Systems, devices, and methods including a stand-up wheel chair having automatic stability control

A stand-up wheelchair, comprising:

• a stand-up assembly having an articulated structure movable from a sitting configuration,
• a kneeling configuration, a reaching configuration, or a leaning configuration, to a substantially standing configuration, the stand-up assembly structured and dimensioned to support a passenger from a sitting position, a kneeling position, a reaching position, or
• a leaning position, to a substantially standing position;
• a plurality of rotatable members operable to frictionally interface the stand-up wheelchair to a travel surface and to move the stand-up wheelchair along the travel surface;
• a gyroscopic stabilization assembly having at least one gyroscope operable to apply a righting torque along an output axis of the stand-up wheelchair;
• and
• a dynamic stability controller operably coupled to the gyroscopic stabilization assembly, the dynamic stability controller operable to gimbal the at least one gyroscope about an input axis to apply the righting torque about the output axis responsive to a change in an externally applied torque.

A stand-up wheelchair system, comprising:

• circuitry for actuating a stand-up assembly configured to support a passenger transitioning from a sitting configuration to a standing configuration;
• circuitry for sensing a stand-up wheelchair mass distribution and for determining a stand-up wheelchair vertical center of mass location;
• and
• circuitry for actuating a gyroscopic stabilization assembly having at least one gyroscope operable to apply a righting torque along one or more of a transverse axis, a longitudinal axis, and a vertical axis of the stand-up wheelchair responsive to changes in a stand-up wheelchair vertical center of mass location.