Abstract: The Reconfigurable Wheel-Track (RWT) device is a novel mechanism that allows a wheel to transform into a track, and vice versa. The wheel mode allows a vehicle to travel quickly over smooth and semi-rough terrain, then, on-the-fly, transform rapidly into a powered track mode for crossing extreme terrain. The reconfigurable wheeltrack device comprises several main components: an outer tire/tread, a drive mechanism for driving the tread when in track mode and a reconfiguration mechanism that facilitates the transformation from wheel mode to track mode and vice versa. The reconfigurable wheel-track includes sensing, actuation, and controls to facilitate efficient and effective transitions, and securely maintain each wheel and track shape.

Abstract: A patient positioning system includes a vertical link member and a carriage sub-system pivotably mounted thereto. The carriage sub-system includes a carriage having a first end and a second end, a first guide movably coupled to the carriage and having a first end and a second end, a first connecting shaft pivotably coupled to the first ends of the first guide and the second guide, and a second connecting shaft pivotably coupled to the second ends of the first guide and the second guide. The system further includes a patient bed mounted to the carriage sub-system and a motor drive system including a motor drive, a belt configured to be driven by the motor drive, a rotation brake system configured to selectively engage with or disengage from the carriage, and a slab brake system configured to selectively engage with or disengage from the first and second connecting shafts.

Abstract: A patient containment system for securing a patient to a patient transport apparatus, comprising a first lower strap and a second lower strap. Each of the first lower strap and the second lower strap have a thigh region, a waist region, and a connection region arranged between the thigh region and the waist region. A first connector is coupled to the connection region of the first lower strap. A second connector is coupled to the connection region of the second lower strap, and is configured to releasably attach to the first connector to at least partially limit movement of the first lower strap relative to the second lower strap. The connection region defines a connection width, and the thigh region defines a thigh width larger than the connection width.

Abstract: A ramp transportation system for a wheelchair enables transportation, deployment, and retrieval of a portable ramp by a single wheelchair occupant in the absence of external aid. The device comprises: a platform, configured to support the width of a wheelchair for crossing the platform, having a sufficient stiffness to support a wheelchair and occupant load; a lifting mechanism interface in the platform, disposed at least near each end of the ramp, configured to support cantilever lifting forces on the ramp; a lifting element, configured to engage the lifting mechanism interface and to apply a force to raise and lower the platform between a raised, stowed position and a lowered position, suitable for traversal; and a motor, configured to supply sufficient force on the lifting element to raise and lower the platform.

Abstract: A patient transport apparatus for transporting patients in a stair configuration and in a chair configuration. A multiple mode handle assembly is provided for user engagement, and is movable between a first handle configuration, a second handle configuration, and a third handle configuration.

Abstract: A stair chair for use in transporting a patient in a seated position along stairs comprising a base, an upright coupled to the base, and a track assembly extending from the base for traversing stairs. A seat section is operatively attached to the upright and arranged for movement relative to the base between a plurality of vertical configurations including a first vertical configuration where the seat section is spaced from the base at a first distance for supporting the patient in the seated position, and a second vertical configuration where the seat section is spaced from the base at a second distance greater than the first distance. A lift mechanism is interposed between the base and the seat section to move the seat section between the plurality of vertical configurations. The lift mechanism moves the seat section to facilitate transitioning the patient to a standing position from the seated position.

Abstract: This invention relates to storage devices, particularly to storage devices for storing and protecting vehicles, and more particularly to storage devices for storing and protecting bicycles and/or motorcycles. In one aspect of the present invention, a storage device may include an enclosure which may be sealed and/or closed off to the outside environment, and may further include a compact, at least partially nesting structure. In an exemplary embodiment, the nesting structure may include a plurality of segments that may form the enclosure, where some of the segments may nest into another to open the enclosure while maintaining the compact form-factor of the structure.

Abstract: A patient transfer apparatus includes a seat assembly, a track assembly coupled to the seat assembly and including a track configured to engage the stairs in a stair traversing position, and front wheels coupled to the seat assembly for engagement with a floor in a transport position. The seat assembly includes a frame and a seat for supporting a patient. A front end of the track assembly is adjacent the front wheels without interfering with movement of the wheels in the transport position.

Abstract: A patient transport apparatus comprises a support structure. The support structure comprises a base, a frame, and a patient support surface to support a patient. One or more handle assemblies are coupled to the frame to maneuver the patient transport apparatus. The handle assemblies comprise one or more handles to be manipulated by a user. The handles are capable of being adjusted to facilitate maneuvering of the patient transport apparatus, such as pushing/pulling the patient transport apparatus along a floor surface, lifting the patient transport apparatus over obstacles, loading the patient transport apparatus into an emergency vehicle, and/or unloading the patient transport apparatus from the emergency vehicle.

Abstract: Disclosed a dual-function electric stair-climbing vehicle. A bicycle-like saddle is mounted at an upper part of a frame of the vehicle; and a worm gear reducer is mounted at a middle part of the vehicle for driving two rotating legs to climb up or downstairs. The vehicle is mainly used for fire rescue in high-rise buildings, equipment maintenance of high-rise buildings when no elevator is available, and fast transportation of equipment, materials and firefighters or maintenance men upstairs. When the width of a corridor is greater than 1.1 m, the vehicle can be rode upstairs directly with people and goods; when the width is less than 1.1 m and greater than 0.9 m, people need to get off and make a turn; and when the width is less than 0.9 m, the vehicle is not available. The dimension of the frame is about 1200×550×380 mm.

Abstract: A patient transfer apparatus configured to traverse stairs includes a seat assembly, a rear leg pivotably coupled to the seat assembly, a track integrated with the rear leg, and a wheel coupled to a distal end portion of the rear leg. The seat assembly includes a frame with a seat portion. The rear leg is pivotable relative to the seat portion between a transport position and a stair traversing position. In the transport position the wheel is configured to contact a floor, and in the stair traversing position the track is configured to contact the stairs.

Abstract: A patient transport apparatus comprises a support structure. The support structure comprises a base, a frame, and a patient support surface to support a patient. One or more handle assemblies are coupled to the frame to maneuver the patient transport apparatus. The handle assemblies comprise one or more handles to be manipulated by a user. The handles are capable of being adjusted to facilitate maneuvering of the patient transport apparatus, such as pushing/pulling the patient transport apparatus along a floor surface, lifting the patient transport apparatus over obstacles, loading the patient transport apparatus into an emergency vehicle, and/or unloading the patient transport apparatus from the emergency vehicle.

Abstract: An apparatus for supporting a flexible display panel is disclosed. In one aspect, the apparatus includes first and second unidirectional link members arranged in a first direction so as to be parallel to each other. The first and second unidirectional link members are connected to each other so as to be rotatable around a second direction crossing the first direction. The apparatus also includes a first connecting member connected to one side of each of the first and second unidirectional link members so as to be rotatable around the second direction and first and second supporting plates arranged on opposing sides of the first and second unidirectional link members in the first direction. The first and second supporting plates are configured to be rotatable together with the first and second unidirectional link members.

Abstract: A stroller track system is used to facilitate the transporting of a stroller up and down stairs. The stroller track system includes a left tread assembly and a right tread assembly. The left tread assembly and the right tread assembly are used to engage multiple stairs while traversing a set of stairs. This allows the stroller to glide smoothly up or down the stairs. The left tread assembly and the right tread assembly each include a first track and a first stroller-attaching mount. The first track has a greater surface area than a normal wheel, allowing the first track to span a larger section of a staircase. The first stroller-attaching mount is used to attach the first track to a stroller. In alternative versions of the stroller track system, the left tread assembly and the right tread assembly may include additional tracks to further stabilize the stroller.

Abstract: A rolling bag adaptable for ascending and descending a staircase safely as well as for level and incline rolling. A handle selectively tilts to an angle that provides maximum leverage for ascent and descent of the bag on a staircase. The handle has a locking device that sets the desired tilt angle. The rolling bag has a recessed conveyor at the rear that has a track that selectively loosens when adapting to a staircase by increasing distance the conveyor rolls, the track conforming to a tread and a riser of a staircase. The conveyor has an offset device that selectively adjusts the track tension, the offset device coupled to handle so that when the handle tilts the track tension is loosened.

Abstract: A lightweight motorized and tracked sled for attachment to a variety of stair chairs is described. A power supply or power source provides power to a motor driving a track configured to engage a set of stairs. The motor and track can lift and support the stair chair and a patient thereon up or down one or more flights of stairs. The track driven by the motor has a length sufficient to simultaneously engage the lips or edges of a pair of sequential steps, but may be otherwise limited in length to reduce the weight of the track. To ensure that the sled and attached stair chair are stably supported while ascending or descending stairs, the sled may have rails, skis, or passive tracks having a length sufficient to ensure that the rails, skis, or passive tracks are always over the edge or lip of no fewer than two steps.

Abstract: According to an aspect of the invention, an apparatus for transporting objects comprises a frame for receiving at least one object, at least one handle coupled to the frame, at least one set of wheels coupled to the frame, at least one track coupled to the frame, wherein the track allows movement of the apparatus in addition to the wheels, and at least one brake mechanism coupled to the frame.

Abstract: A method of negotiating an obstacle including driving an articulated vehicle along a drive direction over a surface, driving the articulated vehicle to approach an obstacle with a rearward portion of the articulated vehicle, pivoting arms of the vehicle from a stowed position next to a main frame of the vehicle downward and away from the main frame, raising and supporting the main frame on the arms, positioning at least a portion of the main frame substantially against the obstacle, and driving onto the obstacle.

Abstract: A motorized stair chair for transporting a human subject having a chair frame having front and rear sections; a collapsible seating assembly attached to the front section of the chair frame; ground-contacting wheels coupled to the chair frame; a motor coupled to the chair frame; a removable battery configured to power the motor and the motorized stair chair, wherein the battery and the motor are separately coupled at different locations on the chair frame; and a pair of motorized continuous, rotatable tracks frame; responsive to the motor, the tracks being integrally and pivotally coupled to the rear section of the chair frame, wherein the motorized tracks are configured to engage stairs.

Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. A robot chassis with pivotable driven flippers has a pivotable neck and sensor head mounted toward the front of the chassis. The neck is pivoted forward to shift the vehicle combined center of gravity (combined CG) forward for various climbing and navigation tasks. The flippers may also be selectively moved to reposition the center of gravity. Various weight distributions allow different CG shifting capabilities.

Abstract: A lightweight motorized and tracked sled for attachment to a variety of stair chairs is described. A power supply or power source provides power to a motor driving a track configured to engage a set of stairs. The motor and track can lift and support the stair chair and a patient thereon up or down one or more flights of stairs. The track driven by the motor has a length sufficient to simultaneously engage the lips or edges of a pair of sequential steps, but may be otherwise limited in length to reduce the weight of the track. To ensure that the sled and attached stair chair are stably supported while ascending or descending stairs, the sled may have rails, skis, or passive tracks having a length sufficient to ensure that the rails, skis, or passive tracks are always over the edge or lip of no fewer than two steps.

Abstract: A carrying autonomous vehicle system, comprising: a carrying autonomous vehicle and at least one carried autonomous vehicle. The carrying autonomous vehicle has a main frame and at least one flipper. The carried autonomous vehicle uses at least one flipper to load and/or unload at least one carried autonomous vehicle on the main frame.

Abstract: The assembly includes a cleat holder having a base, an outer wall opposite the base, and a cleat-receiving pocket having an opening in the outer wall. A cleat has one end mounted within the cleat holder and an opposite free end tip. The cleat is movable within the pocket between a gripping position in which the free end tip of the cleat projects through the opening of the pocket beyond the outer wall of the cleat holder and a retracted position in which the free end tip of the cleat at least partially retracts into the pocket. A spring is mounted in the pocket for resiliently urging the cleat from the retracted position toward the gripping position. The cleat assembly can include a plurality of separately manufactured, identical cleat holders secured in end-to-end alignment forming an endless belt, chain or the like.

Abstract: An evacuation chair is disclosed for evacuating a person down stairs and along level ground. The evacuation chair has a frame and at least one front wheel and at least two rear wheels attached and rotatable with respect to the frame to allow the chair to be wheeled along level ground. The evacuation chair also has two rail assemblies attached with respect to the frame, each rail assembly extending rearwardly and upwardly from a forward end of the rail assembly to a rearward end thereof, the rail assemblies being provided for guiding the movement of the evacuation chair on stairs. A clear space is provided extending throughout a legroom region between the rail assemblies from the rearward ends thereof to at least halfway towards the forward ends thereof, to accommodate the movement of the legs of the operator. The rail assemblies have a belt for movement around the rail assembly, to bear between the stairs and the rail assembly.

Abstract: A transport that is manually powered for transporting an injured or disabled person from one location to another. The chair is particularly useful for transporting an injured or disabled person (who is of a heavy weight) up or down a flight of stairs. The chair lift is manually driven by reciprocating hand levers operated by an attendant. A ratchet and pawl mechanism in combination with a brake system, which is continuously set/locked, allows movement of the chair only when the chair is being propelled up a flight of stairs and when an attendant purposefully actuates a hand lever to release the brakes and allow movement of the transporter.

Abstract: An electric dolly system for transporting an object up and down stairs having a base platform connected to a bottom end of support rails, a handle at a top end and a pair of wheels at the bottom end, a track belt wrapped around a first and second rotator component adapted to rotate around the rotator components like a conveyor belt using a motor, the first rotator component is connected to the support rails via a first extension arm and the second rotator component is connected to the support rails via a second extension arm, the first extension arm is positioned closer to the handle and is longer than the second extension arm such that the track belt is at an angle with respect to the support rails.

Abstract: A serpentine robotic crawler is disclosed. The robotic crawler can include a first frame having a first continuous track rotatably supported by the first frame, a second frame having a second continuous track rotatably supported by the second frame, and a linkage arm coupling the first and second frames together in tandem. The linkage arm can be movable about a first lateral axis associated with the first frame, a second lateral axis associated with the second frame, and at least two longitudinal axes. The longitudinal axes can be oriented by movement of the linkage arm about the first lateral axis and/or the second lateral axis. Movement about the first lateral axis and the second lateral axis can facilitate or provide exposure of leading and trailing ends of each continuous track.

Abstract: The mobile robot includes a chassis, a pair of drive system, a manipulator arm with a turret. The pair of drive systems is operably connected to opposed sides of the chassis. The turret is rotationally attached to the platform. The first link of the manipulator arm is attached to the turret at a first joint. The manipulator arm has at least a first link, and the first link is adapted to function as a traction device.

Abstract: An apparatus is disclosed for use on standard or customized wheelchairs for moving the wheelchair and wheelchair occupant up or down a stairway or stairway-like structure (e.g., a curb) with greater confidence and stability to the occupant of the wheelchair and its handler(s). The apparatus includes a motorized assembly that interacts with stair steps when the apparatus and wheelchair are tilted backwardly. The motorized assembly allows the wheelchair to glide or move up or down the steps without experiencing the bumps commonly associated with rolling a wheelchair up or down a set of stairs. The apparatus includes a headrest to provide comfort to the occupant during operation and includes pivoting handlebars to allow the operator of the wheelchair to control the movement of the wheelchair. The apparatus is mountable to, and removable from (when not in use), the wheelchair. The apparatus can be considered as a retrofit.

Abstract: The invention provides an evacuation device for one operator, with a plurality of babies secured in pockets, having their heads secured in adjustable cushioned head rests which are attached to a patient support membrane, to descend a stairwell safely and quickly during an emergency. The invention is constructed of a tubular frame, covered with a fire-retardant, water impermeable and mold and fungus resistant material. The invention incorporates a set of casters for transport across a horizontal plane, such as crowded hallways and small hospital stairwell landings. The dual track system permits the operator to glide down the stairs in a safe, smooth and controlled fashion. The dual braking device on the track system assists the operator in a stairwell descent and permits the operator to release the chair and remove any debris that may be in the path of evacuation.

Abstract: A hybrid mobile robot includes a base link and a second link. The base link has a drive system and is adapted to function as a traction device and a turret. The second link is attached to the base link at a first joint. The second link has a drive system and is adapted to function as a traction device and to be deployed for manipulation. In another embodiment an invertible robot includes at least one base link and a second link. In another embodiment a mobile robot includes a chassis and a track drive pulley system including a tension and suspension mechanism. In another embodiment a mobile robot includes a wireless communication system.

Abstract: A wheelchair includes a wheelchair frame, a seat and a backrest panel carried by the wheelchair frame, at least one pocket carried by the seat, a pair of rear wheels and a pair of front wheels carried by the wheelchair frame, a drive motor drivingly engaging at least one of the pair of rear wheels and the pair of front wheels and a pair of wheelchair tracks detachably carried by the wheelchair frame.

Abstract: A transport that is manually powered for transporting an injured or disabled person from one location to another. The chair is particularly useful for transporting an injured or disabled person (who is of a heavy weight) up or down a flight of stairs. The chair lift is manually driven by reciprocating hand levers operated by an attendant. A ratchet and pawl mechanism in combination with a brake system, which is continuously set/locked, allows movement of the chair only when the chair is being propelled up a flight of stairs and when an attendant purposefully actuates a hand lever to release the brakes and allow movement of the transporter.

Abstract: Attachments for a manual wheelchair are provided for navigating a wheelchair over obstacles and uneven terrain, such as a typical curb on a street. The attachments provide for regulating the movement of the wheelchair as the wheelchair descends the curb and to prevent the wheelchair from flipping over during such movement. The attachments include a front caster wheel slider assembly on each side of the wheelchair, a follower wheel assembly and a track belt damping bar. The front caster wheel slider assembly includes a piston that will quickly push the front caster wheels down after they roll over the top edge of the curb. The follower wheel assembly acts as a sensor that will release the piston in the assembly after the front caster wheels roll over the top edge of the curb. As the back wheels of the wheelchair roll over and down the curb, the track belt damping bar slows the descent of the wheelchair.

Abstract: An articulated tracked vehicle that has a main section, which includes a main frame, and a forward section. The main frame has two sides and a front end, and includes a pair of parallel main tracks. Each main track includes a flexible continuous belt coupled to a corresponding side of the main frame. The forward section includes an elongated arm. One end of the arm is pivotally coupled to the main frame near the forward end of the main frame about a transverse axis that is generally perpendicular to the sides of the main frame. The arm has a length sufficiently long to allow the forward section to extend below the main section in at least some degrees of rotation of the arm, and a length shorter than the length of the main section. The center of mass of the main section is located forward of the rearmost point reached by the end of the arm in its pivoting about the transverse axis.

Abstract: A serpentine robotic crawler capable of multiple movement moves is disclosed. The serpentine robotic crawler includes a plurality of frame units, coupled together by at least one actuated linkage. Each frame unit includes a continuous track, enabling forward movement of the serpentine robotic crawler. The at least one actuated linkage has at least 7 degrees of movement freedom, enabling the serpentine robotic crawler to adopt a variety of poses.

Abstract: An apparatus is disclosed for use on standard or customized wheelchairs for moving the wheelchair and wheelchair occupant up or down a stairway or stairway-like structure (e.g., a curb) with greater confidence and stability to the occupant of the wheelchair and its handler(s). The apparatus includes a motorized assembly that interacts with stair steps when the apparatus and wheelchair are tilted backwardly. The motorized assembly allows the wheelchair to glide or move up or down the steps without experiencing the bumps commonly associated with rolling a wheelchair up or down a set of stairs. The apparatus includes a headrest to provide comfort to the occupant during operation and includes pivoting handlebars to allow the operator of the wheelchair to control the movement of the wheelchair. The apparatus is mountable to, and removable from (when not in use), the wheelchair. The apparatus can he considered as a retrofit.

Abstract: An apparatus is disclosed for use on standard or customized wheelchairs for moving the wheelchair and wheelchair occupant up or down a stairway or stairway-like structure (e.g., a curb) with greater confidence and stability to the occupant of the wheelchair and its handler(s). The apparatus includes a motorized assembly that interacts with stair steps when the apparatus and wheelchair are tilted backwardly. The motorized assembly allows the wheelchair to glide or move up or down the steps without experiencing the bumps commonly associated with rolling a wheelchair up or down a set of stairs. The apparatus includes a headrest to provide comfort to the occupant during operation and includes pivoting handlebars to allow the operator of the wheelchair to control the movement of the wheelchair. The apparatus is mountable to, and removable from (when not in use), the wheelchair. The apparatus can be considered as a retrofit.

Abstract: A manually propelled vehicle (1) comprises a frame (11) and a plurality of wheels (17, 23) secured to the frame (11) for conveying the vehicle (1) in one mode of operation. The vehicle (1) further comprises at least one continuous track assembly (3) mounted on the frame (11) and defining an upper tread (63a) and a lower tread (63b). The distance between the upper tread (63a) and lower tread (63b) can be changed from a retracted condition to an extended condition. In the extended condition, the lower tread (63b) forms the ground engaging surface of the vehicle (1) for conveying the vehicle (1) in a second mode of operation thereof. The vehicle (1) further comprises a seat (5) pivotally mounted to the frame (11) and means to tilt the seat (15) rear-wardly when ascending or descending an incline.

Abstract: A chair configured for transporting a subject (e.g., up or down an elevated surface (e.g., a stairway, a curb, a ramp, etc.)) and methods of using the same is provided. In particular, a chair comprising a rail assembly, a pair of back legs and a pair of front legs, wherein the rail assembly is fastened to the back legs and wherein the back legs and front legs are interconnected via a pair of side rails and a seat assembly, wherein the seat assembly comprises a seat frame and a swivel seat assembly, and methods of using the same (e.g., to load and/or unload a subject onto the chair and/or to transport a subject) are provided.

Abstract: The invention provides an evacuation device for one operator, with a plurality of babies secured in pockets, having their heads secured in adjustable cushioned head rests which are attached to a patient support membrane, to descend a stairwell safely and quickly during an emergency. The invention is constructed of a tubular frame, covered with a fire-retardant, water impermeable and mold and fungus resistant material. The invention incorporates a set of casters for transport across a horizontal plane, such as crowded hallways and small hospital stairwell landings. The dual track system permits the operator to glide down the stairs in a safe, smooth and controlled fashion. The dual braking device on the track system assists the operator in a stairwell descent and permits the operator to release the chair and remove any debris that may be in the path of evacuation.

Abstract: A hybrid mobile robot includes a base link and a second link. The base link has a drive system and is adapted to function as a traction device and a turret. The second link is attached to the base link at a first joint. The second link has a drive system and is adapted to function as a traction device and to be deployed for manipulation. In another embodiment an invertible robot includes at least one base link and a second link. In another embodiment a mobile robot includes a chassis and a track drive pulley system including a tension and suspension mechanism. In another embodiment a mobile robot includes a wireless communication system.

Abstract: A wheelchair includes a wheelchair frame, a pair of rear wheels and a pair of front wheels carried by the wheelchair frame, a drive motor drivingly engaging at least one of the pair of rear wheels and the pair of front wheels, a pair of wheelchair tracks detachably carried by the wheelchair frame and a locomotion assist assembly carried by the wheelchair frame.

Abstract: Disclosed are vehicles and methods for transporting materials.

Abstract: Attachments for a manual wheelchair are provided for navigating a wheelchair over obstacles and uneven terrain, such as a typical curb on a street. The attachments provide for regulating the movement of the wheelchair as the wheelchair descends the curb and to prevent the wheelchair from flipping over during such movement. The attachments include a front caster wheel slider assembly on each side of the wheelchair, a follower wheel assembly and a track belt damping bar. The front caster wheel slider assembly includes a piston that will quickly push the front caster wheels down after they roll over the top edge of the curb. The follower wheel assembly acts as a sensor that will release the piston in the assembly after the front caster wheels roll over the top edge of the curb. As the back wheels of the wheelchair roll over and down the curb, the track belt damping bar slows the descent of the wheelchair.

Abstract: A transport vehicle includes a self-balancing vehicle base. A platform is supported on the base and is displaceable relative thereto between a first position and a second position. A support device engages the platform and supports at least a portion thereof during displacement between the first position and the second position. A method is also included.

Abstract: A lightweight motorized and tracked sled for attachment to a variety of stair chairs is described. A power supply or power source provides power to a motor driving a track configured to engage a set of stairs. The motor and track can lift and support the stair chair and a patient thereon up or down one or more flights of stairs. The track driven by the motor has a length sufficient to simultaneously engage the lips or edges of a pair of sequential steps, but may be otherwise limited in length to reduce the weight of the track. To ensure that the sled and attached stair chair are stably supported while ascending or descending stairs, the sled may have rails, skis, or passive tracks having a length sufficient to ensure that the rails, skis, or passive tracks are always over the edge or lip of no fewer than two steps.

Abstract: A wheelchair is disclosed. An illustrative embodiment of the wheelchair includes a wheelchair frame, a pair of rear wheels and a pair of front wheels carried by the wheelchair frame, a drive motor drivingly engaging at least one of the pair of rear wheels and the pair of front wheels and a pair of wheelchair tracks detachably carried by the wheelchair frame.

Abstract: A variable configuration articulated tracked vehicle comprises a chassis, a pair of right and left drive pulleys, a right and left planetary wheel, a right and left track, a right and left arm mechanism, and a right and left drive motor. The drive pulleys are rotatably attached to the chassis and each pair of drive pulleys is in the same plane. The planetary wheels are movable relative to the chassis such that each planetary wheel is in the same plane as its respective drive pulleys. The tracks extend around the pair of drive pulleys and the planetary wheel on the respective sides. The arm mechanisms connect the respective planetary wheel to the chassis. Each arm mechanism is rotatably attached to the chassis with a cam. The cam defines a motion path of one end of the arm whereby the motion of the planetary wheel provides a path for the planetary wheel such that the track path defined by the respective drive pulleys and the planetary wheel is a constant track length.

Abstract: The present invention relates to a chair configured for transporting a subject (e.g., up or down an elevated surface (e.g., a stairway, a curb, a ramp, etc.)) and methods of using the same. In particular, the present invention provides a chair comprising a rail assembly, a pair of back legs and a pair of front legs, wherein the rail assembly is fastened to the back legs and wherein the back legs and front legs are interconnected via a pair of side rails and a seat assembly, wherein the seat assembly comprises a seat frame and a swivel seat assembly, and methods of using the same (e.g., to load and/or unload a subject onto the chair and/or to transport a subject).