets 30068 can be customized to attach each type of seat to lifting arms 21301 (FIG. 5D) and stabilizer arms 21302 (FIG. 5C). Seat brackets 30068 can enable the seat to quickly and easily be removed for changing the seat and for enabling transport and storage, for example.

[0129] Referring now to FIGs. 5F-5H, assembly 51 depicts seat 67 that can be removably paired with a base 81 of the MD. Seat 63 can comprise seat rail 67 that can be optionally combined with leg-supports (not shown) and footrest 65. Seat rail / s 67 can accept cushioning or sitting surface for the user of the MD to rest upon. In some configurations, base 81 can include wheels 85. Pairing assembly 73 can be configured to engage with seat rail / s 67 on one end and optionally engage with base 81 on another end. Pairing bracket 71 of pairing assembly 73 can conjointly function with first coupling features 75 oriented to engage seat rail / s 67 and second coupling features 77 configured to engage assembly 73 with base 81 of the MD. In some configurations, first coupling features 75 can be rigidly clamped with or molded to seat rail / s 67. In some configurations, first coupling features 75 can be removably clamped with pairing bracket 71 in assembly 73.

[0130] Continuing to refer to FIGs. 5F-5H, in some configurations, one of first coupling features 75 can be engaged with pairing bracket 71 using a first release mechanism, and another of first coupling features 75 can be engaged with pairing bracket 71 through a second release mechanism. The first and second release mechanisms can jointly operate to engage and / or release seat rail / s 67 with base 81 of the MD.

[0131] Referring now primarily to FIG. 5I, assembly 101 can include user seat 120 engaged to a device such as, for example, but not limited to, the MD through pairing assembly 201. The device can be mobile or stationary. User seat 120 can comprise at least one rail 1130 co-jointly positioned with partnering rails to support a platform or cushioning on which the user can rest. Seat rails 1130 can be of any geometry configured to engage one or more clamping features 135 that can be engaged therewith. Configuration of the present teachings depicts a tubelike geometry of seat rails 1130. In some configurations, the geometry of clamping features 135 can vary with the geometry of seat rails 1130. Clamping features 135 can be fastened with one or more mounts. Mounts, for example, but not limited to, first mount 1160 and second mount 170 can serve as intermediates to engage seat rail / s 1130 with pairing brackets 1180. A plurality of pairing brackets 1180 can commit to single seat rail 1130. In some configurations, pairing bracket 1180 can be paired with seat rail 1130. Pairing bracket 1180 can partly engage with seat rails 1130 on one end and can further engage with, for example, the MD or a sitting structure, on another end.

[0132] Continuing to refer to FIG. 5I, pairing brackets 1180 can provide (1) first receptacles 220 (FIG. 5L) that can align to engage with first and second mounts 1160, 170 and (2) second receptacles (not shown) that can align with components (not shown) to engage the base of the MD therewith. An individual receptacle of first receptacles 220 and an individual receptacle of the second receptacles (not shown) can be of varying dimensions to engage fastening features such as, but not limited to, mounting pins 1190, 177 respective to first and second mounts. Quick release engagement of pairing bracket 1180, first and second mounts 1160, 170 along with their respective pins 1190, 177 is discussed herein.

[0133] Referring now to FIGs. 5J-5M, pairing assembly 201 can include, but is not limited to including, pairing bracket 1180 engaged with seat rail 1130 through first mount / s 1160 and second mount / s170. First and second mounts 1160, 170 can operably couple with seat rail 1130 through clamping features 135. The number of clamping features 135 used and the dimensions of clamping features 135 can be altered to suit the geometry of seat rail 1130 and the dimensions of first and second mounts 1160, 170. At least one first mounting pin 1190 can allow a releasable engagement of first mount 1160 with pairing bracket 1180. Second mount 170 can engage with pairing bracket 1180 through at least one rear pin 177 (FIG. 5M). First and second mounts 1160, 170 can further provide corresponding pockets (not shown) therewith that can operatively accommodate the at least one front pin 1190 and the at least one second pin 177 (FIG. 5M), respectively.

[0134] Continuing to refer to FIGs. 5J-5M, second mount 170 can further optionally operate in conjunction with first mount 1160 such that disengagement between second mount 170 and pairing bracket 1180 cannot be achieved without disengaging first mount 1160 and pairing bracket 1180. This releasable engagement can be operated by user of the MD and / or any operator requiring to detach or replace seat of the MD through operation of first mounting pin 1190. First mounting pin 1190 can further comprise body 197 and handle 195. Body 1190 can be operated upon by handle 195. First mount 1160 can provide a pocket (not shown) to operatively accommodate first mounting pin 1190 such that body 197 of mounting pin 1190 can rest in the pocket thereof. Handle 195 can serve as an operating feature to transition first mounting pin 1190 from a first position to a second position and vice-versa. First position of first mount pin 1190 can be confirmed by first handle position 195A and second position of first mount pin 1190 can be confirmed by second handle position 195B. In first handle position 195A, first mounting pin 1190 can occupy corresponding pocket (not shown) provided by first mount 1160 and further extend into a receptacle (not shown) on paring bracket 1180. The first position of the at least first mounting pin 1190 can engage first mount 1160 with pairing bracket 1180. Handle 195 can be rotated in direction 175 to cause handle 195 to be in a second handle position 195B and thereby can cause first mounting pin 1190 to be in its second position or release position.

[0135] Continuing to refer to FIGs. 5J-5M, during second handle position 195B, handle 195 can be rested into groove 166 that can be provided on first mount 1160. Rotating handle 195 to second handle position 195B can cause first mounting pin 1190 to be in a second position wherein, first mounting pin 1190 can withdraw from corresponding receptacle (not shown) provided by paring bracket 1180. First mount 1160 can disengage with pairing bracket 1180, and can cause seat rail 1130 to be partially disengaged from pairing bracket 1180. Second mount 170, that can be configured to jointly function with first mount 1160, and can include slot 176 (FIGs. 5N and 5O) therein. Second mount pin 177 can occupy slot 176 without descending out of slot 176 during engagement of seat rail 1130 with pairing bracket 1180. Disengagement between pairing bracket 1180 and seat rail 1130 can allow second mount pin 177 to descend out of slot 176, thereby causing seat rail / s 1130 to disengage from pairing bracket 1180. As a result, user seat can be expediently released from base of the MD.

[0136] Referring now to FIGs. 5N and 5O, first mount 1160 can further provide a supplementing catch feature 215 configured to capture pairing bracket 1180. Pocket 210 on pairing bracket 1180 can receive catch feature 215 therein to secure first mount 1160 with pairing bracket 1180. Above discussed engagement can work in conjunction with engagement between first mount 1160 and pairing bracket 1180 through first mount pin 1190 that can be received in receptacle 220 of pairing bracket. This dual engaging mechanism can securely fasten at least a part of seat rail 1130 with pairing bracket 1160. Second mount pin 177 can be securely fastened with pairing bracket 1180 and on appropriate alignment can slide into slot 176 of second mount 170.

[0137] Referring now to FIGs. 5P-5S, comprehensive engagement of seat rail 1130 with pairing bracket 1180 can be achieved by sliding in second mount pin 177 into slot 176 of second mount and securing pin 177 therein. This step can be followed by aligning pairing bracket 1180 with first mount 1160 such that first mount pin 1190 can be received into receptacle 220 of pairing bracket 1180 and catch features 215 can capture a part of pairing bracket 1180 by resting in pocket 210. During this arrangement pin handle 195 can be in a first position 195A. As a result, switching position of pin handle 195 from position 195A to second position 195B can allow disengaging seat rail 1130 and paring bracket 1180. Discussed mechanism can allow a variety of user-preferred seat / s with complementing seat rails to engage and disengage with the MD through pairing assembly 201.

[0138] Referring now primarily to FIGs. 6A and 6B, cluster assembly can include cluster housing 30010 / 30011 (FIG. 6K), cluster interface pin 30160 (FIG. 6A), and o-ring 40027-6 (FIG. 6A) that can environmentally isolate the interior of central gearbox 21514 at the cluster connection. Each cluster assembly can include a two-stage gear train replicated on both left and right sides of central gearbox 21514 to drive each cluster assembly simultaneously. Each cluster assembly can independently operate the set of two wheels 21203 (FIG. 6A) on wheel cluster 21100 (FIG. 6A), thereby providing forward, reverse and rotary motion of the MD, upon command. The cluster assembly can provide the structural support for wheel clusters 21100 (FIG. 6A) and the power transmission for the wheels 21203 (FIG. 6A). The cluster assembly can include, but is not limited to including, ring gear nut 30016 (FIG. 6B), ring gear 21591 (6J), ring gear seal 30155 (FIG. 6B), cluster interface cover 21510 (FIG. 6C), first configuration cluster plate interface 30014 (FIG. 6I), cluster interface gasket 40027-14 (FIG. 6B), cluster rotate stage four pinion shaft 30888 (FIG. 31A4), brake with manual release 70708 (FIG. 3I), brushless DC servomotor 2-inch stack 21583 (FIG. 3D), and motor adapter 30124 (FIG. 6B). Second configuration cluster interface plate 30014A (FIG. 6H) can alternatively provide the functionality of first configuration cluster interface plate 30014 (FIG. 6I). The cluster interface assembly can drive cluster wheel drive assembly 21100 (FIG. 6A) under the control of powerbase processors on powerbase controller board 50001 (FIG. 15B). The cluster interface assembly can provide the mechanical power to rotate wheel drive assemblies 21100 (FIG. 6A) together, allowing for functions dependent on cluster assembly rotation, for example, but not limited to, stair and curb climbing, uneven terrain, seat lean adjustments, and balance mode. Cluster motor 21583 (FIG. 6B) can supply input torque to the cluster interface assembly. The cluster interface assembly can provide a reduction to deliver the torque required to lift the user seated upon the MD when climbing stairs or lifting up to balance mode 100-3 (FIG. 22B). Power from cluster motor 21583 (FIG. 6B) can be transmitted to the output shaft to provide the low speed, high torque performance required for stair and obstacle navigation. Cluster o-ring 40027-14 (FIG. 6B) can form a three-way seal between the cluster plate 30014 (FIG. 6A), cluster interface housing cap 30014 (FIG. 6B), and central housing 21514 (FIG. 6A).

[0139] Continuing to refer to FIG. 6B, cluster drive train damper 40027-21 can damp oscillations when it is necessary to hold the cluster drive train steady. For example, when the cluster gear train is holding the cluster in a vertical position in balance mode, the cluster drive train may be difficult to hold steady with motor commands because of the backlash in the drive train. The motor commands can generate more correction than is needed and can require corrections in a direction that can lead to oscillation. The oscillation can be damped with added friction in the cluster drive train. An elastomeric material can be clamped between the cluster output bearing and cluster interface plate 30014 that can cause friction. In some configurations, a less efficient bearing with significant drag like a bronze or plastic bushing can be used.

[0140] Referring now to FIG. 6B-1, in some configurations, damper ring 40027-21 can be replaced with wear ring 30892 which can be affixed to rotating ring gear 30891. In some configurations, wear ring 30892 can include polyoxymethylene such as, for example, but not limited to, DELRIN ®< . Wear ring 30892 can be pressed against a stationary metal surface such as, for example, but not limited to, spring 30893. Spring 30893 can be constrained to provide a consistent axial force against wear ring 30892. The amount of axial force applied can be proportional to the amount of damping desired, and can be controlled by the stiffness of spring 30893 and the amount of deflection caused by the installation of spring 30893. In some configurations, the deflection can be controlled by shim 30894, in addition to the thickness of wear ring 30892. The flange of ring gear nut 30019 can control the position of spring 30893 as spring 30893 is compressed between ring gear nut 30019 and shim 30894. Different amounts of damping can be accommodated by changing the stiffness of spring 30893 or the amount of deflection. In some configurations, the shape of wear ring 30892 can include an angled surface to allow the shape the deflected spring 30893 to contact wear ring 30892 with an even pressure over a larger surface area. The thickness of spring 30893 and the deflection distance can control the amount of friction, and either can be adjusted. In some configurations, the thickness of spring 30893 can be around .02 inches. In some configurations, the difference between the thickness of wear ring 30892 and the thickness of shim 30894 can set the amount of deflection distance.

[0141] Referring primarily to FIG. 6C, cluster cross shaft 30765 (FIG. 6D) can operably couple with ring gear 30891 that can rotate cluster housing 21100 (FIG. 6A). Each of cluster housings 21100 (FIG. 6A) can include two wheels 21203 (FIG. 6A) that are positioned symmetrically about the center of rotation of cluster housing 21100 (FIG. 6A). In some configurations, the MD can function substantially the same regardless of which of wheels 21203 (FIG. 6A) on cluster housings 21100 (FIG. 6A) are nearest castor wheels 21001 (FIG. 4). Cluster position sensor 21579 (FIG. 3O) can include, based on the symmetry, coupling with cluster cross shaft 30765 (FIG. 6C) with a gear ratio that can cause cluster position sensor 21579 (FIG. 3O) to rotate one full rotation for each half rotation of cluster housing 21100 (FIG. 6A), which doubles the resolution of cluster position sensor 21579 (FIG. 3O). Cluster housing 21100 (FIG. 6A) is symmetric so that, for each half revolution, the cluster will function just as if a full rotation has occurred.

[0142] Referring now primarily to FIGs. 6C and 6D, cluster cross shaft 30765 (FIG. 6F), part of the cluster gear train, can operably couple centrally-located third stage gear cluster rotate 30766 (FIG. 6F) to fourth stages 30888 (FIG. 6D) of the gear train that are mounted on the left and right side of central housings 21514 (FIG. 6A) under cluster interface caps 30014 (FIG. 6C). Cluster cross shaft 30765 (FIG. 6F) can include hollow shaft 30765-4 (FIG. 6G) that can include female spline 30765-3 (FIG. 6G). Fourth stages 30888 (FIG. 6D) can include male splines 30888-1 (FIG. 6C) on one end and pinion gears 30888-2 (FIG. 6C) that are aligned with the teeth of male splines 30888-1 on the other end. In this configuration, the teeth of pinion gears 30888-2 (FIG. 6C) on fourth stages 30888 (FIG. 6D) are aligned when they are assembled. In some configurations, the splines and gears can include fifteen teeth, but other numbers of teeth can be accommodated in the present teachings. The gear alignment can enable left and right cluster housings to be assembled onto the central housings so that wheels are aligned. This critical alignment enables the MD to rest on all four wheels when driving with the four main drive wheels.

[0143] Referring now to FIG. 6K, cluster wheel drive 21100 (FIG. 6A) can include, but is not limited to including, outer cluster housing 30011, input pinion plug assembly 21105, wheel drive output gear 30165, wheel drive output shaft 30102, wheel drive intermediate shaft and pinion spur 30163, wheel drive intermediate gear 30164, and inner cluster housing 30010. At least one magnet 40064, captured between housings 30010 / 30011 at magnet housings 40064-1, can be positioned to be exposed to oil within cluster housing 21100A, and can attract and remove ferrous metal particulate from the oil, reducing gear, bearing, and seal wear caused by particulate in the oil. The teeth of input pinion plug 21105 can engage with wheel drive intermediate stage spur 30163, and wheel drive intermediate stage spur 30163 can engage with the wheel drive output gear 30165. When drive assembly 21532 (FIG. 6L) rotates, output stage spur 21533 rotates, the output stage spur shaft rotates, and wheel 21203 (FIG. 6A) can rotate. Wheel drive intermediate stage spur 30163 (FIG. 6L) can achieve and maintain correct positioning by coupling with gear key 30602 (FIG. 6L) that fits within the shaft cavity of wheel drive intermediate gear 30164 (FIG. 6L).

[0144] Referring now to FIG. 6M, clam shell housings 21101A can include seams 21100-1 around the perimeter to retain oil within housings 21101A, and prevent environmental contamination to housings 21101A. Bonding material 21101-2, for example, but not limited to, an elastomeric bonding material, can be applied to mating surfaces of housings 21100A. Lips and / or o-ring seals can surround each shaft that passes into and / or through housings 21101A. Cluster housing 21100A can include oil port 21101-4 for adding oil.

[0145] Referring now primarily to FIG. 7A, the main drive wheels can be large enough to allow the MD to climb over obstacles, but small enough to fit securely on the tread of a stair. The compliance of the tires can reduce vibrations transmitted to the user and loads transmitted to the MD. The main drive wheels can remain fixed to the MD unless intentional action is taken by the user or a technician. The tires can be designed to minimize electrostatic build-up during surface traversal / contact. Split rim wheel pneumatic tire assembly 21203 can be mounted onto cluster assembly 21100 (FIG. 6A) of the MD to afford wheeled movement to the MD.

[0146] Referring now to FIG. s, split rim wheel tire assembly 21203 can include, but is not limited to including, outer split rim 30111, tire 40060 (FIG. 7D), inner tube 40061, rim strip 40062, shield disk 30113, shield disk spacer 30123, and inner split rim 30091 (FIG. 7G). Shield disk spacer can inhibit shield disk from rattling. Pneumatic tire can house inner tube 40061 which can surround rim strip 40062, which can inhibit pinching of inner tube 40061. Shield disk 30113 can be captured between the inner and outer rim of split rim assembly 21203. Shield disk 30113 can be preloaded in a pre-selected shape, for example, to enable securing positioning. Shield disk 30113 can guard against foreign object protrusion through wheel tire assembly 21203. Shield disk 30113 can provide a smooth surface that can discourage foreign object jamming and wheel damage. Shield disk 30113 can provide customization opportunities, for example, custom colors and designs can be selected and provided on shield disk 30113. In some configurations, tire assembly 21203 can accommodate solid tires such as, for example, but not limited to, foam-filled tires. Tire selection can be based on the features that a user desires such as durability, smooth ride, and low failure rate.

[0147] Referring now to FIGs. 7B-1 and 7B-2, second configuration split rim wheel tire assembly 21206 can include second configuration outer split rim 30211, tire 40060, inner tube 40061, second configuration shield disk 30213, and second configuration inner split rim 30212. Second configuration outer split rim 30211 and second configuration inner split rim 30212 can include retaining protrusions 30211-1 (FIG. 7B-2) and 30212-1 (FIG. 7B-1), respectively, that can enable secure retention of tire 40060. Retaining protrusions 30211-1 (FIG. 7B-2) and 30212-1 (FIG. 7B-1) can be spaced in any pattern, and can be any size. Second configuration outer split rim 30211 can include alignment protrusions 30211-2 (FIG. 7B-1) that can emerge from lug fittings and can rest within divots 30212-2 (FIG. 7B-2). Second configuration shield disk 30213 can include lug recesses 30213-1 (FIG. 7B-2). Lug fasteners 30212-4 (not shown) can securely unite second configuration outer split rim 30211, second configuration shield disk 30213, and second configuration inner split rim 30212 through lug recesses 30213-1 (FIG. 7B-2), 30211-3 (FIG. 7B-1), and 30212-3 (FIG. 7B-2).

[0148] Referring now to FIGs. 7C through 7M, main drive wheels 21203 (FIG. 7B) can be configured to accommodate traveling over varying types of terrain including, but not limited to, sand-like surfaces. In some configurations, each of drive wheels 21203 (FIG. 7B) such as first outer split rim 21201A (FIG. 7C), can accommodate detachable second drive wheel 21201B (FIG. 7C). Second drive wheel 21201B (FIG. 7C) can be installed by the user seated in the MD or by an assistant. Second drive wheel 21201B (FIG. 7C) can be attached to first drive wheel 21201A (FIG. 7C) by depressing second drive wheel 21201B (FIG. 7C) onto first drive wheel 21201A (FIG. 7C), rotating second drive wheel 21201B (FIG. 7C), and inserting locking pin 21201-A4 (FIG. 7K) until it becomes engaged. The attachment steps can be performed by the user seated in the MD as the user expects to encounter challenging terrain. The attachment steps can also be performed while not seated in the MD. First drive wheel 21201A (FIG. 7C) can include attachment base 40062-1 (FIG. 7F) that can provide a means for interlocking first drive wheel 21201A (FIG. 7C) with second drive wheel 21201B (FIG. 7C). Attachment base 40062-1 (FIG. 7F) can include locking pin receiver 40062-1B (FIG. 7F) and a retaining lip 30090-1A (FIG. 7E) for twist-lock wheel attachment of second drive wheel 21201B (FIG. 7C). Second drive wheel 21201B (FIG. 7C) can include locking pin 21201-A4 (FIG. 7K) that can operably mate with locking pin receiver 40062-1B (FIG. 7F) of second drive wheel 21201B (FIG. 7C). Locking pin 21201-A4 (FIG. 7K) can include spring 21201-A2 (FIG. 7I) that can enable access to locking pin 21201-A4 (FIG. 7K) after locking pin 21201-A4 (FIG. 7K) has been disengaged, and can enable secure locking of locking pin 21201-A4 (FIG. 7K) when locking pin 21201-A4 (FIG. 7K) is engaged. Attachment base 40062-1 (FIG. 7F) can include retaining tangs 40062-1A (FIG. 7F) for twist-lock wheel attachment. Retaining tangs 40062-1A (FIG. 7F) can operably couple with retaining lip 30090-1B (FIG. 7E) of first drive wheel 21201A (FIG. 7C). In some configurations, second drive wheel 21201B (FIG. 7C) can accommodate hubcap 21201-A1 (FIG. 7H) that can provide access opening 21201-A1A (FIG. 7H) for locking pin removing ring 21201-A4A (FIG. 7K). In some configurations, first drive wheel 21201A (FIG. 7C) and second drive wheel 21201B (FIG. 7C) can be different or the same sizes and / or can have different or the same treads on tires 40060.

[0149] Continuing to refer to FIGs. 7C through 7M, in some configurations, the attachment means between first drive wheel 21201A (FIG. 7C) and second drive wheel 21201B (FIG. 7C) can include a castellated push-in and rotate to lock means (not shown) having a plurality of radially extending tabs and a mounting structure having a plurality of retaining members. In some configurations, the attachment means can include an undercut or male lip (not shown). In some configurations, the attachment means can include features (not shown) on spokes 30090-1C (FIG. 7E). In some configurations, the attachment means can include fastener housing 21201-A3 (FIG. 7J) that can mount between hubs 21201-A2 (FIG. 7E) of second drive wheel 21201B (FIG. 7C) and first drive wheel 21201A (FIG. 7C). Fasteners such as, for example, but not limited to, screws or bolts can operably engage first drive wheel 21201A (FIG. 7C) with second drive wheel 21201B (FIG. 7C) through the cavities in fastener housing 21201-A3 (FIG. 7J).

[0150] Referring now primarily to FIG. 8, the MD can be fitted with any number of sensors 147 (FIG. 16B) in any configuration. In some configurations, some of sensors 147 (FIG. 16B) can be mounted on MD rear 122 to accomplish specific goals, for example, backup safety. Stereo color cameras / illumination 122A, ultrasonic beam range finder 122B, time-of-flight cameras 122D / 122E, and single point LIDAR sensors 122F can be mounted, for example, but not limited to, to cooperatively sense obstacles behind the MD. The MD can receive messages that can include information from the cameras and sensors, and can enable the MD to react to what might be happening out of the view of the user. The MD can include reflectors 122C that can be optionally fitted with further sensors. Stereo color cameras / illumination 122A can be used as taillights. Other types of cameras and sensors can be mounted on the MD. Information from the cameras and sensors can be used to enable a smooth transition to balance mode 100-3 (FIG. 3A) by providing information to the MD to enable the location of obstacles that might impede the transition to balance mode (described herein).

[0151] Referring now primarily to FIG. 9A, the service brake can be used to hold the MD in place by applying brake force to the wheel drive motor couplings, stopping the wheel from turning. The brakes can function as holding brakes whenever the device is not moving. The brakes can hold when the MD is powered on or off. A manual brake release lever can be provided so that the MD may be pushed manually with a reasonable amount of effort when power is off. In some configurations, the lever can be located at the front of the powerbase and can be accessible by either the user or an attendant. In some configurations, the manual release lever can be sensed by limit switches that can indicate the position of the manual release lever. Central gearbox 21514 can include brake release components including, but not limited to, manual brake release bracket 30003 (FIG. 9E), manual brake release shaft arm 30001 (FIG. 9H), manual brake release spring arm 30000 (FIG. 9G), Hall sensor 70020 (FIG. 9A), surface mount magnet 70022, manual brake release cam 30004 (FIG. 9F), and manual brake release shaft 30002 (FIG. 9D). Brake release lever handle 30070 (FIG. 9I) can activate manual brake release through manual brake release shaft 30002 (FIG. 9D). Manual brake release shaft 30002 (FIG. 9D) can be held in position by manual brake release bracket 30003 (FIG. 9E). Manual brake release shaft 30002 (FIG. 9D) can include tapered end 30002-2A (FIG. 9D) that can engage manual brake release shaft arm 30001 (FIG. 9H), which can be operably connected to manual brake release cam 30004 (FIG. 9F). Manual brake release cam 30004 (FIG. 9H) can be operably connected to two manual brake release spring arms 30000 (FIG. 9G). Spring arms 30000 can operably connect to brake release lever 592A (FIG. 3I). Hall sensor 70020 (FIG. 9A) can be operably coupled with PBC board 50001 (FIG. 9I).

[0152] Referring now to FIGs. 9A-1 and 9A-2, the manual brake release can include hook 30048 and hook interface 30045 operably coupled with spring 40037. Hook 30048 attaches through the hole in the brake lever of brake with manual release 70708 (FIG. 3I).The shape of hook 30048 can enable installation into the hole, and can inhibit hook 30048 from sliding out of the hole. The coupling between hook 30048 and hook interface 30045 can be threaded which can enable adjustment of the tension of spring 40037.

[0153] Referring now to FIG. 9B and 9C, brake release lever handle 30070 (FIG. 9I) has a return force, for example, a spring-loaded force, pulling on it when it is in engaged position. Rotational damper 40083 can enable snap back avoidance for lever 30070 (FIG. 9I). Rotational damper 40083 can be operably coupled with brake shaft 30002 (FIG. 9D) through connecting collar 30007 and damper actuator arm 30009. Rotational damper 40083 can allow relatively unrestricted movement when lever 30070 (FIG. 9I) is turned clockwise from a vertical position where the brakes are engaged to the horizontal position where the brakes are released. When lever 30070 (FIG. 9I) is turned counter-clockwise to reengage the brakes, rotational damper 40083 can provide resistance to the rotation of brake shaft 30002 (FIG. 9D), slowing the speed at which lever 30070 (FIG. 9I) returns to the vertical position, thus substantially preventing lever 30070 (FIG. 9I) from snapping back into the vertical position. Rotational damper 40083 can be operably coupled with brake assembly stop housing 30003 (FIG. 9E). Damper actuator arm 30009 (FIG. 9B) can be operably coupled with brake shaft 30002 (FIG. 9D).

[0154] Referring now to FIG. 9I, manual brake release lever 30070 can include material that can be damaged before other manual brake release parts are damaged when excessive force is applied. If manual brake release lever 30070 is damaged, manual brake release lever 30070 can be replaced without opening of the central housing.

[0155] Referring now primarily to FIGs. 9J-9N, the manual release brake assembly can include manual brake release bracket 30003 (FIG. 9E), manual brake release shaft arm 30001 (FIG. 9H), manual brake release spring arm 30000 (FIG. 9G), Hall sensor 70020 (FIG. 9J), surface mount magnet 70022, manual brake release pivot interface 30004 (FIG. 9F), and manual brake release shaft 30002 (FIG. 9D). Brake release lever handle 30070 (FIG. 9I) can activate the manual brake release through manual brake release shaft 30002 (FIG. 9D). Manual brake release shaft 30002 (FIG. 9D) can be held in position by manual brake release bracket 30003 (FIG. 9E). Manual brake release shaft 30002 (FIG. 9D) can include tapered end 30002-2A (FIG. 9D) that can engage manual brake release shaft arm 30001 (FIG. 9H), which can be operably connected to manual brake release pivot interface 30004 (FIG. 9F). Manual brake release pivot interface 30004 (FIG. 9F) can be operably coupled with two manual brake release spring arms 30000 (FIG. 15) at fastening cavities 30004A-1 (FIG. 9F) and 30004A-2 (FIG. 9F). Spring arms 30000 (FIG. 9G) can operably couple with brake release lever 592A (FIG. 3I).

[0156] Continuing to refer primarily to FIGs. 9J-9N, the service brake can include, but is not limited to including, travel stop 30005 (FIG. 9K) that can limit the motion of lever 30070 to a clockwise direction as viewed from the front of the MD from a vertical position to a horizontal position. Travel stop 30005 (FIG. 9K) can prevent lever 30070 (FIG. 9J) from rotating in a counterclockwise direction and can assist an operator in releasing and engaging the brakes. Travel stop 30005 (FIG. 9K) can be constructed of metal and can operably couple with second brake release shaft 30002 (FIG. 9D). Travel stop 30005 (FIG. 9K) can interface with features of central housing 21515 (FIG. 9A) that can limit the rotation of shaft 30002-2 (FIG. 9L). Hall sensor 70020 can sense if the manual brake release is engaged or disengaged. Hall sensor 70020 can operably couple with both A-side and B-side electronics using cables / connector 70030 which can be mechanically isolated from the A-side and B-side electronics. Travel stop 30005 (FIG. 9M) can operably couple with shaft 30002-2 (FIG. 9L) through fastener 40000-1 (FIG. 9M). Travel stop 30005 can encounter protrusion 40003-2 which can enable limitation of the rotation of shaft 30002-2 (FIG. 9L).

[0157] Referring now to FIGs. 10A-10E and 11B, harnesses can be mounted to straddle the inside and outside of the sealed part of central gearbox 21514 at the cable ports, and can be surrounded by sealing features such as, for example, but not limited to, o-rings or gaskets. UC port harness 60007 (FIG. 10C) can channel wires emerging from UC electromagnetic interference (EMI) filter 50007 (FIG. 10A) that can connect to PSC board 50002 (FIG. 11B). UC port harness 60007 (FIG. 10C) can include a connector, to which cable 60016 (FIG. 10A) can mate, and thereby connect UC EMI filter 50007 to UC 130 (FIG. 12A). Charge input port harness 60008 (FIG. 10D) can channel wires emerging from charge input filter 50008 (FIG. 10A) that can connect PSC board 50002 (FIG. 9I) to a charging means, for example, but not limited to, charging power supply 70002 (FIGs. 11A-11D) via charger port 1158 (FIGs. 10A, 11A-11D). Accessory port harness 60009 (FIG. 10E) can channel wires emerging from auxiliary connector filter 50009 that can connect accessory wires to PSC board 50002. The cable exit locations can be protected from impact and environmental contamination by being positioned between the front wall of the MD and batteries 70001 (FIG. 1E). Articulating cable carrier 1149 (FIGs. 11A-11D) can protect the cables and can route the cables from the central housings to the seat, protecting the cables from becoming entangled in the lifting and / or stabilizer arms.

[0158] Referring now to FIGs. 11A-11D, various wiring configurations can connect PBC board 50001, PSC board 50002, and battery packs 70001 (FIG. 1E) with UC 130, charge port 1158, and optional accessories 1150A. Emergency power off request switch 60006 can interface with e-box 1146 through panel mount 1153. Optional accessory DC / DC module 1155 can include, for example, but not limited to, a module that can plug in to PSC board 50002. In some configurations, DC / DC supply 1155 for optional accessories can be integrated into PSC board 50002 to eliminate a need for opening e-box 1146 outside of a controlled environment. In some configurations, charge port 1158 can include a solder termination of cables to a port. If transmission means 1151 includes cables, the cables can be confined by use of cable carrier 1149 such as, for example, but not limited to, IGUS ®< energy chain Z06-10-018 or Z06-20-028. In some configurations, e-box 1146, that can include, but is not limited to including, PBC board 50001 and PSC board 50002, can be connected to UC 130, optional accessories 1150A, and charge port 1158 through junctions 1157 (FIG. 11A) and transmission means 1151. In some configurations, strain relief means 1156 (FIG. 11C) can provide the interface between e-box 1146 and UC 130, charge port 1158, and optional accessories 1150A. In some configurations, a cable shield can be brought out to a forked connector and terminated to metal e-box 1146 with, for example, a screw (see FIG. 11D). In some configurations, one or more printed circuit boards 1148 (FIG. 11C) can operably couple with strain relief means 1156 L, J, and K (FIG. 11C), which can be mounted to e-box 1146. Strain relief means 1156 L, J, and K (FIG. 11C) can double as environmental seals and can provide channels through which electrical signals or power can pass. Strain relief means 1156 L, J, and K (FIG. 11C) can include, for example, grommets or glands, or could be overmolded and inseparable from the cables. One or more printed circuit boards 1148 (FIG. 11C) can (1) provide a place to connect internal harnesses between printed circuit boards 1148 (FIG. 11C) and PSC board 50002, and (2) provide a place for electromagnetic compatibility (EMC) filtration and electrostatic discharge (ESD) protection. EMC filtration and ESD protection can be enabled by connecting printed circuit boards 1148 (FIG. 11C) to metal e-box 1146, forming chassis ground 1147.

[0159] Continuing to refer to FIGs. 11A-11D, charger port 1158 is the location where the AC / DC power supply 70002 can be connected to the MD. The AC / DC power supply can be connected to mains power via line cord 60025. Line cord 60025 can be changed to accommodate various wall outlet styles. Charger port 1158 can be separate from UC 130 (FIG. 12A), enabling charger port 1158 to be positioned in a location that is most assessable to each end user. End users have different levels of mobility and may need charger port 1158 to be positioned in a personally-accessible location. The connector that plugs into charger port 1158 can be made without a latch to enable accessibility for users with limited hand function. Charger port 1158 can include a universal serial bus (USB) port for charging external items, such as cellphones or tablets, with the power from the MD. Charger port 1158 can be configured with male pins that operably couple with female pins on the AC / DC power supply. In some configurations, it may not be possible to operate the MD when charger port 1158 in engaged, regardless of whether the AC / DC power supply is connected to mains power.

[0160] Referring now to FIGs. 12A and 12B, user controller (UC) 130 can include, but is not limited to including, a control device (for example, but not limited to, joystick 70007), mode selection controls, seat height and tilt / lean controls, a display panel, speed selection control, a power on and off switch, an audible alert and mute capability, and a horn button. In some configurations, using the horn button while driving is allowed. UC 130 can include a means to prevent unauthorized use of the MD. UC 130 can be mounted anywhere on the MD. In some configurations, UC 130 can be mounted on a left or right arm rest. The display panel of UC 130 can include a backlight. In some configurations, UC 130 can include joystick 70007 (FIG. 12A), upper housing 30151, lower housing 30152, toggle housing 30157, undercap 30158, and button platform 50020 (FIG. 12A) that can enable selection of options through, for example, button depression. Touch screens, toggle devices, joystick, thumbwheels, and other user input devices can be accommodated by UC 130.

[0161] Referring now to FIGs. 12C and 12D, second configuration UC 130-1 can include toggle platform 70036 (FIG. 12C) that can include, for example, but not limited to, toggle lever 70036-2 and toggle switch 70036-1 that can enable selection of options. In some configurations, toggle lever 70036-2 can enable 4-way toggling (up, down, left, and right), and toggle switch 70036-1 can enable 2-way toggling. Other option selection means can replace buttons and toggles, as needed to accommodate a particular disability. UC 130 (FIG. 12A) and second configuration UC 130-1 can include cable 60026 and cable connector 60026-1. Cable connector 60026-2 can operably couple with UC PCB 50004 (FIG. 14A) to provide data and power to each configuration of the UC. Connector 60026-1 can operably couple UC 130 (FIG. 12A) with the powerbase through cable 60016 (FIG. 10A) that mates to a circuit board.

[0162] Referring now to FIGs. 12E and 12F, third configuration UC 130-1A can include thumbwheel knob 30173. Thumbwheel knob 30173 can be assembled into a blind hole, thus eliminating the need for an environmental seal at the mounting point of the thumbwheel assembly, and can eliminate a potential place for water, dust, and / or other contaminants to enter the UC housing. Further, the thumbwheel mechanism can be cleaned and serviced, and parts can be replaced without accessing the rest of the UC housing. The angle of the shaft of thumbwheel knob 30173 can be measured by a non-contact, Hall-effect sensor. The Hall-effect sensor, being a non-contact sensor, can have an essentially infinite lifetime. In some configurations, the sensor could directly output a digital signal that could, for example, be communicated to UC main processor 24004-2 (FIG. 14C), for example, via I2C. In some configurations, the sensor can be dual redundant. The sensor can provide a voltage that corresponds to the rotational position of thumbwheel knob 30173. In some configurations, the signal can be processed by an analog-to-digital converter (ADC) that outputs a value in counts; for example, a 12-bit ADC provides an output value between 0-4095 counts.

[0163] Continuing to refer to FIGs. 12E and 12F, thumbwheel knob 30173 can be used to, for example, but not limited to, adjust a maximum speed of the MD. In some configurations, thumbwheel knob 30173 can make a complete revolution with no stops. By omitting stops, the mapping of the position, the change of position, the rotational velocity, and the function of thumbwheel knob 30173 can be interpreted in a variety of different ways, depending on the configuration of the system. In some configurations, the user can dial thumbwheel knob 30173 "up" to request a higher maximum speed, and "down" to request a lower maximum speed. Change in the position of thumbwheel knob 30173, and not the absolute position at any one given frame, can be correspondent to change in the requested maximum speed. Change in requested maximum speed can be used to configure characteristics of the MD. Continually dialing thumbwheel knob 30173 "up" or "down" after reaching the maximum or minimum values respectively can cause the speed value to discontinue changing. Further dialing in the same direction after reaching the maximum or minimum can be ignored. Dialing thumbwheel knob 30173 in the reverse direction while at the maximum or minimum can be detected and can cause the gain value to change immediately, i.e. no "unwind" of ignored movement of thumbwheel knob 30173 may be necessary. Because the current absolute position of thumbwheel knob 30173 at a given frame is not the sole determinant in the gain value, changes to the position of thumbwheel knob 30173 during times when the user is unable to adjust the incremental speed can be ignored without adversely effecting subsequent calculations. Examples of such times when the user may not be able to adjust the incremental speed include, but are not limited to, mode changes and power cycling.

[0164] Continuing to refer to FIGs. 12E and 12F, in some configurations, the MD can support multiple drive speed settings, for example, two drive settings. Drive speed settings can accommodate situations in which the MD might be placed, for example, but not limited to, indoors or outdoors. For example, drive setting one and drive setting two can include different maximum speed values that may limit how fast the user can go regardless of how the joystick is maneuvered. In some configurations, when drive setting one is selected, the default maximum speed, which can be modified, can be 3 mph. In some configurations, when drive setting two is selected, the default maximum speed, which can be modified, is 6 mph. In some configurations, there can be limits on the default maximum speed. Thumbwheel knob 30173 (FIG. 12E) can allow further adjustment of the speed limits for the drive settings of the MD within the minimum and maximum speed ranges for each respective drive setting. The new maximum speed can be used to qualify the full range of possible motion applied by the joystick. In some configurations, the MD can be configured to ignore joystick movement entirely. In some configurations, if drive setting two is selected, the incremental setting can fall just above the maximum speed for drive setting one up to the maximum speed for drive setting two.

[0165] Continuing to refer to FIGs. 12E and 12F, the sensitivity of thumbwheel knob 30173 can be configurable. Depending on the sensitivity adjustment, uniform rotation of thumbwheel knob 30173 can adjust the speed gains from a relatively small amount to a relatively large amount. For example, a user with finger strength, sensitivity, and dexterity sufficient to roll and / or twist thumbwheel knob 30173 in small increments can achieve fine control of thumbwheel knob 30173 and its underlying functionality. Conversely, a user with compromised dexterity might adjust thumbwheel knob 30173 by bumping it with a knuckle or the edge of the hand. Thus, in some configurations, a relatively higher sensitivity setting can enable varying the speed gain from minimum to maximum across, for example, 180° of travel. In some configurations, a relatively lower sensitivity setting, for example, more than one rotation of thumbwheel knob 30173, can be required to traverse the same gain range. In some configurations, the sensitivity factor can be controlled by maintaining a virtual thumbwheel position, such that, for example, zero counts is equivalent to the lowest possible requested max speed, such as 8%, and a maximum counts value is equivalent to the highest possible requested max speed, such as 100%. In some configurations, the max number of counts can be configurable. In such a configuration, the degree of sensitivity may be adjusted by scaling the maximum counts value in relation to the virtual thumbwheel position. In some configurations, the default maximum counts can correspond to the number of counts for one full rotation of thumbwheel knob 30173, 4096 counts, such that one full rotation of the wheel will set the requested maximum speed for the current drive setting from 0-100%. In some configurations, the maximum counts value can be configurable such that larger values require more rotation of the wheel to set the requested maximum speed for the current drive setting from 0-100%. In some configurations, thumbwheel knob 30173 can rotate between hard stops of less than a complete revolution. In some configurations, the change in wheel position can indicate a change in maximum speed.

[0166] Continuing to refer to FIGs. 12E and 12F, in some configurations, the gain value can revert to a default value after a power cycle. In some configurations, the gain value can be determined by a setting saved during power down, even if thumbwheel knob 30173 moves after power down. When the MD is powered on, the virtual wheel position for the current drive setting before the preceding power off can be recalled, and the new maximum speed, when thumbwheel knob 30173 is rotated, can be based on the recalled virtual thumbwheel position. The incremental setting for each drive setting can be stored, for example, in non-volatile memory so that if the incremental setting for drive setting one is set to 75%, and the incremental setting for drive setting two is 40%, when the user returns to drive setting one, the incremental setting will be 75%.

[0167] Referring now to FIG. 12G, third configuration upper housing 30151A can include, but is not limited to including, LCD display 70040, button keypad 70035, joystick 70007, antenna 50025, spacer 30181, joystick backer ring 30154, and display coverglass 30153. In some configurations, buttons 70035 can include undermounted snapdomes (not shown) that can enable the user to sense when buttons 70035 have been depressed. Antenna 50025 can be mounted within third configuration upper housing 30151A, and can enable, for example, wireless communications between third configuration UC 130-1A (FIG. 12F). Spacer 30181 can separate LCD display 70040 from other electronics within third configuration UC 130-1A (FIG. 12F). LCD display 70040 can be protected from environmental hazards by display coverglass 30153. Joystick 70007 can include connector 70007-1 (FIG. 12H) that can provide power to joystick 70007, and can enable signal transmission from joystick 70007. In some configurations, the direction of movement of joystick 70007 can be measured by more than one independent means to enable redundancy.

[0168] Referring now to FIGs. 12I-12K, UC 130 can include circuit board 50004 that can be housed and protected by upper housing 30151 and lower housing 30152. UC 130 can include display coverglass 30153 that can provide visual access to screens that can present options to the user. A display can be connected to UC PCB 50004 by flexible connector 50004-2 (FIG. 14A). Optional EMC shield 50004-3 can guard against incoming and / or outgoing emissions of electromagnetic interference to / from UC PCB 50004. Button assembly 50020-A and toggle switches 70036 can be optionally included. Buttons and / or toggles can be mounted on toggle housing 30157 which can be operably connected with lower housing 30152 and upper housing 30151 through undercap 30158. UC 130 can be mounted onto the MD in a variety of ways and locations through mounting cleat 30106. Throughout UC 130 are environment isolation features such as, for example, but not limited to, o-rings such as toggle housing ring 130A, grommets such as cable grommet 40028 (FIG. 12K), and adhesives to isolate the components such as, for example, circuit board 50004, from water, dirt, and other possible contaminants. In some configurations, joystick 70007 and speaker 60023 can be a commercially-available items. Joystick 70007, such as, for example, but not limited to, APEM HF series, can include a boot that can be accommodated by, for example, the pressure mount of boot mount cavity 30151-3 and joystick backer ring 30154.

[0169] Referring now to FIG. 12L, upper housing 30151 can include ribs 30151-5 that can support circuit board 50004. Upper housing 30151 can include mounting spacers 30151-4, space for secure mounting of joystick 70007 (FIG. 12A). Upper housing 30151 can include, but is not limited to including, display cavity 30151-2 that can provide a location for visual access means for display screens of UC 130. Upper housing 30151 can also include button cavities, for example, but not limited to, power button cavity 30151-6 and menu button cavity 30151-7. Upper housing 30151 can include formed perimeter 30151-1 that can provide a consistent look and feel with other aspects of the MD. Upper housing 30151 can be constructed of, for example, but not limited to, polycarbonate, a polycarbonate Acrylonitrile Butadiene Styrene blend, or other materials that can meet strength and weight requirements associated with the UC. Joystick 70007 (FIG. 12A) can be installed in boot mount cavity 30151-3 using, for example, gaskets, backer ring 30154 (FIG. 12Q), fastening means such as, for example, but not limited to, screws and fastener holes 30151-X, that can be used to attach joystick 70007 and backer ring 30154 (FIG. 12Q) to upper housing 30151. Installing the joystick boot can isolate UC PCB 50004 (FIG. 14A) and other sensitive components from the environment. Upper housing 30151 can include molding references 30151-X2 that can enable orientation of joystick 70007 during assembly. In some configurations, cable reference 30151-X2 can indicate where joystick cable connector 70007-1 (FIG. 12H) can be positioned.

[0170] Referring now to FIG. 12M, lower housing 30152 can join upper housing 30151 (FIG. 12L) at perimeter geometry 30152-2. The combination of lower housing 30152 and upper housing 30151 (FIG. 12L) can house UC PCB 50004 (FIG. 14A), speaker 60023 (FIG. 12K), display coverglass 30153 (FIG. 12P), and joystick backer ring 30154 (FIG. 12Q), among other parts. Environmental isolation features at the joint can include, for example, but are not limited to, gaskets, o-rings, and adhesives. Lower housing 30152 can include audio access holes 30152-1 that can be located adjacent to speaker mount location 30152-6. A commercially-available speaker can be mounted in speaker mount location 30152-6 and can be securely attached to lower housing 30152 using an attachment means such as, for example, but not limited to, an adhesive, screws, and hook-and-eye fasteners. Lower housing 30152 can include at least one post 30152-7 upon which can rest UC PCB 50004 (FIG. 12I). Lower housing 30152 can include connector reliefs 30152-3 that can provide space within lower housing 30152 to accommodate, for example, but not limited to, joystick connector 50004-8 (FIG. 14A) and power and communications connector 50004-7 (FIG. 14A). Lower housing 30152 can be attached to the MD through fastening means such as, for example, screws, bolts, hook-and-eye fasteners, and adhesives. When screws are used, lower housing 30152 can include fastener receptors 30152-5 that can receive fasteners that can attach toggle housing 30157 (FIG. 12R) to lower housing 30152. Lower housing 30152 can also include pass-through guides 30152-4 that can position fasteners, for example, but not limited to, sealing fasteners, that can securely connect lower housing 30152 with undercap 30158 (FIG. 12K). Sealing fasteners can provide environmental isolation. In some configurations, lower housing 30152 can be constructed of, for example, but not limited to, die cast aluminum that can provide strength to the structure.

[0171] Referring now to FIG. 12N, third configuration lower housing 30152A can include thumbwheel geometry 30152-A1 that can accommodate thumbwheel 30173. Lower housing 30152 can optionally include ribbing (not shown) molded into inner back 30152-9. The ribbing can increase the strength and resistance to damage of UC 130, and can also provide resting positions for UC PCB 50004 (FIG. 12I). Lower housing 30152A can also provide raised posts 30173-XYZ that can provide chassis ground contact points for UC PCB 50004, which can be grounded to the powerbase. Chassis ground contact 30173-2 for cable shield 60031 (FIG. 12V) can tie the metal from lower housing 30152A to the metal of the powerbase.

[0172] Referring now to FIG. 12O, third configuration lower housing 30152A can include thumbwheel enabling hardware such as, for example, but not limited to, a position sensor that can include a magnetic rotary position sensor such as, for example, the AMS AS5600 position sensor, that can sense the direction of the magnetic field created by magnet 40064 that rotates when thumbwheel knob 30173 rotates. The magnetic sensor can be mounted upon a flex circuit assembly that can provide power to and receive information from the magnetic sensor. In some configurations, to enable resistance to mechanical shock and vibration, the space around the thumbwheel position sensor chip can be filled. In some configurations, enabling hardware, including, but not limited to, bushing 40023, magnet 40064, magnet shaft 30171, o-ring 40027, retaining nut 30172, and screw 40003, can operably couple thumbwheel knob 30173 with second configuration lower housing 30152A, and can enable the movement of magnet 40064 to be reliably sensed by the magnetic sensor. Lower housing 30152A can include a cylindrical pocket in a wall of lower housing 30152A where bushing 40023 is positioned. Bushing 40023 can provide radial and axial bearing surfaces for shaft 30171. Shaft 30171 can include a flange onto which o-ring 40027 is placed. Shaft 30171 is captured by retaining, threaded, nut 30172 that includes a thru-hole sized to fit shaft 30171, and smaller than flange / o-ring 40027. When assembled, o-ring 40027 is compressed which can eliminate axial play, and can create viscous drag when shaft 30171 is turned. Thumbwheel knob 30173 is assembled to shaft 30171 with a fastening means such as, for example, but not limited to, a low-head fastener, a simple friction fit, and / or knurling. Shaft 30171 can include magnet 40064. The magnetization direction creates a vector normal to the axis of shaft 30171 which can be measured by a Hall-effect sensor. A measurement of the magnetization vector can be provided by the sensor to UC 130 (FIG. 12A). UC 130 (FIG. 12A) can compute, based on the magnetization vector direction, a relative change in maximum speed. In some configurations, at least some parts of the enabling hardware, for example, but not limited to, o-ring 40027, can be lubricated with, for example, but not limited to, silicone grease, to provide a smooth user experience. In some configurations, detents can be added to the thumbwheel assembly to provide clicks as thumbwheel knob 30173 is manipulated. Screw 40003 can pass through thumbwheel 30173 and can operably couple with magnet shaft 30171. The geometries of the enabling hardware can interlock to retain thumbwheel 30173 in second configuration lower housing 30152A, and can provide environmental isolation to the interior of UC 130 because there is no need in the shown configuration for a shaft to pierce second configuration lower housing 30152A. The geometry of the thumbwheel assembly enables in-field service and / or replacement without separating upper housing 30151 (FIG. 12E) from lower housing 30152A. In particular, thumbwheel knob 30173 can be replaced if damaged by impacts, or worn out from use. In some configurations, thumbwheel knob 30173 can be operably coupled with shaft 30171 by click-on or press-in fastening means.

[0173] Referring now to FIG. 12P, display coverglass 30153 can include clear aperture 30153-1 that can expose menu and options displays for the user. The dimensions of clear aperture 30153-1 can be, for example, but not limited to, different from the display active area. Display coverglass 30153 can include frame 30153-4 that can be masked black with a pressure sensitive adhesive layer. In some configurations, display coverglass 30153 can be masked with black paint, and double-sticky tape can be applied on top of the black masking. Clear, unmasked area 30153-3 can admit ambient light. UC 130 can vary the brightness of the display based on the ambient light. Display coverglass 30153 can include button cavities 30153-5 and 30153-6 that can provide locations for button keypad 70035. Display coverglass 30153 can include outward face 30153-2 that can, in some configurations, include coatings that can, for example, reduce glaring reflections and / or improve scratch resistance. In some configurations, a space can exist between the material of coverglass 30153 and frame 30153-4. The space can include decorative elements such as, for example, but not limited to, product logos, and can be indelibly printed and / or etched.

[0174] Referring now to FIG. 12Q, joystick backer ring 30154 can include, but is not limited to including, receptor 30154-3 to house a joystick boot and body, and holes / slots 30154-2 to fasten backer ring 30154 to upper housing 30151 (FIG. 12L). Holes / slots 30154-2 can be sized to accommodate multiple sizes of joysticks 70007 (FIG. 12A). Holes 30154-1, for example, can accommodate connections among each component of UC 130 (FIG. 12A). In some configurations, backer ring 30154 can include a pattern of notches 30154-X2 oriented circumferentially with respect to holes 30154-1 and slots 30154-2. Notches 30154-X2 can interface with ribs 30151-4 (FIG. 12M) in upper housing 30151 (FIG. 12M), and can ensure the correct rotational position of the hole and slot patterns in backer ring 30154 during assembly of UC 130 (FIG. 12A).

[0175] Referring now to FIG. 12R, toggle housing 30157 can include pocket 30157-2 that can house a toggle module, for example, but not limited to, button platform 50020-A (FIG. 12BB). Toggle housing 30157 can include connector cavity 30157-3 to accommodate a flexible cable emanating from the toggle device. Toggle housing 30157 can include through holes 30157-4 to accommodate fastening means that can connect components of UC 130 (FIG. 12A) together. Toggle housing 30157 can include lower housing connector cavities 30157-5 that can provide opening for fastening means to engage. Toggle housing 30157 can include sealing geometry 30157-6 that can enable mating / sealing between toggle housing 30157 can include and undercap 30158, that can be secured by undercap fastening means cavity 30157-8. Toggle housing 30157 can include toggle module fastener cavities 30157-7 to enable attachment of the toggle module to toggle housing 30157. Toggle housing 30157 can include forked guide 30157-1 to provide a guide for power / communications cable 60031 (FIG. 12X). O-ring 130B can enable sealing and environmental isolation between toggle housing 30157 and lower housing 30152A (FIG. 12N).

[0176] Referring now to FIGs. 12S and 12T, toggle housing second configuration 30157B can enable mounting of toggle platform 70036 (FIG. 12T). Toggle housing second configuration 30157B can include toggle lever support geometry 30157A-1 (FIG. 12S) and toggle switch support geometry 30157B-1 (FIG. 12S) that can provide supporting structure for toggle lever 70036-2 (FIG. 12T) and toggle switch 70036-1 (FIG. 12T), respectively. Toggle housing second configuration 30157A can include connector cavity 30157A-3 to accommodate connections between toggle platform 70036 (FIG. 12T) and electronic components of UC 130 (FIG. 12A). Toggle housing 30157B can include pocket 30157-2 that can house a toggle module, for example, but not limited to, button platform 50020-A (FIG. 12BB). Toggle housing 30157B can include connector cavity 30157A-3 to accommodate a flexible cable emanating from the toggle device. Toggle housing 30157B can include through holes 30157A-4 to accommodate fastening means that can connect components of UC 130 (FIG. 12A) together. Toggle housing 30157B can include lower housing connector cavities 30157A-5 that can provide openings for fastening means to engage. Toggle housing 30157B can include sealing geometry 30157A-6 that can enable mating / sealing between toggle housing 30157B and undercap 30158 (FIG. 12U), that can be secured by undercap fastening means cavity 30157A-8. Toggle housing 30157B can include toggle module fastener cavities 30157A-7 to enable attachment of the toggle module to toggle housing 30157B. Toggle housing 30157B can include forked guide 30157A-1 to provide a guide for power / communications cable 60031 (FIG. 12X). An o-ring (not shown) can enable sealing and environmental isolation between toggle housing 30157B and lowering housing 30152A (FIG. 12N). Toggle lever 70036-2 (FIG. 12T) and toggle switch 70036-1 (FIG. 12T) can be positioned and sized to accommodate users having various hand geometries. In particular, toggle lever 70036-2 (FIG. 12T) can be spaced from toggle switch 70036-1 (FIG. 12T) by about 25-50 mm. Toggle lever 70036-2 (FIG. 12T) can have rounded edges, its top can be slightly convex and substantially horizontal, and it can measure 10-14 mm across its top, and can be about 19-23 mm in height. Toggle switch 70036-1 (FIG. 12T) can be about 26-30 mm long, 10-14 mm wide, and 13-17 mm high. Toggle lever 70036-2 (FIG. 12T) and toggle switch 70036-1 (FIG. 12T) can be positioned at an angle of between 15° and 45° with respect to joystick 70007 (FIG. 12K).

[0177] Referring now to FIG. 12U, undercap 30158 can include through fastening holes 30158-1 that can accommodate fastening means to operably couple the components of UC 130 (FIG. 12A). Undercap 30158 can include grommet cavity 30158-2 that can house grommet 40028 that can environmentally seal the cable entry point. Undercap 30158 can include mounting cleat face 30158-5 that can provide connection points for mounting cleat 30106 (FIG. 12Z). Undercap 30158 can include fastening accommodation 30158-4 that can enable fastening of undercap 30158 to toggle housing 30157. Undercap 30158 can include relief cuts 30158-3 for toggle module fasteners. Undercap 30158 can accommodate gasket 130A that can environmentally seal undercap 30158 to toggle housing 30157.

[0178] Referring now to FIGs. 12V-12X, second configuration undercap 30158-1 can include, but is not limited to including, EMI suppression ferrite 70041, and ferrite retainer 30174. Ferrite retainer 30174 can operably couple with second configuration undercap 30158-1 through mounting features 30158-3 (FIG. 12X) and posts 30158-2 (FIG. 12X). Retainer 30174 can be affixed to undercap 30158 by heat-staking posts 30158-2 (FIG. 12X). In some configurations, ferrite retainer 30174 can be affixed to undercap 30158 by means of threaded fasteners, adhesives, and / or snap features. In some configurations, when cable 60031 is threaded through ferrite retainer 30174, EMI suppression ferrite 70041 can protect UC 130 from EMI emissions emanating from cable 60031, which can house power and CANbus connections for UC 130. Shield 60031-4 can emerge from cable 60031 and can connect to a feature of housing 30152 at connector 60031-3. Metal barrel 60031-1 can enable the shield to continue to the powerbase.

[0179] Referring now to FIG. 12Y, UC mounting device 16074 can enable UC 130 (FIG. 12A) to be mounted securely to the MD by means of any device that can accommodate stem 16160A, stem split mate 16164, and a conventional seat mounted upon the MD through operable coupling with seat brackets 24001 (FIG. 1A). Tightening orifice 162-672 can provide a means to secure mounting device 16074 to the MD. Mounting device 16074 can include ribs 16177 that can be raised away from mounting body 16160 to accommodate UC mounting feature 30158 (FIG. 12B). UC 130 (FIG. 12A) can operably couple with mounting device 16074 by sliding mounting cleat 30106 (FIG. 12Z) between ribs 16177 and mounting body 16160. Release lever 16161 can operate in conjunction with spring-loaded release knob 16162 to enable secure fastening and easy release of UC 130 to / from mounting device 16074.

[0180] Referring now to FIG. 12Y-1, standard connections can be used to connect a UC to the wheelchair. In some configurations, commercially-available armrests and user controller connections can provide the interface between the UC and the mobility device. The design of the UC of the present teachings can comply with accepted commercial standards in order to allow flexible use of various mobility device features. A UC that includes properly-positioned threaded mounting holes, and an option for toggles, can be mounted atop a mobility device armrest with an associated armrest bracket. The joystick and the optional toggles can be cabled separately or as one. The UC mount can be, for example, but not limited to, articulated, fixed, or swingaway. In some configurations, the orientation of the joystick can be maintained by use of an articulated mount. In some configurations, the fixed mount can be adjustable with tools. In some configurations, the armrest can be pivoted out of the way to move the UC. A UC mount can be selected based at least on ease of installation and removal of the UC from the mount, cost, ease of orientation adjustment of the UC, interchangeability between toggled and toggle-less varieties, inherent strength, ease of use, and toggle mounting and cabling.

[0181] Continuing to refer to FIG. 12Y-1, characteristics of the UC mounting mechanisms of the present teachings can include, but are not limited to including, tool-less attachment of the UC, one-handed operation, and ambidextrous structure of the UC. In some configurations, the mechanical connection between the UC and the mounting mechanism can be distinct from the electrical connection. In some configurations, the mechanical and electrical connections can be one and the same.

[0182] Continuing to refer to FIG. 12 Y-1, UC 130-2 of the present teachings can include cleat 130-2D that can engage with receiver bracket 130-2A at cleat overhang 130-2G. Receiver bracket 130-2A can provide an interface to a mounting platform such as, for example, but not limited to, an armrest or a platform adjunct such as, for example, but not limited to, a telescoping tube, and cable run. Receiver bracket 130-2A can provide at least one termination point 130-2C for power and communications cabling to the powerbase, where termination point 130-2C can operably couple with UC contacts 130-2B. Receiver bracket 130-2A can include release lever 130-2G and latch 130-2E that can operably couple with latch recess 130-2F. Receiver bracket 130-2A can be advantageously located for the convenience of the user of the MD.

[0183] Referring now to FIG. 12Y-2, UC 130-3 can include receiver bracket 130-3A that can provide power charging interface mechanism 130-3B for the powered components of the MD, charge cable presence detection 130-3C, and can include charge power protection 130-3D, for example, but not limited to, fusing.

[0184] Referring now to FIG. 12 Y-1 and 12Y-2, when UC 130-2 / 3 is not installed, receiver bracket 130-2A / 3A can include accessible contacts 130-2C (FIG. 12 Y-1), and receiver bracket 130-2A / 3A can include a mechanism (not shown) for enabling / disabling power to the contacts. The mechanism can include, but is not limited to including, (a) a mechanical switch (not shown) that can be depressed when UC 130-2 / 3 is installed, (b) a non-contact switch (not shown) such as, for example, but not limited to, an optical sensor or digital Hall effect sensor that can detect the presence of a UC 130-2 / 3 in receiver bracket 130-2A / 3A, (c) a magnetic reed switch (not shown) that can be activated by the presence of a magnet in UC 130-2 / 3, (d) communications capability (not shown) in receiver bracket 130-2A / 3A that can manage enabling / disabling power to the contacts when appropriate communications messages have been exchanged between UC 130-2 / 3 and receiver bracket 130-2A / 3A, and / or (e) an additional electrical contact (not shown) that can provide a circuit closure indication that UC 130-2 / 3 is present in receiver bracket 130-2A / 3A. UC 130-2 / 3 and receiver bracket 130-2A / 3A can include environmental sealing and electrostatic protection.

[0185] Referring now to FIG. 12Z, mounting cleat 30106 can enable mounting of UC 130 (FIG. 12A) onto the MD, for example, on an armrest, for example, by mounting device 16074 (FIG. 12Y). Mounting cleat 30106 can include engagement lip 30106-3 that can include a geometry that can enable sliding and locking engagement of mounting cleat 30106 with a receiver, for example, by depressing a latch button until UC 130 (FIG. 12A) is correctly positioned. At that position, the latch button could protrude into button cavity 30106-1, thereby locking UC 130 (FIG. 12A) into place. Edges 30106-4 of mounting cleat 30106 can fit within the receiver. Mounting cleat 30106 can include fastening cavities for fastening mounting cleat 30106 to mounting cleat face 30158-5 (FIG. 14A).

[0186] Referring now to FIG. 12AA, grommet 40028-1 can provide an environmental seal surrounding cable 60031 (FIG. 12X). Grommet 40028-1 can rest in grommet cavity 30158-2 (FIG. 12U), neck 40028-1B being captured by the geometry of grommet cavity 30158-2 (FIG. 12U). Cable 60031 (FIG. 12X) can traverse grommet 40028-1 from cable entry 40028-1A to cable exit 40028-1C. In some configurations, cable grommet 40028-1 can provide strain relief to cable 60031 (FIG. 12X). The strain relief can prevent damage if cable 60026 is bent or pulled. In some configurations, cable grommet 40028-1 can be an overmolded feature integral to cable 60031 (FIG. 12X).

[0187] Referring now to FIGs. 12BB and 12CC, button assembly 50020-A can enable button option entry at UC 130 (FIG. 12A). Button assembly 50020-A can include buttons 50020-A1, for example, but not limited to, momentary push buttons that can be mounted on button circuit board 50020-A9. Buttons 50020-A1 can operably couple with button circuit board 50020-A9 that can include cable connector 50020-A2 that can accommodate, for example, but not limited to, a flexible cable. Button assembly 50020-A can include spacer plate 50020-S (FIG. 12CC) that can provide cavities 50020-S1 (FIG. 12CC) for buttons 50020-A1. A coverlay (not shown) providing graphics and environmental sealing can cover buttons 50020-A1.

[0188] Referring now to FIGs. 12DD and 12EE, toggle platform 70036 can include toggle lever 70036-2 (FIG. 12T) and toggle switch 70036-1 (FIG. 12T), and toggle mount means 70036-3 to mount toggle platform 70036 onto toggle housing second configuration 30157A. Toggle mount means 70036-3 can be adjacent to toggle lever support geometry 30157A-2 (FIG. 12U). In some configurations, a low-profile toggle module 70036A (FIG. 12GG) including D-pad 70036A-2 (FIG. 12EE) in place of toggle lever 70036-2 (FIG. 12DD) and rocker switch 70036A-1 (FIG. 12EE) in place of toggle switch 70036-1 (FIG. 12DD) can be included. In some configurations, toggle lever 70036-2 (FIG. 12DD) can be replaced by two 2-way toggles (not shown), which could be similar to the controls for powered seating tilt and recline. The resulting module can include three 2-way toggles.

[0189] Referring now to FIGs. 12FF and 12FF-1 through 12FF-3, UC 22004 can include the features of UC 130-1A (FIG. 12E), but can include toggle cable 60031-B for toggles 70036, making toggles 70036 optional, and UC cable 60031-A for UC 22004. Toggle cap 22152-A can include fastener recesses 22152-B that can enable mounting plate cuts 22158-C in toggles mount bracket 22158-A to accommodate the fore / aft position of UC 22004 with respect to toggles 70036 to be modified, tooled or toolessly. Toggle mounting bracket 22158-A can couple toggles 70036 with UC 22004 by interface tab 22158-G (FIG. 12FF-1). Commercially-available mounting bracket 22158-B can accommodate the mounting of both UC 22004 and toggles 70036 if present, through UC mounting recess 22158-D and toggles mounting recess 22158-F, respectively. Commercially-available mounting bracket 22158-B can accommodate attachment to an armrest (not shown) or any other part of the MD through mounting recesses 22158-E.

[0190] Referring now to FIG. 12FF-3, in some configurations, UC 22004 can include electrical / data coupling 60031-E between toggles 70036 and the joystick / display portion of UC 22004. Toggle interface 30158-A can receive / transmit data through electrical / data coupling 60031-E and provide the data for processing to toggles 70036. The joystick / display portion of UC 22004 can receive / transmit data through electrical / data coupling 60031-E and provide the data for processing to the joystick / display portion of the UC. In some configurations, toggles 70036 can receive / transmit data and be powered through cable 60031-B, while the joystick / display portion of UC 22004 can receive / transmit data and be powered through cable 60031-A. Junction box 60031-C can combine the signal from cables 60031-A and 60031-B to provide them to cable 60031-D.

[0191] Referring now to FIGs. 12GG and 12GG-1, in some configurations, toggles 70036 can be manufactured with integral UC connection 22157. Integral UC connection 22157 can include bracket mounting recesses 22157-A and can accommodate data / power cable 60031. In some configurations, UC 22004-1 can be toolessly connected to armrest mounting bracket 22158-A by, for example, wingnuts 22158-H, and can be toolessly connected to an armrest by, for example, but not limited to thumb screw 22158-I and knob screw 22158-J.

[0192] Referring now to FIGs. 12HH, 12HH-1, and 12HH-2 UC cap 482 can integrally or removably couple with cap back clamp 491. Cap back clamp 491 can trap toggles mount bracket 488, holding toggles 70036 in place with respect to UC 22004, and can provide cable recess 491B. Cable 60031-A can travel through cable recesses 491-C and 491-B before exiting from UC 22004. Cap back clamp 491 can be situated in mounting ring back clamp recess 491-A, and can be tightened into place by mounting claim 490. Mounting clamp 490 can be tightened by compressing mount handle back clamp 492, which can provide a stable compression based on side posts 493. Uncompressed mount handle back clamp 492 can result in exemplary gap 495 (FIG. 12HH-2), and compressed mount handle back clamp 492 can result in exemplary gap 494 (FIG. 12HH-2).

[0193] Referring now to FIGs. 12II, 12II-1, and 12II-2, UC 22004-1 can be toolessly screw-mounted onto mounting bracket 653 through cap stud 655. Cap stud 655 can be integrated with UC connection 22157, or can be fastened to UC connection 22157. Clocking plate 654 can be positioned between cap stud 655 and mounting bracket 653. Cap stud 655 can include external threads 655-A (FIG. 12II-1), and can pass through cavities 654-A (FIG. 12II-1), 653-C (FIG. 12II-1), and 656-A (FIG. 12II-1) when cap stud threads 655-A (FIG. 12II-1) are coupled with threaded nut threads 656-B (FIG. 12II-1), tightening threaded nut 656 (FIG. 12II-1) with cap stud 655. Fasteners 657 can be loosely screwed into threaded recesses 654-B, through adjustment channels 653-A (FIG. 12II-1). UC 22004-1 can be rotated as loosened fasteners 657 (FIG. 12II-1) move freely in channels 653-A (FIG. 12II-1) until a desired orientation is achieved. Then fasteners 657 (FIG. 12II-1) can be tightened. Tab 653-B can be used to connect UC 22004-1 to an armrest.

[0194] Referring now to FIGs. 12JJ and 12JJ-1, UC connection 22157 can provide an interface between UC 22004-1 and clamp post 824, which can be removably or fixed mounted to UC connection 22157. Clamp-on shaft collar 819 can be attached to mounting bracket 815 using recesses 815-B and tooled or tooless fasteners. To achieve mounting of UC 22004-1, clamp post 824 can be inserted into cavities 819-E and 815-A, and clamp-on shaft collar can be tightened at tightening points 819-A (12JJ-1) and 819-B (12JJ-1) after UC 22004-1 is rotated to a desired orientation.

[0195] Referring now to FIGs. 12KK and 12KK-1 through 12KK-6, cap latch 849 can provide an interface between UC 22004-1 and UC mount ring latch 840. Cap latch 849 can include bayonet 849-B that can enter recess 840-F. As cap latch 849 is twisted, bayonet 849-B can depress retractable spring 843 until retractable spring 843 becomes entrapped in recess 849-A, while simultaneously experiencing resistance from bumper 1011. Bumper 1011 can rest in bumper holder 1010, and bumper holder 1010 can be held in place by protrusion 1010-A (FIG. 12KK-3) which can rest in cavity 840-G (FIG. 12KK-3). Retractable spring 843 can be released from recess 849-A by engaging handle 843-A (FIG. 12KK-2 ) and pulling handle 843-A (FIG. 12KK-2) away from spring stop 840-A. Spring stop 840-A can include recess 840-D (FIG.12KK-1) into which retractable spring 843 can be positioned. Pulling handle 843- A (FIG. 12KK-2) away from spring stop 840-A can result in compressing spring 843 while removing entrapped rod 843-C from recess 849-A, allowing bayonet 849-B to move. Threads 843-B can enable spring plunger 843 to be engaged in recess 840-D. In some configurations, spring stop 840-A can be replaced by flange 829-A (FIG. 12KK-4) that can include a recess that can accommodate retractable spring 843. UC mount ring latch 840 can include ribs 840-B that can increase the strength of UC mount ring latch 840, which can be used to attach UC 22004-1 to an armrest.

[0196] Referring now to FIGs. 12LL and 12LL-1 through 12LL-5, UC 22004-1 (FIG. 12LL) can operably couple with cap latch 1018 (FIG. 12LL) to secure UC 22004-1 (FIG. 12LL) to the mounting mechanism of the present teachings that can interface with an armrest. Fasteners 1018-B (FIG. 12LL) can loosely engage with UC 22004-1 (FIG. 12LL) through cap latch cavities 1018-A (FIG. 12LL), UC 22004-1 (FIG. 12LL) can be rotated to a desired orientation, and fasteners 1018-B (FIG. 12LL) can be tightened. Mount plate latch 1019 (FIG. 12LL-2) can operably couple with cap latch 1018 (FIG. 12LL). Mount plate latch 1019 (FIG. 12LL-2) can include a geometry that can complement the geometry of UC top plate 1013 (FIG. 12LL-1) so that mount plate latch 1019 (FIG. 12LL-2) can fit into top plate cavity 1013-A (FIG. 12LL-3). Mount plate latch 1019 (FIG. 12LL-2), coupled with UC 22004-1 through cap latch 1018 (FIG. 12LL), can be inserted into top plate cavity 1013-A (FIG. 12LL-3) and rotated to secure. As mount plate latch 1019 is rotated, wings 1019-A (FIG. 12LL-2) can encounter ramp features 1016-A (FIG. 12LL-2) and buttons 1016-B (FIG. 12LL-2) with which recesses 1019-B (FIG. 12LL-2) can align and surround. Pressure to maintain the position of UC 22004-1 (FIG. 12LL) can be achieved by compression spring 1015 (FIG. 12LL-1), or any other type of spring, pressing upon the base of 1016. Ramp shoes 1016-C (FIG. 12LL-1) can couple with base recesses 1014-A (FIG. 12LL-1) to maintain alignment of 1016 and 1014. To release this pressure to allow UC 22004-1 (FIG. 12LL) to be removed, handle 1017 (FIG. 12LL-5), operably coupled with base 1014 (FIG. 12LL), can be pulled away from base 1014 (FIG. 12LL), drawing the buttons 1016-B away from the recesses 1019-B, thus releasing the connection between button 1016-B (FIG. 12LL-2) and recess 1019-B (FIG. 12LL-2) and allowing mount plate latch 1019 (FIG. 12LL-5) to rotate and release UC 22004-1 (FIG. 12LL).

[0197] Referring now to FIGs. 12MM and 12MM-1 through 12MM-3, UC 22004-1 (FIG. 12MM) can operably couple, either fixedly or removably, with undercap 1191 (FIG. 12MM-1) at toggle interface 22157 (FIG. 12MM). Cleat 1349 (FIG. 12MM-1) can operably couple with undercap 1191 (FIG. 12MM-1) by fasteners mounted in channels 1349-B (FIG. 12MM-1) and recesses 1191-A (FIG. 12MM-1). Before fasteners are tightened, channels 1349-B (FIG. 12MM-2) can enable orientation adjustment of UC 22004-1 (FIG. 12MM). Separately, top plate 1189 (FIG. 12MM-3) and lock plate 1353 (FIG. 12MM-3) can be coupled by fasteners in aligned recesses 1353-B (FIG. 12MM-3) and 1189-A (FIG. 12MM-3). The combination of UC 22004-1 (FIG. 12MM), undercap 1191 (FIG. 12MM-1), and cleat 1349 (FIG. 12MM-1) can be aligned and inserted into top plate cavity 1189-A (FIG. 12MM-1) and then rotated to align button 1349-A (FIG. 12MM-3) with recess 1353-A (FIG. 12MM-3). During rotation, button 1349-A(FIG. 12MM-3) can travel towards recess 1353-A (FIG. 12MM-3) by riding over ramps 1353-C (FIG. 12MM-3). When button 1349-A (FIG. 12MM-3) aligns with recess 1353-A (FIG. 12MM-3), button 1349-A (FIG. 12MM-3) can engage with recess 1353-A (FIG. 12MM-3). Pressure to maintain position is achieved by lock plate 1353 applying pressure to button 1349-A (FIG. 12MM-2). This securely attaches UC 22004-1 (FIG. 12MM) to top plate 1189 (FIG. 12MM-3), and top plate 1189 can be used to mount UC 22004-1 (FIG. 12MM) on an armrest. To disengage UC 22004-1 (FIG. 12MM) from the connection to top plate 1189 (FIG. 12MM-3), lock plate 1353 (FIG. 12MM-3) can be depressed at lock plate end 1353-D (FIG. 12MM-3), button 1349-A (FIG. 12MM-3) can become free of recess 1353-A (FIG. 12MM-3), and UC 22004-1 (FIG. 12MM) can be rotated to release cleat 1349 (FIG. 12MM-1) from top plate 1189 (FIG. 12MM-1).

[0198] Referring now to FIGs. 12NN, and 12NN-1 through 12NN-4, UC 22008 (FIG. 12NN-1) can include a toggleless controller, and UC 22009 (FIG. 12NN) can include toggle module 22057 (FIG. 12NN), that can be included with UC core 22007-1, or can be replaced by cap 30256 (FIG. 12NN-1), making toggle module 22057 (FIG. 12NN) a field-replaceable unit. Cap 30256 (FIG. 12NN-1) or toggle module 22057 (FIG. 12NN) or other modules can be attached and removed, making it possible to replace toggle module 22057 (FIG. 12NN) when it is worn out and / or damaged. Toggle module 22057 (FIG. 12NN) can include an inline electrical connection interface where toggle module 22057 (FIG. 12NN) mates with UC core 22007-1. One side of inline electrical connection 50039-1 (FIG. 12NN-2) can include flex cable 50039 (FIG. 12NN-2), which can be mounted in lower housing 30252 (FIG. 12NN-2) and can be connected to UC board 50004 (FIG. 12NN-3) during assembly. The other side of electrical connection 50039-1 (FIG. 12NN-2) can include a commercially-available male pin header integrated into toggles flex tail 70048-1 (FIG. 12NN-4). In some configurations, UC core 22007-1 (FIG. 12NN) can be provided as an assembled item, and can be tested as a complete unit.

[0199] Referring now to FIG. 12NN-5, cable 60037 can incorporate right angle overmold 60036 where cable 60037 passes through lower housing 30252. Overmold 60036 can provide strain relief, retention in the housing, and can form an environmental seal. Overmold 60036 can incorporate flange 60036-1 that can protect cable 60037 from being pulled through. UC 20008 / 20009 (FIGs. 12NN / 12NN-1) can include ferrite 70041 to reduce EMI within UC 20008 / 20009 (FIGs. 12NN / 12NN-1). Lower housing 30252 can include grounding location 30252-12. The cable shield can extend to ring terminal 70042 which can be surrounded by star washers 40015 and connected to grounding location 30252-12.

[0200] Referring now to FIGs. 12NN-6 and 12NN-7, upper housing 30251 (FIG. 12NN-6) can include bend-resistant wall 30251-1 (FIG. 12NN-6), including a wall extension that can extend behind the thumbwheel mechanism and sensor. UC 20008 / 20009 (FIGs. 12NN / 12NN-1) can include molded gasket 30261 (FIG. 12NN-7) made of, for example, but not limited to, silicone. Molded gasket 30261 (FIG. 12NN-7) can fit into groove 30251-3 (FIG. 12NN-6) in upper housing 30251 (FIG. 12NN-6). The geometry of the joint between upper housing 30251 (FIG. 12NN-6) and lower housing 30252 (FIG. 12NN-7) can present convoluted path 22008-1 (Section A-A, FIG. 12NN-7-1) that can shield gasket 30261 (FIG. 12NN-7) from environmental hazards such as, for example, but not limited to, water spray. Lower housing 30252 (FIG. 12NN-7) can include fastening means and compression stops 30252-1 (FIG. 12NN-2) that can enable overtightening protection between upper housing 30251 (FIG. 12NN-6) and lower housing 30252 (FIG. 12NN-7). Speaker wires 70032-1 (FIG. 12NN-7) can interface with pogo target strip 50036-2. For example, speaker wires 70032-1 (FIG. 12NN-7) can be soldered to pogo target strip 50036-2. Speaker wires 70032-1 (FIG. 12NN-7) can be secured in place in lower housing 30252 (FIG. 12NN-7) using, for example, polyimide tape or liquid adhesives. Right angle bracket 30192 (FIG. 12NN-7) can engage locating features on lower housing 30252 (FIG. 12NN-7) to position and secure flex circuit 50036 (FIG. 12NN-7). In some configurations, speaker 70032 (FIG. 12NN-7) can be rated for a 2W output, and lower housing 30252 (FIG. 12NN-7) can include, for example, but not limited to, hole pattern 30252-11 (FIG. 12NN-5) for speaker 70032 (FIG. 12NN-7) that can enable user-friendly speaker output.

[0201] Referring now to FIG. 12NN-8, UC board 50004 can include pogo pins 50004-A (FIG. 12NN-3) that can enable speaker and thumbwheel signal transfer between UC board 50004-1 (FIG. 12NN-3) and flex circuit 50046 (FIG. 12NN-7). Blind connections can be made as upper housing 30251 (FIG. 12NN-6) and lower housing 30252 (FIG. 12NN-7) are paired. Coupling with pogo pins 50004-A (FIG. 12NN-3) are pogo targets 50036-1 (FIG. 12NN-8) that can be integral with thumbwheel flex circuit 50036 (FIG. 12NN-7). UC 20008 / 20009 (FIGs. 12NN / 12NN-1) can include mounting holes 30252-10 (FIG. 12NN-8) that can accommodate commonly-used mounting patterns, for example, but not limited to, R-net style.

[0202] Referring now to FIG. 12NN-9, UC 20008 / 20009 (FIGs. 12NN / 12NN-1) can include integrated display 22053 that can include LCD 70040, masked coverglass 30253, antenna 50025, and electrical insulation means 40032 such as, for example, but not limited to, electrically insulating tape, such as, for example, but not limited to, KAPTON ®< tape, to insulate UC board 50004 from the metal in liquid crystal display (LCD) 70040.

[0203] Referring now primarily to FIG. 13A, UC holder 133A can house manual and visual interfaces such as, for example, a joystick, a display, and associated electronics. In some configurations, UC assist holder 145A can be attached to visual / manual interface holder 145C tool-lessly. UC assist holder 145A can include electronics that can interface with processors 100 (FIG. 16B) and that can process data from sensors 122A (FIG. 8), 122B (FIG. 8), 122C (FIG. 8), 122D (FIG. 8), 122E (FIG. 8), and 122F (FIG. 8). Any of these sensors can include, but are not limited to including, an OPT8241 time-of-flight sensor from TEXAS INSTRUMENTS ®< , or any device that can provide a three-dimensional location of the data sensed by the sensors. UC assist holder 145A can be located anywhere on the MD and may not be limited to being mounted on visual / manual interface holder 145C.

[0204] Referring now primarily to FIG. 13B, manual / visual interface holder 145C can include, but is not limited to including, visual interface viewing window 137A and manual interface mounting cavity 133B available on first side 133E of manual / visual interface holder 145C. Connector 133C can be provided on second side 133D of manual / visual interface holder 145C to connect manual / visual interface holder 145C to UC assist holder 145A (FIG. 13C). Any of viewing window 137A, manual interface mounting cavity 133B, and connector 133C can be located on any part of manual / visual interface holder 145C, or can be absent altogether. Manual / visual interface holder 145C, visual interface viewing window 137A (FIG. 13B), manual interface mounting cavity 133B, and connector 133C can be any size. Manual / visual interface holder 145C can be constructed of any material suitable for mounting visual interface viewing window 137A, manual interface mounting cavity 133B, and connector 133C. Angle 145M can be associated with various orientations of UC holder 133A and thus can be various values. UC holder 133A can have a fixed orientation or can be hinged.

[0205] Referring now primarily to FIG. 13C, UC assist holder 145A can include, but is not limited to including, filter cavity 136G and lens cavity 136F providing visibility to, for example, but not limited to, a time-of-flight sensor optical filter and lens such as, for example, but not limited to, OPT8241 3D time-of-flight sensor by TEXAS INSTRUMENTS ®< . UC assist holder 145A can be any shape and size and can be constructed of any material, depending on the mounting position on the MD and the sensors, processors, and power supply, for example, provided within UC assist holder 145A. Rounded edges on cavities 136G and 136F as well as holder 145A can be replaced by any shape of edge.

[0206] Referring now to FIG. 13D, UC 130-1A can optionally include a binding mechanism to attach UC 130-1A to a mounting platform. Two tabs can extend fore and aft from the based of UC 130-1A, as toe and heel tabs. The toe tab can be inserted into forward "binding" 16135 where it can be prevented from lifting out. Spring-loaded fingers to the left and right sides of forward binding 16135 can press against the cylindrical base of UC 130-1A. The heel tab can then be levered down onto the rear "binding", which can include cam-over mechanism 16133 that can clamp down onto the heel tab. The rear binding can cup the cylindrical base of UC 130-1A. To release UC 130-1A, cam-over mechanism 16133 of the rear binding can be manually opened, after which UC 130-1A can be angled out. The spring-loaded fingers of forward binding 16135 can deflect when there is a lateral impact to UC 130-1A greater than a pre-selected threshold, and UC 130-1A can pop free. In some configurations, toe and heel tabs can be reversed.

[0207] Referring now to FIG. 13E, UC 130-1A can optionally include a seat belt-like mechanism to engage UC 130-1A with mounting base 16141. Mounting base 16141 can be attached to, for example, an armrest, and can include tab locks 16143 having release buttons. Mounting tabs 16145 can engage with tab locks 16143 to mount UC 130-1A on, for example, the armrest. Depressing release buttons can disengage UC 130-1A from mounting base 16141 toolessly. Mounting base 16141 can take any suitable shape and is not limited to accommodating the shape of an armrest. Tab locks 16143 can take on any shape and can perform the locking of mounting tabs 16145 in any suitable way. Mounting tabs 16145 can complement any structure that tab locks 16143 take.

[0208] Referring now to FIG. 13F, UC 130-1A can optionally include shaped mount 16153. Shaped mounting base 16151 can include any geometric structure that can complement the geometric structure of shaped mount 16153, for example, but not limited to, triangles, squares, rectangles, and ellipses. In some configurations, shaped mount 16153 and shaped mounting base 16151 can include complementary splines. In some configurations, when UC 130-1A is mounted in the desired orientation, shaped mounting base 16151 can be coupled with UC 130-1A by fastener 16155. Fastener 16155 can include any suitable attaching mechanism include one or more screws, bolts, wingnuts, and thumb screws, and can accommodate tooled or tooless installation.

[0209] Referring now to FIG. 13G, UC 130-1A can optionally include tabbed mount 16169 that can optionally include inclined edges that can cooperatively mate with base inclined edges 16163 of tabbed mounting base 16161. Tabbed mounting base 16161 can include mount features 16171 that can complement the tab 16169 of the tabbed mount. Tabs 16169 can be any distance apart from each other as long as they align with mount features 16171. Tabbed mounting base 16161 can optionally include cable recess 16167 and a means for retaining UC 130-1A in place in tabbed mounting base 16161. The means for retaining can include any suitable tooled or tooless means including, but not limited to, at least one magnet, at least one set screw 16165, and / or thumb screws. In some configurations, pins (not shown) on the circumference of the tabbed mount can be separated by a pre-selected amount, such as, for example, but not limited to, about 180°. In some configurations, the pins can be approximately perpendicular to the barrel axis. Tabbed mounting base 16161 can include slots on its circumference that can fit the pins. The slots can include axial and / or circumferential travel that can affix the tabbed mount. In some configurations, UC 130-1A can include at least one tab 16169A at its base and substantially cylindrical body 16169B. At least one tab 16169A and cylindrical body 16169B can fit into cavity 16167A in the receiver bracket and can provide locating and clocking. C-clip 16162 can be inserted in slot 16166 and can slide first under first overhang 16166A at one end of the receiver, then over tabs 16169, then under second overhang 16168 at the other end of the receiver bracket. C-clip 16162 can prevent UC 130-1A from lifting up and out. C-clip tab 16162A at the middle of the C-clip can include a through hole for a retention feature. C-clip 16162 can be constructed of, for example, but not limited to, a metal plate, a steel wire, or molded plastic.

[0210] Referring now to FIG. 13H, UC 130-1A can optionally include flange 16189 and orientation recesses 16187. Slide-in mounting base 16181 can include entry cavity 16183 in which flange 16189 can be positioned. UC 130-1A and flange 16189 can be slid towards orientation recess 16182 as retraction tab 16185 is pulled away from slide-in mounting base 16181. Retraction tab 16185 can control the height of orientation pin 16191. When UC 130-1A arrives in orientation recess 16182, UC 130-1A can be rotated to achieve a desired orientation with respect to slide-in mounting base 16181 (and the feature such as an armrest onto which slide-in mounting base 16181 can be attached). When the desired orientation is achieved, retraction tab 16185 can be released, and orientation pin 16191 can enter one of orientation recesses 16187, thus retaining UC 130-1A in the desired orientation. Slide-in mounting base 16181 can include a channel into which flange 16189 can slide. The ridge in slide-in mounting base 16181 that forms the channel can retain flange 16189 within slide-in mounting base 16181.

[0211] Referring now to FIG. 13I, UC 130-1A can optionally include flange 16209. Slide-in mounting base 16202 can include entry cavity 16201 in which flange 16209 can be positioned. UC 130-1A and flange 16189 can be slid towards orientation recess 16203. When UC 130-1A arrives in orientation recess 16203, UC 130-1A can be rotated to achieve a desired orientation with respect to slide-in mounting base 16202 (and the feature such as an armrest onto which slide-in mounting base 16202 can be attached). When the desired orientation is achieved, retention cam 16207 can be rotated with handle 16205, thus retaining UC 130-1A in the desired orientation. Slide-in mounting base 16202 can include a channel into which flange 16209 can slide. The ridge in slide-in mounting base 16202 that forms the channel can retain flange 16209 within slide-in mounting base 16202.

[0212] Referring now to FIG. 13J, UC 130-1A can optionally include flange 16221 and faceted side 16223. Slide-in mounting base 16202 can include entry cavity 16201 in which flange 16209 can be positioned. UC 130-1A and flange 16189 can be slid towards orientation recess 16203. When UC 130-1A arrives in orientation recess 16203, UC 130-1A can be rotated to achieve a desired orientation with respect to slide-in mounting base 16202 (and the feature such as an armrest onto which slide-in mounting base 16202 can be attached). When the desired orientation is achieved, retention cam 16207 can be rotated with handle 16205, thus retaining UC 130-1A in the desired orientation. Slide-in mounting base 16202 can include a channel into which flange 16209 can slide. The ridge in slide-in mounting base 16202 that forms the channel can retain flange 16209 within slide-in mounting base 16202.

[0213] Referring now to FIG. 13K, UC 130-1A can optionally include a substantially cylindrical base that can enable receiving bracket 16243 having a tubing clamp design. In some configurations, one or more ribs (not shown) can be arrayed around the inside diameter of receiving bracket 16243, and UC 130-1A can include groves (not shown) to provide guidance when mounting UC 130-1A in receiving bracket 16243, providing an anti-rotation feature. In some configurations, receiving bracket 16243A can include hinge 16243B that can be easily opened and closed. The barrel of hinge 16243B can be placed on the inside of the clamp, and can engage a corresponding cutout in the base of UC 130-1A (not shown) as a clocking / anti-rotating feature. The clasp that holds the clamp shut can take any number of forms, depending on how much circumferential clamping is required. In some configurations, the clasp can include (a) thumbscrew 16243C (b) over-center latch 16243D (c) pin latch 16423E (d) cam on a lever 16243F, and / or (e) a groove (not shown) around at least part of the circumference of the cylindrical portion of UC 130-1A, at a seam where two housing elements come together. The clamp can include a tongue for additional retention.

[0214] Referring now to FIGs. 13K-1 and 13K-2, in some configurations, receiving bracket 16243 can include balls 2501 mounted inside receiving bracket 16243. Balls 2501 can engage dimples 2503 (FIGs. 13K-1). The size and location of dimples 2503 (FIGs. 13K-1) can be such that, in locked position 2505 (FIGs. 13K-1), a radial interference can be created. Receiving bracket 16243 can include ring 2507 (FIGs. 13K-1) that can lock balls 2501 in place. Ring 2507 (FIGs. 13K-1) can include configurations such as, for example, but not limited to, a first profile that either places solid 2513 behind balls 2501 in locked position 2505 or cavity 2509 in unlocked position 2511. Ring 2507A (FIG. 13K-2) can include configurations such as, for example, but not limited to, flexture cut 2515 (FIG. 13K-2) so that in unlocked position 2511, balls 2501 can be sprung radially inward. Flexture cut 2515 (FIG. 13K-2) can be cut from material between unlock position 2511 and lock position 2505. Between dimple 2503 and cavity 2509 can include material build-out 2514 in ring 2507. Build-out 2514 can be part of an over-center mechanism, since to move ring 2507 into and out of the locked position 2505, build-out 2514 can cover ball 2501 because of the flex in the components.

[0215] Referring now to FIG. 13L, UC 130-1A can optionally include grooved flange 16247. As grooved flange 16247 is surrounded by mounting ring 16245, UC 130-1A can be rotated to a desired orientation, and fastener 16241 can be tightened to catch in groove 16247. In some configurations, grooved flange 16247 can include multiple grooves to enable height adjustment of UC 130-1A.

[0216] Referring now to FIGs. 14A-14C, UC board 50004 can provide the electronics and connectors to control the activities of UC 130 (FIG. 12A). UC board 50004 can include circuit board 50004-9 upon which connectors and ICs can be mounted. For example, joystick connector 50004-8, power and communications connector 50004-7, toggles connector 50004-5, thumbwheel connector 50004-4, speaker connector 50004-6, and display connector 50004-2 can be included on mounting board 50004-9. In some configurations, UC board 50004 can include ambient light sensor 50004-X (FIG. 14A), the signal from which can be used to vary the display brightness and contrast for viewing in indoor and outdoor environments. EMC shield 50004-3 can provide EMC protection to UC board 50004. Connections 50004-1 to wireless antenna 50025 (FIG. 12H) can include, for example, but not limited to, spring contacts. Button snap domes 50004-10, for example, can accommodate button depression activation. In some configurations, button snap domes 50004-10 can each be associated with back-lighting from, for example, but not limited to, light-emitting diode (LED)s. Toggle switches and toggle levers can be accommodated similarly. UC board 50004 can process data transmitted to and from the user, PBC board 50001 (FIGs. 15A and 15B), PSC board 50002 (FIGs. 15G), and a wireless antenna. UC board 50004 can perform filtering of incoming data, and can enable the transitions and workflow described in FIGs. 23A-23KK. UC board 50004 can include, but is not limited to including, a wireless transceiver that can include a processor and transceiver that can support wireless communications using, for example, but not limited to, the BLUETOOTH ®< low energy protocol. The wireless transceiver can include, for example, but not limited to, a Nordic Semiconductor nRF51422 chip.

[0217] Referring now to FIG. 14D, processing on the change in thumbwheel position can include method 72000 that can determine how to adjust the speed of the MD based on the movement of thumbwheel knob 30173 (FIG. 12E). Method 72000 can include, but is not limited to including, sampling 72001 the ADC and, if 72003, the user has changed from one drive setting to another, saving 72005 the virtual wheel position for the currently-selected drive setting, recovering 72007 the previous virtual thumbwheel position for the new drive setting, and recording 72015 the last ADC reading. When the user changes drive settings, a current virtual thumbwheel position for the currently selected drive can be stored for the purpose of, for example, recalling it at a later time. For instance, if the user changes from drive setting one, at a virtual thumbwheel position of 2000 counts, to drive setting two, the previous virtual thumbwheel position for drive setting one can become 2000 counts. In this example, the new virtual thumbwheel position can be whatever the setting was for drive setting two the last time the MD was in drive setting two. If 72003, the user has not changed from one drive setting to another, and if 72009 a change in the ADC is not detected, method 72000 can include recording 72015 the last ADC reading. If 72009 a change in the ADC is detected, method 72000 can include computing an ADC delta in counts, filtering 72011 the ADC delta, integrating 72013 the ADC delta into the virtual thumbwheel position, and recording 72015 the last ADC reading. Method 7200 can include calculating 72017 the speed percent based on the virtual thumbwheel position and max ...

Claims

1. A system for controlling a mobility device, the mobility device including mobility features, sensors, and a status, the system comprising: a user interface subsystem receiving user commands and data from, and providing information to, a user, the user interface subsystem including a user command processor processing the received user commands; a sensor subsystem receiving and processing sensor data from the sensors; a workflow subsystem filtering the processed received user commands based at least on the status of the mobility device, wherein filtering the processed received user commands modifies subsequent user commands that can be received by the user interface subsystem; and a mobility device command subsystem issuing commands to the mobility features based at least on the filtered processed received user commands and the sensor data.

2. The system as in claim 1 wherein the user interface subsystem comprises: at least one user input device (22006) receiving the user commands and data; at least one user output device transmitting the information; at least one power supply port (1158) enabling power to the user interface subsystem; at least one data exchange port enabling data exchange between the user interface device and the mobility device command subsystem; and at least one armrest mounting means (30040) interfacing the user interface system with the mobility device.

3. The system as in claim 2 wherein the at least one user input device comprises a thumbwheel (30173), the thumbwheel providing movement data throughout the full rotation of the thumbwheel and thumbwheel position, the user interface subsystem retaining the thumbwheel position across a power cycle, the thumbwheel position being associated with at least one user interface subsystem characteristic.

4. The system as in claim 2 wherein the sensor subsystem comprises: a sensor suite providing the sensor data, the sensor data indicating obstacles in the path of the mobility device, the commands to the mobility features being based at least in part on the obstacles.

5. The system as in claim 2 wherein the workflow subsystem comprises: at least one process, the at least one process including commands, the at least one process providing at least one command from the allowed commands to the mobility device, the at least one process being selected based at least on the user commands and the data.

6. The system as in claim 2 wherein the workflow subsystem comprises: normal workflow (1070) including a speed selection, settings selection, seat adjustment selection, and mode selection; power button workflow (1072) including the commands based at least on the status of the power button, the power button workflow including emergency stop and restart to a previous of the status; stairmode workflow (1074) including solo mode stair climbing and assisted mode stair climbing; forced power off workflow (1076) including insuring a power off selection and powering the mobility device off; center of gravity fit workflow including calibrating the mobility device for the user; recovery mode workflow (1080) including providing information to the user after a power cycle; and wireless workflow (1082) including requesting a password from the user;7. The system as in claim 1, further comprising: a remote communications interface comprising a control device (5107) and a control device interface (5115), wherein the remote communications interface is configured to provide secure communications between the remote communications interface and the mobility device.

8. The system as in claim 7, wherein the remote communications interface is configured to carry out processes to mitigate in-flight modification of message traffic (5603), eavesdropping (5601) and co-opting control (5621).

9. The system as in claim 8, wherein mitigating eavesdropping comprises clear text obfuscation including: generating a random byte; using the random byte as a random key; transforming the random key into a count of random bytes in a known range; generating the number of random bytes that equals the count; transforming several of the random bytes into a linear feedback shift register seed value; and whitening an input counted string using the linear feedback shift register seed value.

10. The system as in claim 1, further comprising a mode controller configured to determine a requested mode and set a mode into which the mobility device transitions.

11. The system as in claim 10, wherein the mode comprises a balance mode enabling balanced elevated seat height of the mobility device.

12. The system as in claim 10, wherein the mode comprises a remote mode enabling the mobility device to travel unoccupied.

13. The system as in claim 10, wherein the mode comprises an enhanced mode enabling the mobility device to travel over uneven terrain.

14. The system as in claim 10, wherein the mode comprises a stair mode enabling the mobility device to climb stairs while actively stabilized.

15. The system as in claim 10, wherein the mode comprises a standard mode enabling the mobility device to travel in a driving status, a reclining status and a transitioning status.

Images