Stairlift comprising a movable footrest

Abstract

A stairlift (1) for moving a person (2) along a stairway (3), comprising a carriage (4) moveable along a rail (5) by a drive, a chair (7) coupled to the carriage, wherein the chair comprises a seat (8) for, in use, supporting a bottom area of the person, the seat comprising a sitting surface (10); a footrest (11) coupled to the carriage, for, in use, supporting a foot or feet of the person during movement of the carriage along the rail, the footrest comprising a foot support surface (12) facing upwards, wherein the footrest is movable relative to the seat in a vertical direction (13); and an actuator (14) for moving the footrest relative to the seat in the vertical direction.

Description

[0001] Title: Stairlift comprising a movable footrest

[0002] FIELD OF THE INVENTION

[0003] The invention relates to a stairlift and to a method for operating a stairlift.

[0004] BACKGROUND OF THE INVENTION

[0005] Stairlifts are devices that are used to help people with mobility impairments or other physical limitations to safely and easily navigate stairs. Conventional stairlifts typically consist of a seat assembly that is attached to a rail or track that is mounted to the staircase, and a motor that drives the seat assembly along the rail.

[0006] Current stairlifts have several drawbacks. It happens that stairlifts become damaged when the seat assembly, or parts thereof, collide with the stairs or with other obstacles. In a worst case the complete stairlift including the rail is damaged upon a collision, such that the complete stairlift has to be replaced.

[0007] Another drawback is that, as the stairlift is used by people already impaired, people have difficulty getting on and / or off the seat assembly.

[0008] Further, persons are generally afraid to fall. In particular persons using a stairlift are afraid to fall off the seat assembly.

[0009] OBJECT OF THE INVENTION

[0010] It is an object of the invention to provide an improved, or at least alternative, stairlift.

[0011] It is another object of the invention to provide a more user friendly stairlift.

[0012] It is yet another object of the invention to provide a safer stairlift.

[0013] SUMMARY OF THE INVENTION

[0014] In order to achieve at least one object, the invention provides a stairlift for moving a person along a stairway, the stairlift comprising: a carriage moveable along a rail by a drive, a chair coupled to the carriage, wherein the chair comprises a seat for, in use, supporting a bottom area of the person, the seat comprising a sitting surface, a footrest coupled to the carriage, for, in use, supporting a foot or feet of the person during movement of the carriage along the rail, the footrest comprising a foot support surface facing upwards, wherein the footrest is movable relative to the seat in a vertical direction, an actuator for moving the footrest relative to the seat in the vertical direction.

[0015] An advantage of moving the footrest relative to the seat is that, as the footrest is a relatively low weight part of the stairlift, a relatively small and therefore relatively cheap drive, e.g. an electric motor, can be used.

[0016] Another advantage of moving the footrest relative to the seat is that collisions can be avoided, e.g. collisions of the footrest with the stairs and / or collisions with external objects located on the stairs.

[0017] Yet another advantage is that the footrest may be moved to a relatively low position, such that a person is able to get on / off the chair easier.

[0018] In an embodiment, the footrest is pivotable relative to the seat about a substantially vertical pivot axis by an actuator.

[0019] In an embodiment of the stairlift, the one or more actuators are configured to be operatively coupled to a control system, wherein, during travel of the carriage along the rail, the control system is configured for controlling the one or more actuators for avoiding a collision between the footrest and the stairs

[0020] In an embodiment of the stairlift, during and / or before travel of the carriage along the rail, the control system is configured for controlling the one or more actuators for avoiding a collision between the footrest and the stairs and / or between the footrest and an external object.

[0021] In an embodiment, the stairlift comprises a sensor system for sensing a distance between the footrest and the stairs and / or between the footrest and an external object, wherein the sensor system is operatively coupled to the control system, wherein the control system is configured for receiving distance data from the sensor system and for controlling the one or more actuators based on the received distance data. An advantage of using a sensor system compared to for example pre-programmed data of stairs is that the sensor system is less dependent on the specific dimensions of the stairs. Stairs tend to differ per house, or at least per couple of houses. Using pre-programmed data therefore usually first requires a more labour-intensive measurement of the specific dimensions of each staircase.

[0022] In an embodiment of the stairlift, the sensor system comprises at least one sensor provided on the stairlift, in particular on or near the footrest, for sensing the distance between the footrest and the stairs and / or between the footrest and the external object.

[0023] In an embodiment of the stairlift, the sensor system is configured to sense an external object distance, wherein the control system is configured for receiving external object distance data from the sensor system for controlling the one or more actuators based on the external object distance data for avoiding a collision between the footrest and an external object.

[0024] In an embodiment of the stairlift, the control system comprises pre-programmed data of the stairs, wherein the control system is configured for controlling the one or more actuators based on the pre-programmed data of the stairs.

[0025] In an embodiment of the stairlift, the control system is configured for having the actuator move the footrest downwards to a step on / off position when the carriage has arrived at a first end and / or a second end of the rail. This way a person is able to get on / off the chair easier, thereby providing a more user friendly stairlift.

[0026] In an embodiment of the stairlift, in the step on / off position the bottom surface of the footrest abuts, or is located at a vertical distance of 5 cm or less, preferably 2cm or less, from a horizontal stair surface or a floor surface.

[0027] In an embodiment of the stairlift, the control system is configured for having the one or more actuators move the footrest based on a control command of the person.

[0028] In an embodiment of the stairlift, the control system is configured for moving the footrest upward relative to the seat after a person is seated on the seat with a foot or feet supported on the footrest and prior to moving of the carriage along the rail. The upward movement of the footrest after the person is seated, but before the carriage starts moving along the rail, induces a decrease of the knee angle of the seated person and causes a gentle push back of the person into the seat. This gives the seated person a feeling of being more secured on the seat and improves the safety. In a second aspect the invention provides a method for operating a stairlift system for moving a person along a stairway, the method comprising a) providing a stairlift system comprising o a carriage moveable along a rail by a drive, o a chair coupled to the carriage, wherein the chair comprises a seat for supporting a bottom area of the person, the seat comprising a sitting surface, o a footrest coupled to the carriage, for supporting a foot or feet of the person during movement of the carriage along the rail, b) moving the footrest relative to the seat in the vertical direction by one or more actuators.

[0029] In an embodiment, the method further comprises pivoting the footrest relative to the seat about a substantially vertical pivot axis by one or more actuators.

[0030] In an embodiment, the method comprises moving the carriage along the rail and moving the footrest relative to the seat for avoiding a collision with the stairs and / or with an external object.

[0031] In an embodiment, the method comprises sensing a distance between the footrest and the stairs and / or between the footrest and the external object, and moving the footrest based on sensed distance data.

[0032] In an embodiment, the method comprises moving the footrest based on preprogrammed data of the stairs.

[0033] In an embodiment, the method comprises moving the footrest to a step on / off position when the carriage is located at a first end and / or a second end of the rail, wherein a seat distance between the seat and the footrest in the step on / off position is greater than the seat distance during movement of the carriage along the rail.

[0034] In an embodiment, the method moving the footrest upward relative to the seat after a person is seated on the seat with a foot or feet supported on the footrest and prior to moving of the carriage along the rail.

[0035] The method has the same one or more advantages as the stairlift according to the invention. These and other aspects of the invention will be more readily appreciated as the same becomes better understood by reference to the following detailed description and considered in connection with the accompanying drawings in which like reference symbols designate like parts.

[0036] BRIEF DESCRIPTION OF THE FIGURES

[0037] Figure 1 schematically shows a perspective view of an embodiment of a stairlift according to the invention.

[0038] Figure 2 schematically shows a perspective view of the stairlift of figure 1 , wherein a footrest is in a different position.

[0039] Figure 3 schematically shows a perspective view of the stairlift of figure 1, wherein the footrest is in another different position.

[0040] Figure 4 schematically shows a perspective, partly transparent view of the stairlift of figure 1, wherein the footrest is in the same position as in figure 3.

[0041] Figure 5 schematically shows a perspective, partly transparent view of the stairlift of figure 1, wherein the footrest is in the same position as in figure 2.

[0042] Figure 6 schematically shows a front view of an embodiment of a stairlift according to the invention travelling up a stairway.

[0043] Figure 7 schematically shows a front view of the stairlift of figure 6, wherein the footrest is in a different position.

[0044] Figure 8 schematically shows a front view of the stairlift of figure 6, wherein an external object is located on the stairway.

[0045] Figure 9 schematically shows a front view of the stairlift of figure 8, wherein the footrest is in a different position.

[0046] Figure 10 schematically shows a front view of an embodiment of a stairlift according to the invention travelling down the stairway.

[0047] Figure 11 schematically shows a front view of the stairlift as shown in figure 10, wherein the footrest is in a different position.

[0048] Figure 12 schematically shows a side view of an embodiment of a stairlift according to the invention with a person on it.

[0049] Figure 13 schematically shows a side view of the stairlift of figure 12 with a person on it, wherein the footrest is moved upwards relative to the seat.

[0050] Figure 14 schematically shows a perspective view of an embodiment of a stairlift according to the invention, further comprising a pivotable footrest.

[0051] DETAILED DESCRIPTION OF THE FIGURES Figures 1 to 14 show embodiments of a stairlift 1 according to the invention for moving a person 2 along a stairway 3.

[0052] The stairlift 1 comprises a carriage 4 that is moveable along a rail 5 by a drive. The drive can for example comprise one or more electric motors. The drive is not shown in the figures, but is located inside the carriage 4 and engages the rail 5.

[0053] A chair 7 is coupled to the carriage 4. The chair 7 comprises a seat 8 for, in use, supporting a bottom area of the person 2. The seat 8 comprising a sitting surface 10. The seat 8 may also comprise a back rest and / or arm rests.

[0054] The stairlift 1 comprises a footrest 11 that is coupled to the carriage 4, for, in use, supporting a foot or feet of the person 2 during movement of the carriage 4 along the rail 5. The footrest 11 may be directly coupled to the carriage 4, or indirectly via for example the chair 7. The footrest 11 comprises a foot support surface 12 facing upwards. The footrest 11 is movable relative to the seat 8 in a vertical direction 13. During movement in the vertical direction 13 the footrest 11 may be in a substantially horizontal orientation, and / or in a slightly angled orientation, e.g. within 20 degrees from the horizontal. The foot support surface 12 may keep substantially the same orientation during the vertical movement thereof.

[0055] The stairlift 1 comprises an actuator 14 for moving the footrest 11 relative to the seat 8 in the vertical direction 13. An embodiment of the actuator 14 is shown in figures 4 and 5 and comprises an electromotor. Other types of actuators may also be provided, for example pneumatic or hydraulic actuators. The actuator 14 moves the footrest 11 and possibly the feet and part of the legs of a person 2 sitting on the chair 7. Therefore the actuator 14 can be relatively small compared to an actuator having to move the complete chair 7, which is beneficial from a volume perspective as well as a cost perspective.

[0056] The footrest 11 may also be pivotable about a substantially vertical pivot axis 37 by an actuator. Said actuator may be the same actuator 14 that moves the footrest up and down, but it may also be another actuator. Figure 14 shows the footrest 11 in a pivoted position, wherein the vertical pivot axis 37 is located at a side of the footrest adjacent the carriage 4.

[0057] The actuator 14 may be activated by hand, for example similar to an adjustable desk chair. The one or more actuators may also be configured to be operatively coupled to a control system 15, wherein the control system 15 is configured for controlling the one or more actuators 14. The control system 15 may also be configured for having the one or more actuators 14 move the footrest 11 based on a control command of the person 2. The control system 15 may be provided on the stairlift 1, but may also be provided at a remote server.

[0058] During travel of the carriage 4 along the rail 5, the control system 15 is configured for avoiding a collision between the footrest 11 and the stairs 3. This can be achieved by moving the footrest 11 upwards, by pivoting the footrest 11 about the substantially vertical pivot axis 37, and / or by a combination thereof. An advantage of combining the vertical movement of the footrest with a pivoting movement is that the vertical movement may be smaller, which improves the user experience.

[0059] The stairlift 1 may comprise a sensor system 16 for sensing a stair distance 17 between the footrest 11 and the stairs. Embodiments of a sensor system 16 are shown in figures 6 to 11. The shown embodiments may be combined. The sensor system 16 is operatively coupled to the control system 15.

[0060] The sensor system 16 as shown in figures 6 and 7 comprises at least one sensor 19 provided on the stairlift 1, in particular on or near the footrest 11, for sensing the stair distance 17 between the footrest 11 and the stairs. The sensor 19 in figures 6 and 7 is provided near the footrest 11 on a housing 34 that moves up and down with the footrest 11. The housing 34 is connected to the chair 7. The sensor 19 is configured to sense in a direction that is sideways, on a side of the footrest 11 that is located closest to steps of the stairs. The control system 15 is configured for receiving stair distance data from the sensor system 16 and for controlling the one or more actuators 14 based on the received stair distance data. If, in figure 6, the carriage 4 were to move further upwards the footrest 11 would collide with a step of the stairway 3. This is sensed by the sensor 19. The control system 15 then moves the footrest 11, based on the received stair distance data, to a higher position as shown in figure 7, wherein a collision between the footrest 11 and the stair is avoided when the carriage 4 moves further upwards 35.

[0061] The sensor system 16 as shown in figures 8 to 11 comprises at least one sensor 19 provided on the stairlift 1, in particular on or near the footrest 11, for sensing an external object distance 20 between the footrest 11 and an external object 22. The control system 15 is configured for receiving external object distance data from the sensor system 16 for controlling the one or more actuators 14 based on the external object distance data for avoiding a collision between the footrest 11 and an external object 22. This can be achieved by moving the footrest 11 upwards, by pivoting the footrest 11 about the substantially vertical pivot axis 37, and / or by a combination thereof. If, in figure 8, the carriage 4 were to move further upwards 35 the footrest 11 would collide with the external object 22. This is sensed by the sensor 19. The control system 15 then moves the footrest 11 , based on the received stair distance data, to a higher position as shown in figure 9, wherein a collision between the footrest 11 and the external object 22 is avoided when the carriage 4 moves further upwards.

[0062] The sensor 19 in figures 8 and 9 can be the same as the sensor 19 as shown in figures 6 and 7, such that external objects on the way up the stairway 3 can be sensed effectively.

[0063] The sensor 19 in figures 10 and 11 is provided such that it senses a space below the footrest 11. The sensor 19 is aimed downwards. Sensing the space below the footrest 11 is effective for sensing external objects 22 on the way down the stairway 3. If, in figure 10, the carriage 4 were to move further downwards 36 the footrest 11 would collide with the external object 22. This is sensed by the sensor 19. The control system 15 then moves the footrest 11 , based on the received stair distance data, to a higher position as shown in figure 11 , wherein a collision between the footrest 11 and the external object 22 is avoided when the carriage 4 moves further downwards.

[0064] Instead, or in addition to the sensor system 16, the control system 15 may comprise pre-programmed data of the stairs. The control system 15 is then configured for controlling the one or more actuators 14 based on the pre-programmed data of the stairs. When for example steps of the stairway 3 have different step heights, this can be pre-programmed. The control system 15 is then configured to move the footrest 11 up and / or down according to the pre-programmed data to for example avoid a collision.

[0065] The control system 15 may also be configured for having the one or more actuators 14 move the footrest 11 downwards to a step on / off position 23 when the carriage 4 has arrived at a first end 24 and / or a second end of the rail 5. The step on / off position 23 is for example shown in figure 1 and can help a person 2 to get on and / or off the chair 7 of the stairlift 1.

[0066] In the step on / off position 23 the bottom surface 26 of the footrest 11 abuts, or is located at a vertical distance 27 of 5 cm or less, preferably 2cm or less, from a horizontal stair surface 28 or a floor surface 29.

[0067] Turning to figures 12 and 13, wherein the footrest is moved upwards relative to the seat after a person is seated on the seat with a foot or feet supported on the footrest and prior to moving of the carriage along the rail. Figure 13 shows a reduced knee angle 32 compared to figure 12, which causes the person 2 sitting on the chair 7 to experience a slight push back into the chair 7. This increases the sense of safety for the person 2, because the person 2 feels that it will be less likely that he or she will fall off the chair 7.

[0068] A method for operating a stairlift 1 system for moving a person 2 along a stairway 3 comprises: a) providing a stairlift 1 system comprising o a carriage 4 moveable along a rail 5 by a drive, o a chair 7 coupled to the carriage 4, wherein the chair 7 comprises a seat 8 for supporting a bottom area of the person 2, the seat 8 comprising a sitting surface 10, o a footrest 11 coupled to the carriage 4, for supporting a foot or feet of the person 2 during movement of the carriage 4 along the rail 5, b) moving the footrest 11 relative to the seat 8 in the vertical direction 13 by one or more actuators.

[0069] The stairlift 1 according to the invention can be used to perform the method.

[0070] The carriage 4 is moved along the rail 5 and the footrest 11 is moved relative to the seat 8 for avoiding a collision with the stairs and / or with an external object 22 located on the stairs. This may be done by sensing a stair distance 17 and / or an external object distance 20 between the footrest 11 and the stairs and moving the footrest 11 based on sensed distance data. This may also, or instead, be done by moving the footrest 11 based on pre-programmed data of the stairs. The movement of the footrest may also comprise a pivoting movement about the vertical pivot axis 37, as schematically shown in figure 14. The vertical movement and pivoting movement of the footrest 11 may be done simultaneously and / or separately by one or more actuators.

[0071] When the carriage 4 is located at a first end 24 and / or a second end of the rail 5, the footrest 11 can be moved to a step on / off position 23. In the step on / off position 23 a seat distance 33 between the seat 8 and the footrest 11 is greater than the seat distance 33 during movement of the carriage 4 along the rail 5. The first end 24 of the rail 5 is typically located at a bottom of the stairs. The second end of the rail 5 is typically located at the top of the stairs.

[0072] The method may comprise moving the footrest 11 upward relative to the seat after a person is seated on the seat with a foot or feet supported on the footrest and prior to moving of the carriage along the rail. This can for example be done when the person 2 is sitting on the chair 7 after easily stepping on the footrest 11 while it is in the step on / off position 23. As required, detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which can be embodied in various forms. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present invention in virtually any appropriately detailed structure. Further, the terms and phrases used herein are not intended to be limiting, but rather, to provide an understandable description of the invention.

[0073] The terms "a" or "an", as used herein, are defined as one or more than one. The term plurality, as used herein, is defined as two or more than two. The term another, as used herein, is defined as at least a second or more. The terms including and / or having, as used herein, are defined as comprising (i.e. , open language, not excluding other elements or steps). Any reference signs in the claims should not be construed as limiting the scope of the claims or the invention.

[0074] The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

[0075] The present invention further relates to the following numbered clauses:

[0076] 1. A stairlift (1) for moving a person (2) along a stairway (3), comprising: a carriage (4) moveable along a rail (5) by a drive, a chair (7) coupled to the carriage, wherein the chair comprises a seat (8) for, in use, supporting a bottom area of the person, the seat comprising a sitting surface (10), a footrest (11) coupled to the carriage, for, in use, supporting a foot or feet of the person during movement of the carriage along the rail, the footrest comprising a foot support surface (12) facing upwards, wherein the footrest is movable relative to the seat in a vertical direction (13), an actuator (14) for moving the footrest relative to the seat in the vertical direction.

[0077] 2. Stairlift according to clause 1 , wherein the footrest is pivotable about a substantially vertical pivot axis (37) by an actuator. 3. Stairlift according to clause 1 or 2, wherein the one or more actuators are configured to be operatively coupled to a control system (15), wherein the control system is configured for controlling the one or more actuators.

[0078] 4. Stairlift according to clause 3, wherein, during and / or before travel of the carriage along the rail, the control system is configured for controlling the one or more actuators for avoiding a collision between the footrest and the stairs and / or between the footrest and an external object.

[0079] 5. Stairlift according to clause 3 or 4, wherein the stairlift comprises a sensor system (16) for sensing a distance (17, 20) between the footrest and the stairs and / or between the footrest and an external object, wherein the sensor system is operatively coupled to the control system, wherein the control system is configured for receiving distance data from the sensor system and for controlling the one or more actuators based on the received distance data.

[0080] 6. Stairlift according to clause 5, wherein the sensor system comprises at least one sensor (19) provided on the stairlift, in particular on or near the footrest, for sensing the distance between the footrest and the stairs and / or between the footrest and the external object.

[0081] 7. Stairlift according to any one of clauses 3 - 6, wherein the control system comprises pre-programmed data of the stairs, wherein the control system is configured for controlling the one or more actuators based on the pre-programmed data of the stairs.

[0082] 8. Stairlift according to any one of clauses 3 - 7, wherein the control system is configured for having the actuator (14) move the footrest downwards to a step on / off (23) position when the carriage has arrived at a first end (24) and / or a second end of the rail.

[0083] 9. Stairlift according to the preceding clause, wherein in the step on / off position (23) the bottom surface (26) of the footrest abuts, or is located at a vertical distance (27) of 5 cm or less, preferably 2cm or less, from a horizontal stair surface (28) or a floor surface (29).

[0084] 10. Stairlift according to any one of clauses 3-9, wherein the control system is configured for having the one or more actuators move the footrest based on a control command of the person. 11. Stairlift according to any one of the preceding clauses, wherein the control system is configured for moving the footrest upward relative to the seat after a person is seated on the seat with a foot or feet supported on the footrest and prior to moving of the carriage along the rail.

[0085] 12. Stairlift according to any one of clauses 2 - 11, wherein the vertical pivot axis is located at a side of the footrest adjacent the carriage.

[0086] 13. Method for operating a stairlift system for moving a person along a stairway, the method comprising a) providing a stairlift system comprising o a carriage moveable along a rail by a drive, o a chair coupled to the carriage, wherein the chair comprises a seat for supporting a bottom area of the person, the seat comprising a sitting surface, o a footrest coupled to the carriage, for supporting a foot or feet of the person during movement of the carriage along the rail, b) moving the footrest relative to the seat in the vertical direction.

[0087] 14. Method according to clause 13, further comprising pivoting the footrest relative to the seat about a substantially vertical pivot axis (37).

[0088] 15. Method according to clause 13 or 14, comprising moving the carriage along the rail and moving the footrest relative to the seat for avoiding a collision with the stairs and / or with an external object.

[0089] 16. Method according to clause 15, comprising sensing a distance (17, 20) between the footrest and the stairs and / or between the footrest and the external object, and moving the footrest based on sensed distance data.

[0090] 17. Method according to clause 15 or 16, comprising moving the footrest based on pre-programmed data of the stairs.

[0091] 18. Method according to any one of clauses 13-17 comprising moving the footrest to a step on / off position when the carriage is located at a first end and / or a second end of the rail, wherein a seat distance (33) between the seat and the footrest in the step on / off position is greater than the seat distance during movement of the carriage along the rail. Method according to any one of clauses 13-18, comprising moving the footrest upward relative to the seat after the person is seated on the seat with a foot or feet supported on the footrest and prior to moving of the carriage along the rail.

Claims

CLAIMS1 . A stairlift (1) for moving a person (2) along a stairway (3), comprising: a carriage (4) moveable along a rail (5) by a drive, a chair (7) coupled to the carriage, wherein the chair comprises a seat (8) for, in use, supporting a bottom area of the person, the seat comprising a sitting surface (10), a footrest (11) coupled to the carriage, for, in use, supporting a foot or feet of the person during movement of the carriage along the rail, the footrest comprising a foot support surface (12) facing upwards, wherein the footrest is movable relative to the seat in a vertical direction (13), an actuator (14) for moving the footrest relative to the seat in the vertical direction.

2. Stairlift according to claim 1 , wherein the footrest is pivotable relative to the seat about a substantially vertical pivot axis (37) by an actuator.

3. Stairlift according to claim 1 or 2, wherein the one or more actuators are configured to be operatively coupled to a control system (15), wherein the control system is configured for controlling the one or more actuators.

4. Stairlift according to claim 3, wherein, during and / or before travel of the carriage along the rail, the control system is configured for controlling the one or more actuators for avoiding a collision between the footrest and the stairs and / or between the footrest and an external object.

5. Stairlift according to claim 3 or 4, wherein the stairlift comprises a sensor system (16) for sensing a distance (17, 20) between the footrest and the stairs and / or between the footrest and an external object, wherein the sensor system is operatively coupled to the control system, wherein the control system is configured for receiving distance data from the sensor system and for controlling the one or more actuators based on the received distance data.

6. Stairlift according to claim 5, wherein the sensor system comprises at least one sensor (19) provided on the stairlift, in particular on or near the footrest, for sensing the distance between the footrest and the stairs and / or between the footrest and the external object.

7. Stairlift according to any one of claims 3 - 6, wherein the control system comprises pre-programmed data of the stairs, wherein the control system is configured for controlling the one or more actuators based on the pre-programmed data of the stairs.

8. Stairlift according to any one of claims 3 - 7, wherein the control system is configured for having the actuator (14) move the footrest downwards to a step on / off (23) position when the carriage has arrived at a first end (24) and / or a second end of the rail.

9. Stairlift according to the preceding claim, wherein in the step on / off position (23) the bottom surface (26) of the footrest abuts, or is located at a vertical distance (27) of 5 cm or less, preferably 2cm or less, from a horizontal stair surface (28) or a floor surface (29).

10. Stairlift according to any one of claims 3-9, wherein the control system is configured for having the one or more actuators move the footrest based on a control command of the person.

11. Stairlift according to any one of claims 3-10, wherein the control system is configured for moving the footrest upward relative to the seat after a person is seated on the seat with a foot or feet supported on the footrest and prior to moving of the carriage along the rail.

12. Stairlift according to any one of claims 2 - 11 , wherein the vertical pivot axis is located at a side of the footrest adjacent the carriage.

13. Method for operating a stairlift system for moving a person along a stairway, the method comprising a) providing a stairlift system comprising o a carriage moveable along a rail by a drive, o a chair coupled to the carriage, wherein the chair comprises a seat for supporting a bottom area of the person, the seat comprising a sitting surface, o a footrest coupled to the carriage, for supporting a foot or feet of the person during movement of the carriage along the rail, b) moving the footrest relative to the seat in the vertical direction by one or more actuators.

14. Method according to claim 13, further comprising pivoting the footrest relative to the seat about a substantially vertical pivot axis (37) by one or more actuators.

15. Method according to claim 13 or 14, comprising moving the carriage along the rail and moving the footrest relative to the seat for avoiding a collision with the stairs and / or with an external object.

16. Method according to claim 15, comprising sensing a distance (17, 20) between the footrest and the stairs and / or between the footrest and the external object, and moving the footrest based on sensed distance data.

17. Method according to claim 15 or 16, comprising moving the footrest based on preprogrammed data of the stairs.

18. Method according to any one of claims 13-17 comprising moving the footrest to a step on / off position when the carriage is located at a first end and / or a second end of the rail, wherein a seat distance (33) between the seat and the footrest in the step on / off position is greater than the seat distance during movement of the carriage along the rail.

19. Method according to any one of claims 13-18, comprising moving the footrest upward relative to the seat after the person is seated on the seat with a foot or feet supported on the footrest and prior to moving of the carriage along the rail.

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