Transformability(TM): personal mobility with shape-changing wheels

A motorized wheeled device for transporting a person comprising:

• a support structure that supports the person who is being transported;
• a motor that moves the support structure by rotating at least one surface-contacting wheel, wherein the device travels on this surface;
• at least one shape-changing wheel that changes shape to travel more effectively on different surfaces and obstacles;
• and at least two rotating members that are part of this shape-changing wheel, wherein these rotating members are rotated by a motor, wherein this rotation can be independent of rotation of the wheel as a whole, wherein rotation of these rotating members into a first configuration causes the ground (or other travel surface) contacting perimeter of the wheel to be a first shape that is circular, wherein rotation of these rotating members into a second configuration causes the ground (or other travel surface) contacting perimeter of the wheel to be a second shape that is non-circular, wherein portions of these rotating members form some or all of the ground (or other travel surface) contacting perimeter of the shape-changing wheel in both the first configuration and the second configuration, and wherein these rotating members rotate around one or more axes that are different than the axis around which the wheel as a whole rotates.

A method of increasing the effectiveness of a wheeled device for transporting a person on different surfaces and obstacles comprising:

• providing a support structure to support the person;
• moving this support structure by rotating at least one wheel with a motor;
• changing the shape of at least one wheel to travel more effectively on different surfaces and obstacles;
• and rotating at least two members that are part of this shape-changing wheel, wherein these rotating members are rotated by a motor, wherein this rotation can be independent of rotation of the wheel as a whole, wherein rotation of these rotating members into a first configuration causes the perimeter of the wheel to be a first shape, wherein rotation of these, rotating members into a second configuration causes the perimeter of the wheel to be a second shape, and wherein the second shape is less circular than the first shape.