Self-leveling mechanism and method for wheeled mobility device

A method of controlling a tilt of a user support of a mobility device, the method comprising:

• receiving a sensed tilt of a leveling structure on which the user support is mounted, the leveling structure being connected to a chassis of the mobility device by a swivel connection that enables the leveling structure to swivel about the connection and by two linearly displaceable connections that are laterally displaced from one another;
• calculating a linear displacement of each of two displaceable connections of the leveling structure that reduces a deviation of the sensed tilt of the stabilizing structure from an orientation of a target plane;
• and
• operating a linear actuator of each of the displaceable connections to displace each of the displaceable connections by the calculated displacement for that displaceable connection.

A self-leveling mechanism for a mobility device, the mobility device including a chassis configured to propel the mobility device on a surface, the mechanism comprising:

• a leveling structure on which is mounted a user support for supporting a user of the mobility device, the leveling structure being connected to the chassis by a swivel connection that enables the leveling structure to swivel about the connection and by two linearly displaceable connections that are laterally displaced from one another;
• two linear actuators, each of the linear actuators configured to displace a displaceable connection of the two displaceable connections to adjust a distance between each displaceable connection and the chassis;
• a sensor for sensing a tilt of the leveling structure;
• and
• a controller that is configured to operate the linear actuators in accordance with a tilt that is sensed by the sensor.