Mobility assistance device

Abstract

A mobility assistance device includes a set of wheels connected to each other by a frame, a distal arm, a proximal arm and a first axis between the distal arm and the proximal arm wherein the distal and the proximal arms are pivotably arranged about the first axis and are operatively connected to the frame. A harness for receiving a user is provided on the proximal arm at a length L2 to the first axis. A counterweight is provided on a distal arm at a length L1 to the first axis. The counterweight and both of the lengths L1 and L2 are configured to at least partially compensate the weight of the user, characterized in that the mobility assistance device includes a control unit and comprises at least two self-balancing wheels, wherein the control unit is configured to control the self-balancing wheels in accordance with an inverse pendulum principle.

Dependencies are inferred from the claim text.