CA2132617A1

CA2132617A1 - Power stand-up and reclining wheelchair

Info

Publication number: CA2132617A1
Application number: CA002132617A
Authority: CA
Inventors: Dale E. Perry
Original assignee: Individual
Current assignee: Individual
Priority date: 1993-01-21
Filing date: 1994-01-18
Publication date: 1994-08-04
Also published as: WO1994016914A1; US5366036A

Abstract

ABSTRACT OF THE DISCLOSURE
A wheelchair apparatus is provided for selectively positioning the operator from a sitting position to a standing position or a reclining position. The wheelchair apparatus includes a frame for supporting the operator's body in a reclined, sitting, and standing position. A
single positioning actuator is used to selectively move the operator in the frame. A programmable controller controls the operation of both the chassis drive motors and the positioning actuator. The frame and chassis components are interconnected to achieve the desired positioning with a minimum number of electro-mechanical components. A sliding back frame is provided to eliminate shear forces on the back of the operator. The foot rest and frame are shifted towards the rear of the wheelchair when the operator is moved to a standing position such that the weight of the operator is over the axis of the large front wheels. The operator is still in a favorable position for access to items in front of the wheelchair, and the stability of the wheelchair is increased. The batteries are mounted on a slidable tray which is mechanically interfaced with the positioning of the main frame for additional weight distribution control. A shock absorber is attached to the back frame to minimize any instability in the back of the apparatus and to provide additional lifting force in the reclining position. A
parallel linkage arm is provided for moving the control station to the side of the wheelchair.

Description

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,T~
POWER ST~ UP A~ R~CL~N~I WHE~C~AIR

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~ L9~ Thi~ in~rentian rela~e~ ~o wh~elahair~, and more par~i~ularly to a wheelchalr~ whi~h~
can elevate i~ oc:~upan~ m a ~it~ing po~ition to any 0 po~ition u~ ~o a n~rmal stand~ng po~ition~ at whi~h pO~itiOI~ ~ch~ w~eelchair ~an--b~ move ~bout ~D~enable~ th~
... ... . . . . . .. .. , . . .. ~ .. , . . .. . . .. . ~ . . .. .. . ... ... . ... .. .. .
o~cupant to per~orm us~ful work. The ~heelchair ca~ al80 move ~ts c:ccupant ~rom ~ ~ittin~ position ~co a reclining ~ ~:
po~ion t4 ~cil~tate ~he ~a~sfer o~ the indiv~dual ~xom `:
15 ~h~ whe21cha~r to a bed.
~ e~ Wheelchair de~ign have become qulte ~oph~ ~icated a a reaul~ o~ rt~ in~ended to enabl~ handiaapp~d i~di~ridual~ eo ha~re a de~ee of control over ~e~r own m~veme~t~O In order ~o help ~0 handl~apE~ed indiv~dual~ return ko a normal working ~ :
en~ronme~t, they mu~t ba able to 8iTllUlate normal m~ility ::
and pDsi~io~ng. rrhu6, p4were~ wheelchair~ have incox~ora~ wide varaety o~ t:o~trol and ~a~e~y dev~ c~
to a~ t h~ndicapp~d operato~ o~ wheel~hair~ in .
Z5 achie~ g r~ iv~ly independent moYeme~ ~nd ~a~ r~a~on.
Wheelchair3 ha~re been pr~3viously de~reloped which are `~
~bl~ ~o manipula~ the ~dlcRppe~ per~on in~o ~he upright po~ion. The ability t~ ach~çve a ~ ding ~?o~ition 3;)ro~rid~ many medical bene~ a well a~ inc~ea~e~ .
indeper~denc~ and moral~. Wheelchalr~ have been d~igne~
to pe~nit ~ch~ hand~capped pereo~ to po~ltion himae~ ~o ~ ~

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~ork a~ a nuniber 4~ work 6~atio~8 an~ to rem~in in a ~t~nding po~itiorl for ~ev~r~l hour~ a~ a ~im~. Such wheelchair~ are de~lclen~ ~o:r a ~rari~ty o~ rea~on~.
Sta~ y and tnobi~ity arP the two primary problem~
s in stand-~p wheelchair~. Prior ar~ device6 wexe un~table be~auae m~t o~ the wel~h~ ~o~lld be placed on ~he f ron~ o~
~he wheelchai~ ~en ~he handic2pped pe~ n wa~ ln ~he ~tas~ding po~ition. In .the 8tan~ing po~ition, the u~r' body typi~ally e~e~d~ sub~antially ~orward and abov~ th lU cente~ o~ gra~i'cy o ~he ~heelchalr, whi~ may ~au8e ~che ind~ridua~- to~ orw~d when attamp~ing~~o-~~tand~
.. . .. ... . .. . . .. . . . . . ........................ .. .. . . . . . . . ...
The pre~ent ~evic~s fs~r achievln~ prope~ weight d$~tributicln ~o ~t~ili~e the wh~elcha~Lr are not ~ati~ylng th~ d~m~ald~ P th~ u~er~. ~elec~i~re `::
15 poEl onit g o~ the individual i~ d~ f~l c~llt anA ~he la~e ~ize o~ the wheelchair neeaed to Rch1eve proper ~eight di~trlbution i~ a ~eriou~ dr~wba~)c. In addi~ion ~o the body weight o~ the handi~appe~ lndividual, ~h~ weigh~ of the batt2ri~ u~ed to p~w~r the wheelcha~ r we~ ~h up ta 100 ~ ~
poun~, w~ich compli~at~ the weigh~ t~i~u~ion dyn~mics ~ ~ -ln chatl~1n~ ~om a ~eat~d ~r recline~ po~itio~ ~o a ~ndin~ position.
~ ar~e w~elchaire typica1ly xacrific~ mobil1ty an~
maneuv~rab~-lity i.ll order to. ov~rcom~ th~ bility

2~ problom. Large wh~elch~ir~ are d1f~icul~ to man~uver in c1ose ~uar~er~. 8i~e ~pace i~ of~n a~ a l?remium ill bo~h ~n o~ice and ma~u~actu~in~ location, it i~ de~irable ~a h~Lv~ a wheelchair that i~ hi~h~y maneuverable. In addi~ion, many ~ta~ld-up ~heel~h irs are not am~ulatoxy 30 ~qhe~ ~h~ ua-r i3 in ~ oFandlng posl~lon. .

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The ~t~rld-up wheelchair n~u~t al~o pro-vide suf~icient auppor~ to ~he 6tallding u~r. Handi~apped indl-~id~aal~
typically h2~re no leg con~rol or u~e ~nat~c~ever. The 6tand-up wheelchair mu~ pp~x~ ~he u~er'6 body during ~chQ ~tal~din~ proces~. AChleving th~ proper ~uppoxt i.. .: :~
wl. hout ~ectiz~ ~noblli~y is gener~lly d~icul~ to ;.. ;
a~compli~h.
~ r~uniber o~ ~Pcand-up wheel chair~ have be~ developed to proviae han~icapped individual~ with wheelc~air~ having la stand-u~ capabili~ie~. U.S. ~a~en~ No. 4, ~54, 31~ to b~ogg, ~^ ~ 3~.-et a3 ~cribes a ~'tand-~id w~ l~h~ir- fo~ 9uppo~lng~
handica~ped indivi~al~ in a ~and~ po~ition. ~he ::
wh~lchair include~ an ~xteIlded ch~is with poor .
ma~euvera~ility.
U.8. ~atent ~o~. 4,390,076 and 4,45~,û86 to ~tier e~
al di~lo~e an integrat~d anibulator and wheelchair to ~: -~nable a handl~apped ln,~iYl~ual so etand on the ~ or and 1~ ~eparate~ ~rom ~h~ wheelc}laix fo~ maneu~erit~g in confl~ed cpace~. Thi~ invention in~lude~ a sep~;~able walker ~nd a p~w~r plat'~orm ~or ~tan~in~ ~nd :~
rnan~uverabill~y pu~po~e~
u.~. Pa~ent ~o. 4,~3~,537 to Ausmu~ ~ceac~ a ~and up moto2: drive~ vehicl~' ~or u~e by handicapped indivi~ual. .
The apparatu~ ti~t~ ~or~s~ard to ~or xetri~ring arl:icle~
2~ The ~ppa~tu~ dc~e~ ~o~ clude~ asly sea~ing or re~ ing Po9i tion, U.S. Patent No. 4, ~09, ~04 to Hou~to~ et al . ~l~clos 9 comblnat;ion wh~elcllal~ and walker apparatu~ whi~l~ mov~
a h~ndica~ped lrldiv~duai b~tween a 3eated po~iti~n arld an 30 up~ ht pos~t:3 On . ~h~ a~ atu~ do~s not ha~re a reclis~n~
po~i~lon.

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. ''', u . S . Patent No . ~, ~48, 156 ~o Fortner ~how~ a 6tanding ~upport appar~tu~ which can be a'ctached to a wheelchalr.
~e indi~idual using the ~anding ~uppDrt mu~t have ~u~ ient ~rength to pull himsel~ i~to an upri~l~t 5 po~i~ion.
U. 8 . Patent Nc: . 5, ~96, 008 to Man~cow~kl dl~clo~e~ a wheelchair whtch lnclude~ a ~na~n dri~re ~or positioning the wheelahair. The ~ B rota~E~ble ninety de~ee~ and lllclude~ ~n adju~table ~c~ot plate. Th@ handicapped 1~ lndivldual can ~tan~ at app~oxi~na~ely ~loor~ level and work at hl~--no3:ma-l helght whon ~3pport~d-by--th~-appara~u~

I~ ~c~ord~nce ~i~ch the pre~e~c lnvent~on, ~ ere 1 pro~ e~ ~ wheelc~air $or aelec~ively ~o~i'cio~ he ! :~
oper~cor ~rom a ~ lng po~ition to a 6tandlng po~i~ion or ~eclining po~ition. . ,~ : ~h~ wh~elc~ p~pAra~u~ ~nclud~ a frame ~neRrl6 ~o~
20 ~u~arSing~ ~h~ ~peratorl ~ body in a ~e~line~ tiny, alld ~tanding poæitl~n. A cha~ with ~ron~ wheel drive i~
provlde~ ~or ~cr~n~port~ ng the fra~e means a~rca~ ~he `ground. Ea~ o:E th~ ~r~nt d~iv~ wheels i~ e~i~p~ wi~n DC ~rl~re mo~o~ po~ere~ y the ~4 vol~ DC pow~r ~upply. A
2~ p~itio~lng ~nea~6 ~ u6ed to ~elect$vely move the operator in tha ~ram~. Th~ ~nntroller, whi~h include~ a programma~le compu~r, ig u~ed ~o ~an~ol kh~ ~peration o$
bo~ch ~h~ drive mean6 a~ ~he po~i~io~ing mean6.
An ob~ect of the pr~en~ ven~i~n i~ t~ provide th~
30 ope~or wi~h lntp~ov~d po~i'cionirlg c~p~bilitie~ ~n~
man~uvera~ y. ~e w}~elcnalr c~n move ~e op~atox L ~

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from a ~it~ g po8i~io~ ~o either a ~e~lined or ~tandin~
po~iticn. The ability to recll:ne the back of th~
wheelchair pro~i~e~ low~r ~x~remity pre~u~e re~ie~ and ea~o~ th~ ~cran~e~ o~ the c)peratc~r ~rum the ~he~lchair to S a ~ed. In ~he ~tanding ~?C~ tion, ~he ope!rator is able to ..
~tand and molre ~bout freely w~thout assi~ta~ce. Tbe operator~ hand~ and arm~ are fre~ to p~r~orm varlou~ task~
i~rom the ~tand up posi~cion. ~e h~al~h be~efits from p~ive ~ta~ding Are well documented in the me~ al 1~ pro~e~ion.
- ~ ~n addltion to p~s~ioning, man~uvera~ y i~
another ~cay ~jec~ o~ the pre6ent insreal~iDn. The ~ront wheel dri~re ha~ ~ si~ can~ly ~ r turning radiu~
than the ~tandard re~ wheel driv~ whe~lchair. Ilrhe ~rs~rlt 1~ ~heel drive u~it i~ mor~ re~pon~iv~ when ~nln~ corner~
ar ~r~ver~ing bump~ or ~th~r ob~tacle~ in the pa~i~ o~ the .
wheelchair. The incx~ed maneu~abllity i~ nPeded ~or -~
ce~taitl o~ce and produ~clon are~s where ~pa~e i~ at a premium.
ZO A ~urther o~ec~ o~ the px~ent invention 1~ t~
pro~rid~ ~n econ~nical wheelchai~ uni~ that i~ ~a~y to maintain. The unlque chaE~ and ~uppo~t frame ~f 'che .
pre~en~ vention require~ only oIle lineax ac~a~or .; -~nstead o~ m~ltiple ll~ r actuator~ to po~ition ~he sea~
the ~ea~ back, an~ th~ ~oo~ re~ ~rom a reclir~ecl to an uprigh poæitlon. ~e ~rame arld ch~6~is eomp~nesl~ o~ the : -pr~ent inv~n~ion a~e in~erconnected ~o achieve thR
0d po~ nirlg with a mi~imuln nu~ber o~ el~ctro~
~ h~nlc~l Componen~B~ .
When chang~n~ p~sltion~ in the wh~elcnair~ the ~a~
back may ha~r~ a tenden~y to produ~e a ~hear Xorce again~t :

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the ba~k of~ the ~heel~haix opera~or. The 6hear ~or~e pull~ s:)n the alo~he~ of the operaAto~ and irritate~ the ~lclxl . Another ob~ ec~ o~ the pre~ent lnven~ion i~ ~o ~rovide a ~31iding back with vir~ually zero ehea~.
Weigh~c di~ribution 1~ an imE~ort~nt a~n~id~ra~ion in achle~ring the de~ired c~n~r o~ gravit~r ~o~ ~he apparatus. ; ~
In t~e ~itting poaitlo2~, a majori~y ~f t~e weight o~ the ~;
appara~uG ~nd operator i~ over the ~ront axle of ~he lar~a dri-re ~heal~. When the ope~a~or recline~, the we~ght . ~-10 di~tribution 6hi~ts ~o the ba~k o~ the wheel~hair, ~here ~he ~a6~0~e~1~ pxovide the' n~e~ upp~r~
One of t~e ob; ëcts 31~ the pre~ent in~entior~ o al60 provide 2 ~table appa~atu when the wheelchair ~:
operator is ~tandl~. I~ ~he ~oot re~t wa~ main~ained in 15 ~h~ ~ront of ~h~ wheelchalr f~ bot~ the ~itt~g an~
~tandin~ po~ition~, the welght of the op~ra~or, ~upported sub~tantially by the ~oQt re~t, irl ~h~ ~tan~ing posi~lon, would cause the whe~lchalr ~o tip ~orward. To overcome thi~ potes~t~ al p~oblem, lthe ~oot r~ d other support ;
20 ~ram~ c~ml?onent~ ~r~ ~hif~ed to th~ re~ of th~ whe~lchair wh~n ~he opexa~or i~ m~d to a s~anding p~ ion such . ~
tha~ ~he weight o~ th~ op~ratsr i~ over the axi~ o~ ~he ~-! ' ' larg~ ~ront wheels- The op~ra~co~ till iri a ~avorabl~
po~ieion ~r acce~ to it~ms in fron~ o~ the wh~ h~ir, 25 b~l~ the ~tabillty o~ ~he wheelcha~ r i~ inarea~ed . The ba~e~ie~ ~or po~ltios~ing ~nd drivi~g the wh~lchair are lern~a~ch tl~e ~a~ o~ the ~he¢lchair. To ~u~ther ~mp~ove the weigh~ di~tribution, the hea~ry batte~ie~ a~ mouIl~ed on ~ 81idable ~ray whiah i~ mechaIIically interfa~ed w~h ~0 ~e po~itionin~ o~E the seat. ~he~ ~he operator i~ movin~
to ~n ~ ding pc~si~iorl, thel ~3upport ~rame iF3 motred ~oward .~ , .
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th~3 re~r o~ the whael~bair ove~ ~he lar~e wheel axle, and ~he ~a~tery t~ay and bat~e~ie~ ar~ ~noved rearward ~rer ~he ca~tor wh~el~. Beca~ he batte~ie~ are the hea~ t componentc o~ the appar~tux, th~3 extra welght a~ ~h~ rear .
o$ ~he apparatu6 coun~cerbalanc~ the addi~io~al welg~t ~o ,;."
the ~ront o~ th~ ap~aratu~ when the oper~ tands up.
An additional object o~ the p~e~erlt imrentio~ o improve the ~dbllity o~ the ~eat back in tl~e ~andi~g po~ition and to ~upport ~he ~eat ba~k in the reclined pos~t$on. P. ~hoak ab~oxber i~ a~aehed to the ~eat back.
When ~-h~ ~pera~ andin~, the additional supp~t -of --~
tlie ehock ab~orbe~ mlnimize~ any instability in ~e back o~ th~ apparatu~ the ~p~rato~ rec:line~, the ~ock ~ ~ :
~b~o~:ber i~ compres~ed. Whetl the ope~a~or d~sire~ to mo~e ~ ~ :
~ron~ the ~ecllned to the ~i.ttlng po~ition, ~he ~hock ab~orbar providea additic~nal li~ting ~orce ~o reduce the ...
am~unt; c)~ ~o~ed ~eguired.for the linear actuator Ito ll~t th~ opexator.
A ~inal ~b~ ect o~ the pre~ent invention i~ to provide a o~rat~r~ control ~tatlon whlch i~ ein~ple s~ u~e ~nd i~
conve~e~ly posi~cioned ~or opera~io3l. P. de~rable feature i~ ~o liav~ a mov~le con~ro~ ~t~:ion which caI~ ba ~ ~ -rotated out o~ the w~y wh~ ~he op~ratox i~ workin~ in the ~ron~ o~ the wheelch~lr o~ w~en th~ ~p~rator ~ r2~ to 2~ p~:Ltion the . wheelchai~ again~ a t~le ox de~. The , ~ . -control ~tat,lon p~ro~ to the ~id~ and main~ain~ a ~rontal ori~ a~ion by using a ~3arallel li~kag~ to move the c~rltrol ~t~lon to ~h~ ~iide o~ th~3 wheelchair.
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r The above, ~B w~ll aB other advantag~ o~ ~he pre~ent in~v~n~ion, will become readily apparent to th~e ~kllled in the art from ~he followin~ d~t~ led de~c~ipti~n o~ a px3~err~d ~n~odiment when con~ider~d in the l,ight o~ the a~companying drawing~ in whlch;
Fis~ a dlagra~natic view oE the wheelcll~ir ~:apparAtu~ ~lth ~he operat~r ill a ~itting po~i~ion;
F19. 2 i~ ~ diagralr~nati~ view of the ~heelcha apparatu~ wlth the op~rator in a ~tandin~ position;
Fig. ~ a--di-a~r~mmatic view-of t~e whee-~:~halr ~ - w apparacu~ ~ith ~he operator ln a re~llnl~g po~i~ion,o ~ig. ~ i~ a ~lde elevatioIlal ~iew, partly in cros~
. wection, o~ 'che wh~olchair apparatu~ in a ~itting . ;~
1~ posit~ o~ J ~ , ~
Fig. 5 ~ ear e~a~at~onal ~riew of th~ wheel~hair . -a~para~u~ I
Fi~. 6 i~ a ~i~e ele~a~ional view o~ the wheel~hair in a ~and.ing po~ition;
~i~, 7 i~ a ~ide e~e~ational view o~ the whe~lchair -~
ln a r~clinlng po~itlon, Fi~. 8 i~ a bottom plan vi~3w o~ the control ~rm of he wheelclaair taken ln the ~lxe~tion of line 8-~ q~
~' g . ~ i . " , Fig.; S is a top plan ~iew o~ t:he knee lock piece at the frc)~t o~ whPeichair taken ir~ ~he direct~ on o~ lin0 9 - 9 ~ . 4; and ~ig. 10 i~ ~ toJ? pla~ ~le~ o~ the aoatrol ~tation. :~

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Re~rrin~ now ~ t~e dra~ ga, there 1~ showr~ in Fi~ure~ 1-3 a uJll~ue ~heelchair ~ with ~ront wheel dri~re maneu~e~bility which can conven~en~ly be ~onvert~d ~rc:m a :
6ittixlg poeltlon ~o a ~tarldl~g or recliT~ing po3itio~
~he whe~lchair 20 of the present inv~r; tion includeli a cha~ 22 having a paiF o~ large, fron~ wheel~ ~4, 26 ~d a æmall~r pair o~ ca~er~ type wh~ls ~8, 30 in ~che re~r.
~he wh~elchaix ~o i~ powered ~3y 24 ~olt ~C ~at'ceries 32.
Th~ ~at~eriff~ 3~ are m~nted on ~ xlidable b~tt~ atne .... ... ,. "", .. ,.~ .. .,...... .. .... . ........ ... .. . . , -3~, whlch i~ ~ttache~d t~ the c~ 22.
m~ bDdy ~x~ma 36 ~o~ ~uppor~ing ~he opera'cor 38 ~ :
includ~s an lnner baclc ~rame ~0 and an outer bac~ ~rame 1~ 42, a se~t frame 44, and a pair o~ ~oot re~ b~rs 4~
which are uni~ly llnk~ed to ~uppo~t the operal:or 38 not ~nly ~n th~ g po~tio~ a6 ~h~wn 1YI Fig. ~, ~ut al~o in th~ f~lll r~nge o~ po~l~lon~ b~l:ween ~he ~ully recllned - ~ -~o~ition ~ , 3) to th~ ~tanding pOsition (Fig. ~
~0 The inner bar:lc ~rame ~0 and the out~r ~ack ~rame 42 are ~lidably cor~ect~d ~ elimlnat~ the s~e~r str~ on ~he 13~c~e o~ the opera~o~ 38. The body ~rane 35 include~ a -~ -~l~dal3le b~e 50 which ~hift3 the wel~t of the body ~me 3~ and tha oper2to~ 3B ~o th~ rear of the whs~lahair 20 ~ ~
a5 w~en th~ wn~el~hair ~0 i~ ~r~n~o~med ro~n ~he ~ ing ~ . -po~;ition to the ~ndin~ po~itlon.
The wheel~hair 20 : also ln~lude a ~iqu~ push-bac~
arm r~g~ 52. The ~on~r~l 3tation S4, mounted on the a~
re~t 52, provide~ the ope~ator 3R with ~orltrol of the e~ es~ And d$rectlon o~ the wheelchair 20 plu8 the ;
~ositionlDg of th~ bodf fr;~me 36 on rhe cha~oio 22. ~e , ?

'':, ~-- --programmable controller, drive motor~, linear ac~uator and po~tion~ o~ th~ ~ramQ li~lkage~ and ~p~rt were inten'cionally omitted ~rom the ~chen~tic d~awan~s in Fig~.
~-3.
S ~r~ the ~lttirlg po~ition a~ 6hown i~ Fig. 1, th~
weigh~ o~ the bod~r ~rame 3 6 and operator 3 8, plu~ ~he .
~eight of the ~atte~ 3~ are po~itiolled to achieve a cen~r o~ yr~viSy over the cha~ 22 a~d the $ront w~eel~
2~ $ront wheel dr1~re ~y~t~m o~ the pr~ent inventi4n re~ult~ in ~ an~ially i~proved man~uverabil~ ty an~ r turn~ng diamet~-w~en cornpar~d to the rear-wheei drive ~y~em~ ~or wheel~hair~ owe~rer, :~
the prop~ ~eight di~tsibutio~ mu~t be mai~tained in order t~ ~reverlt the wheelchair ~0 from tippin~ ~rwaxd.
1.5 ~ei~ore da~cribi~ ~le mechanical linkage~ and the actua~or used to mo~re the ~perator 3~ in t~e ~eelchai~ 20 ~rom a a~ t~g po~ition to a ~ar~ding positi~n, it may be ben~icial ~o di~cu~s how the ba~texy .~xa~ 34 and the olldable ~as~ 5û ~uppor~ing th~ bod~ ~ra~e 36 are po~itio~ed. IIl~tea~ o~ sim~?ly pll~hlnt the ~ac~c xest ~orward and pulli~g the back xe~ and ~eat ~co a ~ertic alig~merlt, the actuator. and m~chanlc~ kage~ ln the px~nt inventio2~ cau~e ~he body ~r~me 36 to ~hi~t towarda th~ :r~ar o~ the wheel~ha~r 20 by ~lidin~ the ba~e ~0 BUppOrti21g ~le ~ody ~ame 36 ~ow~rds the rear of the . .
whe~lchair 20 as the op~rator 38 i~ moved to a ~tanding position. Wlthou~ t~ hi~ting o~ the body ~x~m~ 36, t~e ~si~ht o~ the operator ~ ~,70uld be too f~r ~orwaxd in the wh~elchair ~0, ~hich c~ld ~au~e the wheelchair 20 to tip -3 0 f orwa.rd .

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In additiorl to 6hiftiny the body frame 3i; towards the xear o~ the wh~elc~ai~ 20, th~ ba~t:ery ~ram~ 3~ ~upportin~
the )~a~teries 3~ i~ lnt~rli~ked to the ~lidable ba~ ~D
~nd i6 ~l~o ~hifted toward the rear o~ ~che wheelc}iair 20 --:
5 a~ the operasor 3~ i~ mov~d ~o a ~andin~7 p~ltion. The add:~tion~1 weight c)ver the rear ~heel~ 2~, 30 permit8 the opexator ~o a~hle~r~ a ~tandlng p~3ition without any stru~ural comporle~ of the wheelchai~ 20 in ~ront of the operator 3 B . : .:
~0 When m~vin~ ~ronl a si~in~ to a reclinir~g po~ n a~
own ~ gur~ the ~ea~ ~rallle~-4d~, ~lid~le- ba~~-Sû; ~ ~ ~
~nd ~a~tery ~rafnë 34 rërnain ïrl thë Hani~ po~itio~. ~e OU~I` and inr~er ~ac~c ~rame~ are lowered asla the - ~ ~
foo~ rQ8t b~ 6, 48 ~re rai~ed ~o æuppor~ ~che oper~or :;
38 ln ~ha recli~in~ pOEi~ior Th~ two 6ub6tantlall~ di~er~n~ ~unction~, Inovlng ~ro~n a ~l~ting to a ~aIlding pO~i~ibn ~nd moving ~ro~n a ;-~itt ~rlg to a re~lining ;p~ition, are accolnpli~hed in the wheelchair 20 by utilizing ~ uni~e Inechanical linka~e ~y~t~m and a ~ingl~ ~ctua~or. The mechanical link~ge and . ~
~ingl~ actu~or are le~ expen~lv~ and are more ~gged and ~ -rel~abl~ tharl wheelcha~ with mul~ipl~ aatuatc~r~ or o~her ~- -linkage ~ys~em~
~n addition, the ~on~ wheel drive ~ys~em i6 designe~ .
such t~a~ the maj ori~y o~ ~che ~ tural c~mpoII~nt~ and dri~re ~y6tem ~ompo~nts are po~itioned behlnd ~he operat~ar :~
3B, whi~h allow~ the apera~o~ 3a to achleve ~ mo~e pr~erred cl~ng and ~andirlg po~ition witnOut wh~el~hai~
atrua~ural c~mpol~ent~ itnp~ding the opieratox 3 8 . :
~eferring ~ow ~o ~gure~ 4-8, ~che structural . `
co~on~ats o~ the wh~e~ air 20 ar~ show~ in detail. The . : ~
. .:.
i 1~ ~;'' . ' ~.~ .
~ .

cha66i~ 2~ i~ made o~ steel ba~ ox other ~i~nilar mat~rial.
Fig. 6, whl~h ~ow~ the b~dy ~ram~ 36 fully extended in the ~an~ling po~it~ on, provide6 the bes~ view o~ certa~n ch~c~is componen~s of the wheelcha~ r 20 . The aha~61~ ~a con~i~t~ p~imar~ly of two ~ide m6~ er~ 5S, 513 h~-ring a generally rec~an5ular ~hapg . P~t the f rc~n~ end o~ ~he rectangular ~id~ men~ber~ 56, S~, a alngle cro~ mem~ar ~0 ext~nd~ 'che wid~h o~ th~ ahaa~i~ 22 to connec~ ~he lower ~ront cor~erc o~ 'che two recta~ ar ~ide ~nen~e~ S6, 58.
Two pair~ Or ~lid~ rai 1 track~ are moun~d ~ he cha~is-22;~ Th~ tw~l-awar ~lid~ rail ~r~cl~ ~a,-6~ ar~
u~ed. ~o ~hii~ the po~ o~ th~ b~t~e~y frame 34. Th~
l~wer slide rail track~ ~ and ~4 are welded ~o ~upport men~er~ ~, 6B e~er~ding l~ward from the low~r ~egmellt~
70, 72 o~ ~ch~ ch~a~i~ 6ide m~mber~ ~6, 58.
The ~wo upper ~lide ra~l trac:~E; 7~, 7~ a~e u~ed to j.
~uppoxt the slldable ~se 50 to whi ch the body frame 36 i~
a~ch~ad. Th~3 upp~r ~lid~ ~il tra~k~ 74, 76 axe ~ch 6upparted, by angl~d ~uppo~t arm~ 7~, 80 ex~ending ~rom ~he :;
low~r ~gTnent~ 70, 72 o~ ~he ~hassi~ ~ide memb~rs S~, 58.
At the rea~ o~ ~he wh~lchai r 2D, th~ chaRsi~ 22 i~ : :
ope~ ended ~o permit the ~attery ~ra~n~ 34 to ~llde past the r~r o~ the ~h~is 22. ~ach side o~ the eh~Ysis 22 in~ludee ~n I~-~hal?ed brac~et B2, ~4 ~or co~e~ting the wheel frames ~6, ~8 o~ h~ ~ear wheels ze~ 30 'co the :
¢}~aa~ . Ang~e~l ~u~or~ arms 9D, ~2 extend ~e~om th~ L~
~hap~d ~ra~keS~ 8~, B4 to the chas~ ide menbera 56, ~8. : :
The two larg~ :e~o~t wh~el~ 24, Z~ are corm~ct~d to t~e chassi6 22 alt the ~ha6~i~ cro~s mem~er ~0. The w~el~
~4, ~ are pr~rid~d with i~dividual ~ub axleB ~4, ~2 .. . _~ , ~eaured in ~ra~ket~ 9B, 100 welded to ~he chas~ cro~
mer~ber 60. . ~ ~
~he b~tter~ frame 34 include~ ~wo ~lld~ rail~ 102, ~` .
104 which are mounted 1~ th~ e rail track~ b2, ~4 1 -~espectiv¢ly. ~ach ~lide rall ~02, 104 ha~ two ~upport arm~ 106, 108 exten~ing downward to the ~a~t~ry tray 110. ;
The bat~ery ~r~y 110 prov~de~ a ~u~ace ~or mounSing two 12-~olt ~C bat erie~ ~2. ; ; -The batt~r~ ~rame ~lide rail~ 102, 104 are slida~ly ~ ~ .
~0 posi~lone~ he ælide rail txack 62, ~ hy a b~ttery rame ¢onneC~or arm~ ThQ arm 11~ i~ pi~ota~y~~
connect~d to t~e ~xo~ o~ th~ ba~ery tray 1~0 and curv~
upward to ~on~ct to the ~rorlt end o~ a ~ide r~il 116 . or the ~lid~ble ba~e 50. Th~ connec~or arm 112 i~.l?ruvide~
15 with ~ tele~copic l~racket 114 ~o~ ~djustin0 ~che langth of ~he conn~ato~ arm 1~ e le~gth of the connector rmine~ khe ~istance the b~ttery fra~e 34 i~
~hi~ted towa~d ~he rear o~ ~he wheelc~air 2~ when the opor~tor 3q la ~oved to a ~tanding position. ~ea~ier op@rator~ 38 reguire thQ longe~t arm ~12 for a longer ~hift dl~tance to achie~e ~he des~red welgh~ balan~e.
The slidabl~ b~s~ ~, whicn ~upport~ th~ body ~rame 3G, con~ s o~ two ~te~l pla~e ~lde rails 116, 118 ~:
81ida~1y mou~ad in:the uppe~ ~lide track 74, 7~ connected 25 to the chas~i~ 2~. Th~ 311de railB ll~, llB are weldPd to ~ ~
the main cro~ bar mem~er l~0, which i~ m~d~ of s~eel or ~ -ot~er ~i~iIar ma~erial. Thi~ ~in~le ~ro~s bar 12~ :
~U~ all o~ ~he ~ruc~ural compo~entB o~ ~he bo~y rra~ 36.
Th~ ch~ic 22 i~ provided wi~h two body ~rame ~.
~uppor~ arm~ ~22, 1~4 plvotably connecte~ to the back, ,~

' upp~r corner of th~ chas~i~ sid~ menibers 56, 5B, The ~upport arm~ a, 1~4 ext~nd from ~he cha~6i6 side m~er~
56, 58 to t~e ~ea~ ~rame 44, whic~ 1~ par~ o~ th~ body frame 36. me ~,wo supp~rt arm~ :~22, 124 a8~3i8t in E;~o~itionir~g thE~ ~eat frame 44 and back ~ra~nea 40, 42 a~
th~ op~rato:c 3a l~ mov~d ~rom a ~itt~ng ~?o~icion tU a ~tanding po3ition. ~-~he seat fr~me 44 i~ rectangular~ in ~hape and ~ ~ ma~e ~rom ~teel :~ar. A ~ea~ cu~hion 126 iB a~ct~ched to t:he ~eaLt rr~me ~. Two ~at link axm~ 30 are welded ~o - - the Pro~t corn~r~ the-- -seat ~r~nie -4~ e- ~b~t~
arm~ ias, i~o e~een~ ~rom th~ ~eat ~ra~e 44 at an A~gie and lnclud~ an angled ~egmen~ wh~ch i~ pivotably co~ected ~ ths Poot re~t bar~ 46, 4B. ~rame 6upport bars 132, 134 ~r~ lmportant ~tructural men~er~ the fro~t end of the ~at ~rame 44. one en~ of the 6uppor~ bar~ 132, 134 iB
we~3d ~o the main ~rP~ ~ar ~20 an~ the other end i~
weld~d to th~ seat llnk ilrm8 12B, ~30. A~ ~hc~w~ in Flg.
6, ~h~ ~uppor~ bar~ 13~ 4 mu~t ~ppOI~t a sub~tanti~
por~ion o~ ~he wei~ht o~ ~he operat~r 3a i~ the ~can~in~
po~ition. ~he ~up~ort b~r~ ~32, 134 ~re ~l~o e~de~ial .
~or I ~liding ~c~e ~lidable ba~e 50 whe~ the weig}lt 1 ~hl~ted to the rear of 'che chaF;F;is ~2.
The two ~oo~ xe~ ~a~ 4~., 48 telescopi~ally rec~i~e ~hs ~tu~s 136, ~38 o~ ~he $o~t re~t bracke~ 140. The foot re~t ~late~ 142 is pi~otally ~os~r~ected to th~ ~oo~ r~a~t bra~cet 140. 1~ tel~iscopi~ adjus~merlt can b~ ~ed to chan~a ~he ïang~h ~ the ~00~ rest bar~ 46, 4B. The re~t pla~ 142 pivot~ to a ~tical po~itlon ~o ~low th~
opexa~or so per~orrn a 6tandin~ pivot, i~ n~ce~a~y, when e~n~e~ring t~ an~ ~rom the wheelchair. ~ bracket 140 '...','~
~4 .

~nd pl~te 1~2 ~uppor~ the ~eet of the operator 38 when the operator 3~ i~ re~lined. ::
The knea lock ~upport 1~, a6 ~O~I] in ~igure 9, i~ .
conne~e~ tc~ the u~?er port;ion o~ the ~oot re~t b~s 4 48 and 6eaured by pir~ 150. ~e ~u~ppork 144 include~ a .
~el ou~er ~rame ~46 and a large inner pa~ to en~a~e .;.
the kne~ ~f ~he operator 38 an~ kee~ the knees lDcked ~vhen ~he operator 38 is ~tanding.
At t~e back end o~ ~he ~eat ~xame ~4, a ~eat pi,rot ~ .
10 bar 152 extend~ b~twe~n the ~wo ~id~ edge~ o~ th~ ~ea~
fralne ~; Two ~et of~ pla~ , 15~ are~ -d-tel ~h~
~eat plvot bar iS2 a2ld the inner ba~k ~rame 40. The inn~r :~
back ~ame 40.p~vot~ abou'c pivot points 15~ a~ the ou~er end~ of ~lle 3ea~ pivo~ bar 15a. -~
1~ ~31ded ~o the m~d ran~e of ~he 6eat p$~o~ b~. 15~ ar~ ;
tw~ he~vy duty 11nlc ~e~ne~t~, a~ ~ctuator link segrnent 160 :
to connect ~he ~eat plvot b~r ~52 t~ ~ha ~n~ o~ ~he actuator ~ 4 and a po~1~ioni~g link ~e~en~ ~2 to connect the ~at p1vot bar to the ~iotted link arm 16~. ;
~0 The ac~uator ~rive 16~ co~ t~ o~ an a~uator cy1in~r 170, DC mntor 17~, and gear ~ox 173 p votab1y ;
. mounted on a Iower brack~ ~74 we1d~ .tQ ~he main cr~
bar 120. Powe~ cab1e~ (not ~how~l conne~t ~h~ actuator -~ ~ ~
rnot4r 17~ to th~ b~tterie~ 32 to provide DC power. The ~::
act~ator arm 1~4 exl:elldin~ ~om ~he actuator cylin~er 170 i~ co~ec~ed to ~he a~u~tor li~c ~e~nent 160, T~e po~it~oniIlg link ~egm~nt 162 i~ li~ed to the ~10tted 11nl~ arql ~66 by ~ ~in 17~ exte~ding ~ ough ~che ~lot 17~ s10tted link ann 1~ i8 a ~a~ 6'cee1 3 0 ~0~n~nt p~o~ 3d with a ~en~ in th~ app~oxi~na~e~ oent~r ~he lir~k ann 166 t~ ac~ eve the d~ red mechaY11ca~
.
' - lS
. ..

.:,.. :, :

movem~lt ~f the bo~y frame 36. The ~13t 178 ex~end6 ~rom ~he end o~ th~ link arm 1~ ad~cent t}~e polliti~nlng linlc ~egm~nt 162 'co approximat~ly the bend in the link arm 16~, ~he solid end of ~he ~lc3t~ed link ann 166 ~ pivo~al; ly 5 coa~ec~ed to an uppe~: ~ar~cket 1~0 welded to the raaln cro~
l~ar 12 o .
The 310t link pin 176, in addition ~o linking kh~
po~itiQnlng link ~egment 162 to the slo~te~ link ~rm 166, . ::
is z~ com~ec~d to two othe~ nlember~, ~he leg linlc 10 ~e~ e2 and the ~ho~k ab~o~ber a~ 4, The leg link ~~~~~ ~egment lB2-~--a-Y~h~p~d ~nlt hav~n~-~~m~l~i };o:dy-l8~ ~n~
t~o arm~ , 190 ex~ending ~rom the main body 1~6 to link ~egmentF; 192 welded to ~oot re~t bar~ 46, 48.
The wheelchair 2û ~f the pre~ent irlventio~ lncludes a ;~ ~
~hoc~c ab~orber 1~4 wi~h a ~hoc~ orber arm ~84 pi~rot;ably ~ .
conn~c~ed t~ th~ le p~n 176. ~e ba~e of the ~hock ab~orber 194 i~ pi~otabiy at~ched to tlle ~lo~ted linlc arm .1,66 adj~ce~ th~ maln cros~ r :120; The ~hock ab~o~ber 1~4 ~ æ ~wo main ~U~ tiOJI~. The sh~k ~b~orbe~ ~rm 184 ~ ~ .
~0 i~ cteIlded a~ th~3 ope~o~ 38 is mo~re~ into a ~t~nding po~lti~n. ~he ~hock ab~Qrber 194 help~ to ~tabili~e the ~`
body ~ra~ne ~6, and ~p~cl~i~ally ~he lnner back ~rame ~0, whlah prevent~ unwaLnted moveme~t or fl~in~ o~ the body ~ -Pr~me 3 6 .
When the wheelchair 20 iq moved Ito a re~ ing po~ ion, the ~hock ab~ ber ann 18~ i~ compr~ed a~ ~ne ".~
~Tmer and o~er ha~k ~rames ~, g2 ~re lower~d. Wh~n the operator 3~ ~e~ire~ ~o mo~e ~he wh~elch~ir ~0 to a ~ittin~
po~iti~n, 'che ~h~k ab~orber 1~4, wlth ~che compre~ed ~hock ab60rbe~ ann lB4, provide~ a ~u}: ~an~i~l portion o~ -the rorc~ ~o li~t the baak ~rame~ 40, 4~ to a ~i~tin~ . .

, -, , ~ :L ~ il t~) ... .
po~ition. Thi~ sub~tan~ ly redu~ he actua~o~ rati~g re~uired ~ ini~iate t}~e mo~mQnt ~ronl a recl ini~ o a ~itting po~itio~ he ~ame ~hock ab60rber lg~ l~ u~ed f~r ilizing the back ~rames ~0, 42 in t~e stan~in~
S po~ition and providing addltionai f~rce to ~ai~ the back ~ram~ 40, 42 ~roln a recl1ning po~i~io~ to a Bi~ing p~it io~ v The baak cuah~ on 13¢ ia ~uppor~e~ ~ ~n i~ner h~ak ~rame 40 and an c~uter ~ack frame 42,. ~he lDwer e~ge of 0 l~n~r ~rame 40 ls ~onnected ~o the ~at plvot bar 152 by : .
et-~f~-pla~e~ S~ T~e-Be~ plate~~ $5;4-,~~1s~ are-~ ~~
... . ... ... . . ... . ..
welded to bo~h the l~er ~ack ~rame 40 and ~he ~e~t pivot ba.r 15~. The ~c~uat~r l;i~k ~egment 160 i~ al~o welded to ::.
the Beat pa-rot b~r 15~. A~ ~he lirlk ~egmellt 160 i9 1~ po~itioned by ~che actua~or Arm 15~, the pilrot bar 152 c~u~e~ th~ inner b~ck 4p to pivot abou~ rot ~int~ 15 The an~le be~ween ~c~e l~c s~3~nent ~0 ~nd ~he ae~ o~f ~late~ 154, 156 remain~i ~on~ant ln all the poeition~
In or~ex to reducei the ~h~ar fo~ce$ on the b~ck 9 tho ope~atP:c 3~, the ou~er back ~r~e 42 i~clude~ rail~
~3 on tl~e i~n~r ~urface o~ the two æ1de~ 20n o~ th~ ~rame 42 for ~lidably mcu~ti~ the f~am~ 42 on ~he ~rack ~04 o~
th~ oucer ~ur~ace c:~ th~ two ~ide~ 20~ o~ ~he inrler ~ack ~am~ 40. The back r liralc arm 19B de~ermine~ th~ ~ -Z5 po~1~ion o~ ~he ~ute~ b~clc frame ~2 in relation ko the . ~:
irmer back re~t 40. Th~ back ~ link a~n 198 lpo~itio2le ~ :~
th~ outer rame 4a ~o t~a~ the r~la~ion~hip between the ~at ~u~hlon 126 a~d th~ back ~h~on 196 remai~ i~ the ~am~ spaced reld~lon~hi~ a~ ~he bod~r par~s of the 4p~ra~0r 38. Th~s reducie~ the s~a~ f~rce~ o~ ~h~ back o~ t} e o~ers.~or 38.
.

17 ~ ~ ~

An adjustable ~ead rest 20~ i~ coll~ec'ced to th~ outex back ~xarne 4? and ~upport~ the ~ead of~ the ~erator 38.
SSandard handl~ 20B ~r pu~hing or pu~lin~ the wheel~hair 20 are al~o att~che~ to the ou~r ~rame 4~ For an op~rator 38 requiring ~lpper body ~uppor~, a ch~ 6trap or ~ :
~houlder h~rne~3 ~not 6hown) ar~ ~ecure~ ~o the outer baclc . ~:
~rdme 42, Th~ ~h~t ~txap o~ ~ouldex har:rle~ ep~ the pper body o~ ~he oper~tor 3 ~ r~ti~g com:Eartably ag~ t the ~ack cu~hlon 196. I~ al90 pre~rent~ the o~erator 3a ~rom falling forward iIl a ~itting o~ s~ndi~y po~l~ion.
-- --- var~:~ty of ~h~t--~rap6 ~nd ~houlder-~a~ne~ r~ wn ~~
in the indu~try. ~:
The outer back fram~ 42 il~ClUCIfi8 an ~ngle-i~on ~o~
b~ 210 welded ~o the outex frame 4~. The cross ~ar 210 r~alnY the inner frame an~ include~ a pivot mounting : ~:
~ra~lca~c 2~2 f~r conn~ g the back reat link axm l9B to ..
the o~Ser ~rame 42. The ~ro~ bar 210 1~ al~o u~ed to ~port ~he moullting ~o:r the two aran r~a~t~ 2~4, 216. T~le arm ~t~ 214, 216 are pi~rota~le ~l~ou~ ~he two mount:in~
k~olt brackets 21B, 2~0, ~ lhg 2~2 i~ wel~e~ to ~ach arm re~t~ , 2~6 adjacen~ ~he mountin~ bracket 212. The ~g 222 liml~ the ~ertical ro~ation o~ ~h~ ann re~t to ~o~
In tha ~t~2~daxd hori~vntal posi~lon, the arm r~t~
214, 216 ~xtesld p~rpendicular to the ~u~er b~ck ~rame 42 ~S and the two lu~ 222 engage ~he ~ran~e 42. T}le arm r~s . 214, 2~6 may b~ rai~ed to permi~ æide a~ces~ ~o an~ ~ro~
~h~ ~Yh~elchair 20. Th~ lug 222, after ~b.e ann re~t ha~ ~ -b~en rota~ed ~, engag~ the ~ro~s bar 210, th~reby ~ ~ .
l~mi~in~ the ~e~ti~l ro~ation to 90~. ~rhe arm r~st~ 214, 21~ remain in the ver~ l po~lti~n un~c~l lowexed ~or st~ndar~l operat ion .

~" ~

When ~he arm re~t~ 214, ~1~ ar~ in ~he ~tan~a~d, h~izontal ~o~ on, th~ ann re8t~ o~ten present :~
po~itioning problem6 ~or the operator 38. In a ~it~ing po~ition, the arm~ re~s 21~, 216 may pr~rent the opexa~or 3B ~rnm po~itio~ing the wheelchair ~0 ~ a t~ or work . ~ -ben~h. Wh~ the ope~ator 38 i~ in a ~tanding po~ition, the arTn re~t~ 214, ~1~ often ~nter~ere w~th ~h~ ran~e of movem~t o~ the 4perator tO ~each item~ :eXom ~ B~ndin~
po~ition. T4e arn re~s 214, ~1~ may bA raised ~o a vextlc~l position, but this i8 ~ften di~icult ~or th~
- " operat~5r ~-to~~~ ,~and~~ell~ aee~ tlië~~i6ë-~o~ ~ë~c~oYi~oI~ ~~ ~ ~
,.. ....... . ...... .. ... . .. .... ... .... . .. . . . .. .. . .. .. .. .. .
atatl~n 54 ~or poaitionin~ th~ wheelchair 20.
Ann re~t. 216 inclu~es a center piVDt: poln~ 224 wlth a :~
l?~rallel linka~e ~egm~n~ 22~ wh~ch plvn~ in a horlzontal ~-15 nwtion to the ~ide o~ ~he wheelcha~r 2~. The oth~r a~n re~t al~ may be ~imilarly ~on~txuct~a. Pigure 8 ~how~
bo~toln ~lew o~ ~h~ arm re3t a~ tubulax ~e~en~ ~2 ~xtend~ Pr~m auter b~ re~ 42. rhe arm re~ cu3hion 230 i~ a~ixed to th~ ~u~ul~r ~gmen~ 2a~, ~n adju6tment ~0 bracle~t 2~2 w~ch mounting p~d 230. i~ pro~ld~d to pe~
the ~perator to ~dju~t: ~he length o~ the arm re~t 216 ~y . ~lldi~g t~e ~ra~ket 232 on the~ tu~ular segment 2 The parallel links~e 6egment 226 is pivot~bly a~nnect~a to pad ~34 ana ir,clude6 two par~llel b~r~ ~3S
2S with af~set pivot p~int~ ~24 on the pad 23~ and o~ ~et pivot point~ 238 on the: con~xol stati~n 54~ The cont~ol `
~tati~n 54 may b~ pivot~d to ~che dut~ide o~ the ann ~es~
by ~im~ly pulihing ~e c~nt~ol ~tation 5~ in that dir~ction. Plvoting 'che coII~rol ~tation 54 ~o the ~ide of the whe01chalr 20 an~ ~hen ba~ eo ~ ~ully ~xten~e~

19 ' '' '7 ;' '`
po~ition doe~ not require any mallual d~xtari~y or ad~u6tment O:e any ~ruct~ral c~n~ponent~ :
The con~rol ~ation 54 remai~ operat~on and o~clented in the ~ame forward position throughou~ th~ ra~lge of pivo~al rnoven~ent, The ad~a~ent pi~rot polnte 224 on th~ .
pad ~34 and ~he pivo~ pOill~ 23~ on ~he control ~tation ~4 ~ : :
~xe o~et a~ ~hown ln Fig, 9. A~ ~he cDntro~ 9ta~ion 54 ~ .
is xotated to ~he ou~id~, th~ parallel ~a~ ~36 ~n~ the ~: :
~onr pivot poin~ keep the control ~tati~n 54 in the ~ame ori~3n~a~ion, A~ a result, the joy ~tick 2~0 in the control ~a~Ion-5~a -operate~ in- the ~am~;functiona~ ~anner. ~
No ~att~r where ~he con~rol ~tation 54 i~ po~ition~d in the horiæo~tal plane, pll~hin~ the j~y ti~k 240 tc~ th~
le~t will move tll~ whe~lch~ir 20 to tlle le t.
~5 ~he ~ypi~al ~ontrol ~ta~lon 54, a~ ~o~n in Fig. 10, lnclude~ ~ix ~6) ~wo-po~ition ~w~h~s ~or ~electin~
variou~ aperationa~; Inod~s. Four of ~h~ tw~-position ~ ;:
tche~ are mou~ed c~n ~he u~?per ~ce o~ the co~tr~l ~tion ~4. Tbe~e ~wi~che6 i~lude the ~oïlowln~ ;
a~ ~UnC~i~113~ a~ri~ horn 242, ch~ir power ~n/o~ ~44, ~:
and ~aed aontxol 24~ 8. The cos~t~oller 258 ~ay be :
pr~grammed ~o~ four dir~aren~ 6pe~d~ o~ travel, ~n~ th~
swltche~ 2~ 48 ~etexmille whi~h sp~ed 13 ~elec~ed, The tw~ ~wi~h~æ at ~he ~nd o~ the control st~tlo~ 54 co~rol ~h~ actua~or motor 17~. One o~ th~ ~wit~hes 250 r power on/p~wer o~, and the secon~ swi~cll 252 is fo~ ~ont~olling the dir~c~ion o~ movemen~ of ~ actuato~ ~ ~
arm 16g. ~o~ controlling the ~tuator arm 1~4, the ~ - -d~rec~i~n o~ the ~tuator arm ia ~e~e~ted on ~witch 252 ~Lnd thera the power ~witch 250 1~ momen~arily ~urned on . untll t~e chair ~oa~he~ t~e de~i~ed po~ . The polqer :.~

2a .~ .
.
, '~

i7 , ~itch 250 iB a double pole, d~uble throw ~itch, and ~he motor lead~ are shorte~ when the BWitCh i8 in the o~X
position. In an alternatl~ con~i~uracion, ~he ~ctua~or pow~r o~ and o~f ~wi~h 25~ remains a two-po~ition ~witch S and th~ directlonal æwi~ch may b~ ch~nye to a three-po~lti~n ~witch for up, center-of~, an~ do~n opera~io~.
In such a aa~e, t~e three-po~iti~n ~wi~ch would ~e ~d to po~i~ion kh~ height o~ the frame o~ th~ ~heela~air. ~he;
on/o~ power ~e~h 250 ~o~ th~ actuako~ provi~e~ dynamic 10 bra~ing when ~he ~witch 25U ifi turned ~ff, which ~ ;
-- immedlately~ p~-and retain~ S~e p~ n~~f~~ ramë~ ~~ ~
, . . . . ............ . .. .. ...... . . . .. .. .. ... .. .. .. . .. .. . .. . .. ... . . . . .. .
36. .......
Th~ ~ontrol ~tatio~ 54 i~ al~o provided wit~ an ~ndicati~g ligh~ 254 t~!show ~he ~ailable c~arye 2nd ~5 power chargin~ mode li~t Z56 to in~ic~e w~en the batc~rie~ are bein~ cha~ged. ~he ~oy ~tic~ 240 i~ a ~:
atandard io~ ~tic~ ~per~or and provide~ pro~ortional ~te~ring ~nd ~peed co~t~ol.
T~B programma~le adntro~ler 2sa i~ m~u~ted on the `~
2C angle-ircn ~o~ ~ar 2~0 o~ th~ outer ~acX frame 42. An :~
L~ap~d bra~ket otrucSU~e ~ i. we~d~ to ~e cro~ b~r 2~0 ~o hold the controlier 25B. Th~ contxoll~r ~58 1 pro~ram~able a~d ~-he opera~iPn o ~he wheel~hair 20 may be cu~to~ized to ~ee~ the ~eci~ic re~uirements of ~h~
opera~r 3a.
The wiri~g harn~6 ~not ghown) for ~he wheelchair ~0 o~ the prece~ ension i~ a ~t~n~ard ~o~m o~ wixi~
~ar~ss~ ~r condu~t~ng ~Ower from the bat~erle~ 3~ to ~he aontroller 258, ~h~ drive m~ori~ 26Z, 264, and t~e ac~ua~or m~o~ 172, and ~or tran~mi~r-i~g ~ontr~l 8ignal8 ~rom ~he cQntro~ ion 5~ ~4 the co~troller 25a, and :
from the controller ~S8 to the drive motor~ 262, 264 and ~ctuato~ mo~o~ 17~. The wiriLng har~e~ ecllred So the ba~tery frame connectctr arm 11~, the le~ c arm 18~ ~ and ~ho ~a~k re~t lillk' a~n l~B. Control wi2e~ are ~ecured to the unde~6ide of th~ arln rest 216 ~or the contr~l ~tation ;~:
54. The wlre3 axe flexible ~o ac:c~n~date th~ v~rti~al . :
and horizontal movem~ o~ th~ ~o~r ~ram~ ~ and th~ a~n re~t 216, A~ ~e~ hown in Flg8. 5 a~d ~, independen~c ~C drive ~ .
10 motor~ 2~2, 2~ a~e moun~ed on the side ~rame~ of the cha~ o ~uppl~p~Wer~t~ fron~~whe~l~ z4,--a6; ~~~
.... ... . ..... . .. . . .. ... . . ........... .. . ........ ...... ..... : , Individu~l moun~ing plate~ 266, 26~ ~or the lef~ wheel ~lrive motor ~nd right w~eel drive motor ~re weld~d ~o ~he .-cha~ 22. The mol:or~ ~6~, 264 ar~ mQunt:e~ on the lnside ~ -15 ~f the m~u~ting plate~ 26~, 26~ and. ~e pro~rid~d with a ~rake 272 ~t one en~. cf. ~he moto~ 262, 2~4 and a year head 274, ~7~ a~, the c~her ~d. ~ach geEIr head in~lu~e~ an output ~haP~ 278, 28~ c~lme~e~ to a ~lut~}l 282r 28~ and ~
~mall ~ulley wheel 2~6, Z8~ mounted on the moun~i~g platee : ~;
20 265, aSB. Each clu~ch 2B~, 2~4 includea a clut~ harldle ~0, 29~ to engage o~ fl~ngage ~he ~lu~ch 282, 284.
The pxecent. in~enSl03l i5 a b~lt drive unit, ~i~h pu~l~y belt6 ~g4, 29~ cs~z~nec~ing ~he 6mall pull~y wheel~
286, ~8 'co the ~Jspecti~e lar~e pulley whPels ~98, 300 :
as moun~ed 4n the la:~ge ~ron~ whe~ 4, 26. The DC drive mo~or~ 26~, ~64 ~e posi~ioned in t~e middle o~ th0 cha~ 2~ to more evenly balan~e 'che llreigh~ and p~rmit the use oi~ ~ront wh~el drive.
The ~ron~ ~heel ~rivs wheelc~air ~ ha~ a 30 signi~cantly ~m~ r turnlng radius than a re~r wheel ~r~v~ unit. Thi~ p~nn;Lt~ wheelchai~ 2û o~ the p~e6en~c ;;!' ''; :: ;"
~. ..,:

..

h i ~ ~ ti 1 ~

invention to maneuv~r in ~mal~e~; place~ ~han a re~r wheel drive wheelcllair. T~e ~ron~ whee~ dri~ wheel~halr ao ~n al~o turn more ~harply, .which permit6 turning o corrler~ ~ :
wl~chou~ ~a~rln~ ~o ma~aeuver the corner in a round~d m~nner.
Ixl operation, ~}le po~e~ ~witch ~44 ~or t~ ~rive mo~or~ i~ po~ltloned in the on po~ition and ~e ~paed : ~
~wikchee ~e ~electe~. T~e ~oy sticlc ~0 p~ovide3 ~ -propor~ional ~t~ering and ~peed control, ~i~nal~ are ~en~c :
~rom th~ joy ~tlck 240 to the contr~ller 258 an~ then to ~ ~
the two ~rav~a motor3 ~6~, z~4. ; ~ .
Th2 m~jor~ty o~ a- ~;rive motor ~rati:on--w~ ~cur when the ope~a~or 38 i~ in Sh~ 8ittlng pP~i~ion~ In the ~ ~ :
~tanding po~ition, ~he jo~r ~tick 240 i~ ~till opexational `~ :
to pennlt tbe op~xator 38 tQ po~i~lon ~he wneelQhai~ 20 in 1~ the ~e~i~ed lo~ation.
The operator 3~ ma~ u~ilize ~he parallel link~ge ~26 o~ arm reæt Z16 when pc~itionlng she wheelchalr a~ ~n a ~tanding or 8:Lt~ g poBi~on~ F~om a ~ittlng po~i~cion, ~h~ ~pqr3tor 38 may be able to guide th~ wheelc}lalr 20 ~ :
ao und~$ a tabl~ ~r wQrkben~h by piv~ting ~he arm r~st ~16 ~o ~he ~de ~ ~he wheelch~ir 20. In a atandiIlg po~itlon, the oper~or 3~ may al6c) plvot ~he ~rm to move ~lo~r to a chalk board, arl eaael, or a work ~ati~ ince t:here ase no ~eeïs, c~a~sl~ compone~t~, or arm rest~ ea~tending 2~ ificantly beyon~ ~he operator 38 in a ~tanding po~ltion, ~h~3 opera~o~ 38 lr~ the present in~ren~ior~ i~ able to position hims~ mllch clo~er to. Qb~e~t~ than opera~o~
o~ ~ther ~'calld-up wheelchairæ.
III the pre~en'c i~vention, the ~ 22 and body 3~ ~r~Tne 36 axe behi~d ~he opera~o~ hen the opera~ox 38 ~.
a ~t~ndin~ po~ition. Thi~ provide~ ~he o~r~tor 3~ ;

. ~ 23 .

' with a mo~e no~mal ~n~ or pe~ception ~ ~tandin~. The in~reaae~ maneuverability ~ac~ ate~ the E~o~i~ioning the wheelchair ~0 an~ ~erator ~8 in ~mall spa~e area~
such ax ~ da~3c or a~en~bly line a~ca~ion.
When moving the body ~rame 36 ~rortl a 8it~ 1g po8i~ion to a standing or recl1niIa~ po~ltloI~, the con~ro~ tion c~e~ 250, ~52 axQ u~Qd to ~nergi~e the actua~or drlve 1~8 and cau~ the body ~ram~ ~6 to move. ~he actuator ann 164 i~ po~ltioned at ~pproxi~ately the midpoirlt o~
operati6:~nal range of n~oveme~t. The actua~or axm 164 i~
~~~ ~~~ ~x~ended ~o ~ e~ 6~n~in ~ a~ e ~~ed~
to achiev~ the recIinir~ poaition. . ;: .
$~e main linkages 1nvolve~ in m~ving the ~eat frame ;~
44 ~r~m a ~itting ~ tandin~ po~ tion ~re the ac~uator ~5 ann 164 hav~ pi~o~ pQi~t 302 at one endJ ~h~ ~c~u~or ;~
d~iv~ ~6a ha~rin~ pi~o~ pOi21~ 306 ak th~ other end; ~he actuator link ~egmen~ 0 and po6i~ioning lis~ segment ~ 62 :
t~relded to ~he ~eat pivol: b~r 152, .whicn i~lude6 pivot poln~ 15~; th~ ~eat ~ame 44 ex~endin~ ~rom pivo~ point~
15~ antl lncluding ;~glea s~at llnk arm~ 12~, 13~; an~ the ~oot re~t bax~ 46, 4~ which are ~iv~tably ~ontl~cted ~o ~h~
an~led ~6at link arm~ 1~8, 130 a~ pi~Jot point~ 306, 308. ~ ~ :
I . ~ ! . ~ ...
~n l?o~itloning the ~eat ~rame 4~ ~o a ~ din~
po~itlon, the ac~uator ~l~rot poir~t~ are located at ~
~5 304 and the ~eat re~t p;lvot point~ ~re located ~ 15~ ~nd 306, 30~ moving to a.~carlding po~ition, tha a~ua~or arm 164 i~ extended at a ~lightly upw~rd ang~e. . .
'rh~ body ~rame ~upport arm~ 122, 1~4 prevent the b~dy ~ralna 3~ ~ro~n moving di~ectly i~ the direct~o~ o~ mo~re~e~t o~ the actu~or arm 164~ The actuator arin 164 piYot~
~houl: ~he pivot poin~ 302 a~d the body ~xame ~upp~rt ~IrmG ~:
', ,, '' . 24 .

la2, 124 pivot abou~ ~he pi~.rot point~ 310 at t~e rea~ end of the cha~ on one ~nd arld about pl~rot point~ 312 s~n ~e~t ~rame 44 a~ ~he other en~
A9 the a~tuator a~ 4 continue~ to extend, the back 5 end o~ the ~eat ~r~me 44 begin~ to ri~e o~ o~ the ~h~is 22 ~nd ~che ~rc~nt end of ~}~e ~eat fram~ 4~ begin~ to pivot ab~ut the foot rest plvot poi~t~ 30~, 308. A~ the bacJ~ :
e~ o~ the ~ea~ ~rame 44 ri3e~ ~ additlon~l wei~t i~
~uppo2~ted by ~che ~ram~ ~upport bar~ ~ 30, 132 .
10The exten~iosl o~ the actu~t~r a~n 164 aIld upws~d .~ :~
m~m~ o~ e-b~k-~f ~ë ~A~~~rame 4~ cau~ th~
complete bo~y ~ram~ 36 ~o shi~t toward~ thë rear o~ the wheelchair 20 . Th~, movelTIent o~ ~he ~eat ~rame 4~ cau~e~
the eUppor~ arm~ 1~2, 1~4 to pi~o~ abou~ the pivot poi n~
1~310 on the C}la~i3 ~2 alld, pivot p~ 312 orl th~ ~rame ~. As th~ ~ea'C ~ram~3 4g mot~e upward, the suppor~ arms 122, 1~4 crea~e a ~or~e in ~he rearwa~d direction w~ich i~
t~an~erred through ~h~ ~eat ~r~tne ~4, t~e ~eat li~ arm~
1~8, ~30 ar~d the ~ame ~lpport ~ar~ 4 to ~lide ~he ao ~eaS ~am~ S~ ~d ~h~ battery ~ralne 34 toward~ rear o~
the ahae~i~ 2~
The ~?o~l~ioning li~ egmen~ weld~d to the I

~ame ~a~ pivot bar l~a ~8 the actuator link ~nen~ 160 .
~h~n the ~at ~rame ~ d ~eat pivc~ b~r 152 ar~
25: r~po~itioIled by movement o~ the linlc ~egment 16û by the actu~tor arm 16~, th~ po~itio~ing link ~e~nent 1~2 movea the ~ott~d link ~rm 165 by pulling l~nk pin 17~ a~ the ou~.~r end o~ ~hY ~lo'c 17B o~ ~he ll~k arm 166. The 11~
a~so pivot~ abo~t pivo~ poi~t 314, as ~hown i~ -:
30 ~ig~ 7, i~ th~s upper br~cke~ 180 ~ttached to th~ main cro6B h~ :L20. The li~k pi~ 176 in t~e sl~t 178 of ~h~ :

', .~
.. ~.......................... :
610tt~d li~k arm 166 i~ loc~ed at ~he outer end o~ the ~lot ~7~ whe~ the body ~ame 36 i~ ln a Bitting po~i~ion.
The link pin 176 remains ln ~uch a po~ition a~ the : .
wheelchair 20 i~ moved ~o ~ ~tandin~ posi~ion ~nd ~he -:
S posi~oning llnk segTnent ~ raw~ the ~lotte~ link ar 166 into a ~er~ical po~i~ion.
The shl~in~ chP~i we~ght o~ ~he kod~ ~r~m~ 3 6 and oper~tor 3~ towards ~he rear of ~he chas~i6 22 provide~
~uperior ~ lan~ ~o the ~porator 3 8 in th~ ~t~ndiny 10 p~sitlo~ without an~r ~uppor~ members or ~t~er ~tructu~al --- componen~ h~ ~r~n-t~ ~n~l o~ th~ ~ha~ s~ 2a . ~ W~ibn ~~}ië ~
ac~uator arm ~4 i~ ;eully ex~e~de~; the siid~ ba~ë 5 ~uppo~tin~ the b~y ~rarne 31; h~s reached the end ~f t~e ~lid~ tr~ck 74, 76 and h~ effectiv21y ~hi~t~d the weigh~
~5 of the operat~r 3~ and body ~ramh 36 ~ppr~ximately a to 12 inche~ ~ow~rd~ th~ ~ear o~ the ~heelchair ~o. ~:
he slide ba~e 5~ i6 ~hir~ced ~oward~ the rea~ o~
the cha~si~ 22 when the body ~ame 36 i~ mo~ed to a stand.tng positiot~, ~he connect~r a~m 112 C~uBe~ th~ :~
20 ~a~ery ~rame 34 to ~ e towa~ th~ rear of th~ chas~l~
~2 o~ ~he battery ~l ids track ~2, 64 . The COmlE~ctox 11~ ele~ ::opically adju~table ~o ~chat the ~pa~lnSr ~ -between the ~at~ery ~r~me 34 and the body ~ra~e 3~ can be ah~ge~. Co~se~uently, the distan~ ~hil~ted ~y the : ~ -~5 b~tery frame 34 can be ad~us~ed ~o pr~rida ~}~e ~e~ired w~3igh~ distributio~ and l~alan~e~ For a ~avy op~rator, ~h~ aonn~c~or a~ 2 would be ~ully extended ~o ~hi~c the ~ :
w~igh~ o~ the b~tterie~ 32 a~ far a~ po~sible to the rear o~ the ch~ssl~ ~2 to balance ~he ~e~ght 9~ the operator 30 38. To achi~ e de~ired weight d~xibution or a ligh~r c~erator, the diutan¢e ~hi~t~d by ~h~ batt~ie~ 3z ' .

id ~ ~ 2 ~

..... .

can ~e dec;rea~ed by r~ducing ~he leng~h of t~e con2le~tor ar~
~n addition to 8hif tin!3 the weigh~ of the ~o~y ~rame 36 ~wi~h opera~cor 38) ~nd the batte~ rame 34 (with ba~terie~ 32), the exten~ion Or the actua~ox arm 164 and the mt~vement ol~ the slotte~ link ~ lb6 a3 ~o x~fec~ the ~oot re~t ba~ ~6, ~8 and the baclc frame~ 40, 4~. The llnlc ~in 176 ~n ~he 31c~t 17~ i~ pivotably connected ~o ~he po~itionln~ link æe~ment 1~2 plu~ the Y- ~haped leg :Linlc ~eg~nent lB~, The movemen~ o$ ~ha po~i~ioning lirlk ~egn~ent 1¢2~ tha ~c~u~'co~ ar~ I~ x~endb~ a3e~
~haped. leg link se~men~ 1~2 to po~i~lo~ the foot re~t bars 46, 48 in E~roper ali~nmenc with the ~eat ~ram~ gC ~or the ~t~ndlng p~ ion. T~e ~ 6 l~a, 1~0 of the leg link ~gme~ 182 ~ivot alaout the pivot points 306, 308 ~or the , angled ~ea~ k ann~ , 130 an~ pul~ the ~oo'c re~t ~:~
~lat~ 142 b~clc tnward~ ~he cha~si~ ~2 o~ th~ wheel~hair ~0.
~ha back r~t ll~k axm lg~ h~ on~ d pi~r~tably oontlected to ~he ~ody 1~6 o~ ~he Y-~haped le~ link ~egme~at ;
~82 and the other end to ~he an~le~iro~ cxo~ ba:r ~10 o~ ;
the outer back ~ram~ 42. The ac~-lae~r link ~eg~ne~ 0 i8 weld~d to the ~eat pi~o~ ~ar 15~ o~ ~he i~ner bacic re~t 40. A~ the actuator link ~e~me~t 160 r~l~e~ t~e back end ~5 o~ the ~at ~r~tne ~4 arld the inner back re~t ~0, the.~ngle bal::k f rame~ 40, ~ 'co ~he ~e~ ~rame 44, ~ the po~tio~ o ~he b~ck cu~ion 1~6 attache~ ~o 'che ou~r ` ~:
~ACh: ~am~ 42 s ~e con~rolled by the back r~ a~
19~. The outer back ~rame 42 ~lide~ lower on the inn~r .. :
3n :e~awo 40 a~ the wheelc~air 20 i~ m~ve~ to a standin~
po~ on~ The length a~d cu:nr~ of ~he ba~k r89t l ink arm , ~ ~ :

~93 can }~e des~.gned speci~lcally ~o~ the ~perator 3~ ~uch tha~ the Gheer ~or~e~ whlch oacur when changixlg po~ion~
~r~ ectively ~lim~ l~at:ed .
I~e 6hocJc ab~orbcr 194 helps ~abilized the ba~k 5 ~rames 40, 42 in che ~tanding posit1on.
To move ~rom a 6tanding to a ~tting po~ition, ~he ~ctuator ~wi~ch~ a50, ~5~ are u~Qd to retract ~he actuator arm 164 to it~ ~ri~inal 6tarting po61~ion at ~he :: -approximate mi~p~int 4f! the ~etuato:r range. A0 the ~0 ac~uator a~m 1~4 i~ retracting, the ~ody ~rame 3~ an~
ttery ~ram6~ ~4 are -m~-d b~ck tow~rd~ tife~ ~t o~he wheelchair 20, The hody ~rame 36 ~s p~lled down to a . ~ ;~
lng po~ition. The lînk pin 176 i~ tll~ ~lo~ 178 o~ the ~:
slot~ed link a~n 166 ren airl~ a~ the oute~ ~:nd o~ ~che ~lo~
178~ .
T~ mo~re ~rom a ~ ing ~06ition ~:0 a reclining :~
~o~ltion, the ac~uat~r ~witch~ 250, 2!52 are u~ed to ~ully retxa~t the actu~tor arm 1~4. ~ e actuat~r ~rm 164 i~
~ei~ retrac~ed, the ~eat ~ra~ne 44 doe~ ~o~ move bgcau~e ~ .
~0 the aa ua~or a~n ~64 ~use~ ~he p~iti~2~in~ linX ~egment 152 to n~e the l~nk pin 17~ from the outer end o~ the ~lot 178 tu the inn~r erld of ~ t ~78. Thu~, the ælot ~78 and lir~k pin ~76 ~ac~l:lta~e th~ mov m~nt of other : ~:
linkage~ wi~ht3ut h~rlng ~o mov~ ~e ~lo~te~ link ~m 166 .~ c ~5 or repo~it~ on the se~t ~rame ~4 .
the link pin 176 ~lide~ ~rom o~e en~ o~ the ~lo~
178 to ~he o~he~ en~, the Y-6haped leg linkag~ 182 cau~e6 ~ -th~ ~oot r~t bars 46, 4~ to be pu~hed to app2~ox~mately th~ 6ame pl~ne a~ the ~eat.~rame 44. ~he ~ 8, lgO o~
the ~r-shaped ll~k ~3gment 1~2 pl~ro~ about plvot poirlt bracket~ 316, 31B at the end of the arn~ 188, 130. ~he ., .,~ . .
.

- .
..

arm~ la~ o ~e mo~ed towa~ds ~he ~ront of the ~heel¢hair 20 ~B the ~c~uator arm 164 i~ re~ra~ed. m~
arn~ 18~, 190 pi~rot ab~ut bracket pivot po~n~ 31h, 318 to achie~re the ~enerally ho~i~on~al. planar p~ition.
The movement ~f the Y-6haped foot rç~ link ~e~nent lB2 ~o~trols t}le movemen~ o~ th~ ba~k Xe~ lin1c arm ~
A~ ~e anns lB~ 0 ar~ moved f~r~ar~, the back re~t link arm 1~8 cau~e~ ~he oute~ ~rame 42 to 61ide on ~he inner frame ~0 to eliminate ~he ~hear for~e~ on l;he ba~k c~f ~h~
a~erator 38.
Tha-pxoce~s~ -rev~r~e~ ~or m~Yins~~~h~h~ ~h~r-2~ - 6 fxon~ a reci~ n~ positic:~ to a ai~ing pO~ iOn. The ~ctuator arln 16~ 1~ ex~ended to app~oximately ~he mi~ ~
ra,n~e o~ ~he ac~cua~or dri~e 16~, The l:l~k pirl 17~ the lot 17~ ~llde~ from th~ c~nte~ o~ ~he Elott~ link ann 166 to the ~ut~r end o~ the 810t. 178. Th~ ~eat frame 44 r~m~in~ in the ~ame po~ltion, but th~ mc~vament o~ ~h~ 610t 17~ ~d th~ Y~h~ped 1Q~ 1C se~neX~ ~82 c~us~ the foot re~t bar~ 46, 4~ to b~ ~ullea ~own to the ~ ing po~ition ~d the )~ac~ ~ame~ 0, 42 to h~ directe~ to a ~itti~g -~
posl~
I Ihe 6hoclc ab~orl:~er 1~4 l~ al~o attached ~o ~ch~
pin 176 i~ ~he ~lot 17B:. The ~ho~k absorber ~94 1 compr~e~ wheJl the link pi~ 176 is moved tow~rd~ the ~5 n~i~dl~ o~ the ~lokted li~ ~xm 1~6 . When ~he operat~r 38 da~lre~ to m~ve ~om a re~linin~ po~i~lorl ~co a ~itting ~o~ition, the a~mpres~d ~ho~k ~b~orber 1~4 provide~ power .
to help l~f~ ~h~ back ~rame~ 40, 42 a~d t~e oper~to~ 3~.
Th~ m~vemen'c ~rom the ~eclining to ~he ~lt~ing position i~
3a ~he gr~ate~t ~orque r~lauirennen~ ~or ~he actua~or drive 168, The shQ~k abaor~e~ 194 reduce~ the required hCGuat0r : .
2~

-... _ .. . ........ . .. ..... ... ......... .. . . . .. . . .

h '~~ !~. ' drive output ra~cing for movlng th~ link pin 17~ in the ~l~t to r~i~e ~he bac}c ïxame~ 40, 42, Tlle u~eful li~e o~
th~3 ac~uator driv~ ~6~ ~hould also bç! increa~ed becau~ o~
the r~auced output relauiremen~
In accc~rda~ce ~ith th~ p:c;ovi~ion~ oX ~e ~aatan~
~tatut~s, the pre~ent in~ention h~s b~er~ dE~crlbed in wha~
iu c~ idered to repre~erl~ it~ pre~erred ~mbadime ~owe~re~, it should be noted that ~he inven~ion ~arl b~
prac~ 1 ced othe~ e than a~ ~peci~ically illus~ated an~
10 d~Ear~bed wit~out de~ar~ing fr~m it~ ~pirit or scope. . ~:

,~ ;~
, ~ ~

. ,...

.
'-: ' ' ~' ~ ~

Claims

THE EMBODIMENTS OF THE INVENTION IN WHICH AN EXCLUSIVE PROPERTY
OR PRIVILEGE IS CLAIMED ARE DEFINED AS FOLLOWS:

1. A wheelchair apparatus having a front and a rear, said wheelchair apparatus comprising:
a) frame means for supporting an operator in a reclining, sitting, and standing position;
b) chassis means for supporting said frame means above a ground surface for movement therealong;
c) positioning means, mounted on said frame means and connected to said chassis means, for selectively moving said frame means from a sitting position to a substantially standing position or a substantially reclining position;
d) drive means, mounted on said chassis means, for selectively moving the wheelchair apparatus over the ground surface;
e) control means for controlling said positioning means and said drive means, said control means being mounted on said frame means and in communication with said positioning means and said drive means; and f) a weight distribution means for adjusting a center of gravity of the wheelchair with operator, said weight distribution means being attached to said chassis means and linked to said frame means whereby said frame means and operator are shifted towards the rear of the wheelchair when said frame means and operator are moved into the standing position and towards the front of the wheelchair when said frame means and operator are moved to a sitting or reclining position.

2. The wheelchair apparatus defined in claim 1 wherein said weight distribution means includes a slidable battery support means for supporting a set of batteries used to power said drive means and said positioning means, whereby the battery support means shifts the batteries towards the rear of the wheelchair when said frame means and operator are moved to a sitting or reclining position.

3. The wheelchair apparatus defined in claim 1 wherein said weight distribution means includes a chair base for slidably positioning means includes a chair chassis, the chair bass being slidably attached to the chassis and connected to the positioning means, whereby the chair base shifts said frame means toward the rear of the wheelchair as said frame means is moved to a standing position, and the chair base shifts said frame means toward the front of the wheelchair as said frame means is returned to a sitting or reclining position.

4. The wheelchair apparatus defined in claim 3 wherein said weight distribution means includes a battery support means slidably attached to said chassis and linked to the chair base, whereby the shifting of the chair base and said frame means by said positioning means causes the battery support means to be shifted concurrently.

5 . The wheelchair apparatus defined in claim 4 including an adjustable linkage connected between the chair base and the battery support means for adjusting the positioning of the battery support means relationship to the chair base.

6. The wheelchair apparatus defined in claim 4 wherein the chair base and the battery support means are mounted on said chassis by slide rails.

7. The wheelchair apparatus defined in claim 1 wherein said drive means includes a front wheel drive system.

8. The wheelchair apparatus defined in claim 1 wherein said chassis means includes a pair of large tires mounted towards the front of the wheelchair and a pair of caster wheels mounted towards the rear of the wheelchair, and said drive means includes a DC motor connected to each of the large tires for front wheel drive.

9. A wheelchair apparatus defined in claim 1 wherein said control means includes a programmable controller mounted on said frame means and connected to said positioning means and said drive mean for controlling the movement of said chassis means and the positioning of said frame means.

10. A wheelchair apparatus defined in claim 9 wherein said control means includes a control station for signalling the programmable controller to control movement and positioning of the wheelchair.

11. A wheelchair apparatus defined in claim 10 including a safety switch on said operator station for dynamically braking said positioning means to limit the movement of said frame means.

12. A wheelchair apparatus having a front and a rear, said wheelchair apparatus comprising:
a) frame means for supporting an operator in a reclining, sitting, and standing position;
b) chassis means for supporting said frame means above a ground surface for movement therealong;
c) positioning means, mounted on said frame means and connected to said chassis means, for selectively moving said frame means from a sitting position to a substantially standing position or a substantially reclining position, said positioning means including a single actuator motor and a plurality of linkage arms;
d) drive means, mounted on said chassis means, for selectively moving the wheelchair apparatus over the ground surface; and e) control means for controlling said positioning means and said drive means, said control means being mounted on said frame means and in communication with said positioning means and said drive means.

13. The wheelchair apparatus defined in claim 12 wherein said frame means includes a chair base slidably mounted on said chassis means and a back frame, and said positioning means includes a first link arm extending from the chair base to a connector segment extending from the back frame, whereby the movement of said frame means by said positioning means between a sitting position and a standing position causes said first link arm to adjust the position of the chair base on said chassis means.

14. The wheelchair apparatus defined in claim 13 wherein said first link arm includes a link pin for connection of the link arm to the connector segment, the link pin being positioned through a longitudinal slot extending from an end of said first link arm toward the middle of said first link arm, whereby the movement of said frame means by said positioning means between a sitting position and a reclining position causes the link pin to slide in the slot without repositioning the first link arm or the chair base.

15. A wheelchair apparatus defined in claim 12 wherein said frame means includes a back frame having an inner frame directly linked to said positioning means and an outer frame slidably mounted on said inner frame and indirectly linked to said positioning means by a curved link arm, the outer frame engaging the back of the operator and being slidably adjusted on the inner frame of the back rest when said frame means is moved by said positioning means whereby shear forces on the back of the operator are eliminated.

16. The wheelchair apparatus defined in claim 14 including a pair of foot rest link arms joined in a Y-configuration, connected at a common end to the center connector by the link pin, and extending to a foot rest mechanism pivotably connected to the chair base at the front of the wheelchair, whereby said foot rest mechanism is slidably positioned with the chair base when the frame means is moved between the sitting position and the standing position, and said foot rest mechanism is pivoted about the chair base by the foot rest link arms when the frame means is moved between the sitting position and the reclining position.

17. A wheelchair apparatus defined in claim 16 wherein said frame means includes a back frame having an inner frame directly linked to said positioning means, an outer frame slidably mounted on said inner frame, and a curved link arm extending from the outer frame to the common end of the foot rest link arms, the outer frame engaging the back of the operator and being slidably adjusted on the inner frame when said frame means is moved by said positioning means, whereby shear forces on the back of the operator are eliminated.

18. The wheelchair apparatus defined in claim 12 wherein said positioning means includes a support means for stabilizing said frame means in a standing position and for providing additional force when moving the support means from the reclining to the sitting position.

19. The wheelchair apparatus defined in claim 18 wherein said support means is a shock absorber.

20. A wheelchair apparatus having a front and a rear, said wheelchair apparatus comprising:
a) frame means for supporting an operator in a reclining, sitting, and standing position;
b) chassis means for supporting said frame means above a ground surface for movement therealong;
c) positioning means, mounted on said frame means and connected to said chassis means, for selectively moving said frame means from a sitting position to a substantially standing position or a substantially reclining position;
d) drive means mounted on said chassis means for selectively moving the wheelchair apparatus over the ground surface;
e) control means, mounted on said frame means, for controlling said positioning means and said drive means, said control means including an operator station; and f) an arm rest having means for supporting the operator station for use by the operator, said arm rest including a first segment connected to said frame means and extending perpendicular thereto, and a second segment linearly connected to said first segment at a pivot point, whereby second segment supports the operator station in an operable position when the second segment is pivoted from a linear position to a position perpendicular to the first segment in a horizontal plane about the pivot point.

21. The wheelchair apparatus defined in claim 20 wherein the second segment is a parallel linkage.

22. The wheelchair apparatus defined in claim 21 wherein the parallel linkage for said arm rest includes two equal length arms in parallel, spaced-apart, offset-mounting relationship, each parallel arm having a first end pivotably connected to the first segment and a second end pivotably connected to the operator station whereby the operator station maintains the same operational orientation as the two arms are horizontally pivoted about the pivot points.

23. The wheelchair apparatus defined in claim 20 wherein the second segment of the arm rest includes a bracket formed at a pivot point end of the second segment, said bracket being slidably mounted on the first segment for adjusting the length of said arm rest.

24. The wheelchair apparatus defined in claim 20 including a weight distribution means for adjusting a center of gravity of the wheelchair with operator, said weight distribution means being attached to said chassis means and linked to said frame means whereby said frame means and operator are shifted towards the rear of the wheelchair when said frame means and operator are moved into the stranding position and towards the front of the wheelchair when said frame means and operator are moved to a sitting or reclining position.