Abstract: An apparatus includes a pipe crawler (100). The pipe crawler (100) includes one or more drive wheels (308) capable of moving along and around a pipe, and one or more instruments coupled to the one or more drive wheels (308). An instrument includes one or more of a sensor instrument and a maintenance instrument. The pipe crawler (100) includes a retention mechanism (4) that retains the one or more drive wheels (308) against an outer surface of the pipe. The retention mechanism (104) provides adjustable positions for the one or more drive wheels (308) for disposing the one or more drive wheels (308) against the outer surface of the pipe. The apparatus includes a controller (302) that communicates with the one or more drive wheels (308) to move the one or more drive wheels (308) on the outer surface of the pipe, and that operates the one or more instruments.

Abstract: An apparatus includes a pipe crawler (100). The pipe crawler (100) includes one or more drive wheels (308) capable of moving along and around a pipe, and one or more instruments coupled to the one or more drive wheels (308). An instrument includes one or more of a sensor instrument and a maintenance instrument. The pipe crawler (100) includes a retention mechanism (4) that retains the one or more drive wheels (308) against an outer surface of the pipe. The retention mechanism (104) provides adjustable positions for the one or more drive wheels (308) for disposing the one or more drive wheels (308) against the outer surface of the pipe. The apparatus includes a controller (302) that communicates with the one or more drive wheels (308) to move the one or more drive wheels (308) on the outer surface of the pipe, and that operates the one or more instruments.

Abstract: A configurable assistive device comprising: a platform; at least three wheels; and, at least three independent leg mechanisms, each respective leg mechanism coupled to the platform and a respective one of the at least three wheels, each respective leg mechanism configured to move the platform relative to the respective wheel for positioning the platform at an elevation and for inclining the platform to an inclination to configure the assistive device into one of a plurality of configurations.

Abstract: A configurable assistive device comprising: a platform; at least three wheels; and, at least three independent leg mechanisms, each respective leg mechanism coupled to the platform and a respective one of the at least three wheels, each respective leg mechanism configured to move the platform relative to the respective wheel for positioning the platform at an elevation and for inclining the platform to an inclination to configure the assistive device into one of a plurality of configurations.

Abstract: An apparatus includes a fixed plate 902 mounted in a bed cabinet 108 and a rotating plate 904, mounted to a bed frame 106, coupled to the fixed plate 902 at a pivot point 906. A first end of a first lever arm 918 is coupled to the fixed plate 902. A first end of a second lever arm 920 is coupled to the first lever arm at a point between the first end and the second end of the first lever arm 918. The second end of the second lever arm 920 is coupled to the rotating plate 904 at a position that is offset a horizontal distance from the pivot point 906. A first end of a gas spring 908 is coupled to the fixed plate 902 and the second end of the gas spring 908 is coupled to the second end of the first lever arm 918.

Abstract: An apparatus includes a rack plate 202 with a T-shaped slot 206 and upright protrusions 204 and is movable relative to a frame 106 between first, second, and third positions. A pinion plate 302 rotatably coupled to the frame 106 includes upright extensions 304 and a lock pin 306 movable within the slot 206. In the first position, the lock pin 206 is positioned in a first location within the slot 206, and as the rack plate 202 moves from the first to the second position, a first extension 304A engages a first protrusion 204A, which rotates the pinion plate 302. In the second position, the lock pin 306 is positioned in a second location within the slot 206, and as the rack plate 202 moves from the second position to the third position, a second extension 304B engages a second protrusion 204B and rotates the pinion plate 302.

Abstract: An apparatus includes a rack plate 202 with a T-shaped slot 206 and upright protrusions 204 and is movable relative to a frame 106 between first, second, and third positions. A pinion plate 302 rotatably coupled to the frame 106 includes upright extensions 304 and a lock pin 306 movable within the slot 206. In the first position, the lock pin 206 is positioned in a first location within the slot 206, and as the rack plate 202 moves from the first to the second position, a first extension 304A engages a first protrusion 204A, which rotates the pinion plate 302. In the second position, the lock pin 306 is positioned in a second location within the slot 206, and as the rack plate 202 moves from the second position to the third position, a second extension 304B engages a second protrusion 204B and rotates the pinion plate 302.

Abstract: An apparatus includes a fixed plate 902 mounted in a bed cabinet 108 and a rotating plate 904, mounted to a bed frame 106, coupled to the fixed plate 902 at a pivot point 906. A first end of a first lever arm 918 is coupled to the fixed plate 902. A first end of a second lever arm 920 is coupled to the first lever arm at a point between the first end and the second end of the first lever arm 918. The second end of the second lever arm 920 is coupled to the rotating plate 904 at a position that is offset a horizontal distance from the pivot point 906. A first end of a gas spring 908 is coupled to the fixed plate 902 and the second end of the gas spring 908 is coupled to the second end of the first lever arm 918.