Wheel structure, method of controlling wheel structure, and mobility including wheel structure

A mobility equipment comprising:

• a wheel structure;
• and
• a frame coupling the wheel structure,
• wherein the wheel structure comprises:
• a wheel comprising an outer portion that extends in a circumferential direction,
• a wheel driver configured to provide power for rotating the wheel about a central shaft,
• a plurality of variable spokes connecting the wheel to the central shaft and having a length configured to vary in a radial direction of the wheel,
• a spoke driver configured to provide power for changing the length of the variable spokes in the radial direction, and
• a power transmitter configured to transmit power from the spoke driver to the plurality of variable spokes,
• wherein the plurality of variable spokes are spaced apart from one another in the circumferential direction, and
• wherein the power transmitter comprises:
• an output shaft configured to rotate based on power from the spoke driver, and
• a clutch configured to connect the plurality of variable spokes to the output shaft and selectively transmit a rotational force of the output shaft to the plurality of variable spokes or restrict transmission of the rotational force to the plurality of variable spokes.