# US 2021/0330522 A1 · Support devices including movable leg segments and methods for operating the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0330522 A1 - Document ID: US20210330522A1 - Status: Published application - Kind: A1 - Application number: 16/860,516 - Filed: 2020-04-28 - Published: 2021-10-28 - Earliest claimed: 2020-04-28 - Assignees: Toyota Motor North America, Inc. - Applicants: Toyota Motor North America, Inc. - Inventors: Douglas A. Moore - Web page: https://patentgrep.com/patent/US20210330522A1 ## CPC - A61G 5/04: motor-driven (A61G5/06 takes precedence; motor-operated rests A61G5/12; for vehicles with handlebars, equipped with three or more wheels B62K5/003, B62K5/023) - A61G 5/068: {with extensible supports pushing upwards, e.g. telescopic legs} - A61G 5/061: {for climbing stairs} - A61G 5/104: {Devices for lifting or tilting the whole wheelchair (transfer lifts A61G3/06; arrangements for adjusting the seat height A61G5/1059)} - A61G 5/1059: {adjusting the height of the seat} - A61G: TRANSPORT, PERSONAL CONVEYANCES OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS (appliances for aiding patients or disabled persons to walk A61H3/00); OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES (embalming corpses A01N1/00) ## Abstract A support device includes a wheel, a base member, a leg coupled to the wheel and the base member, the leg including an upper leg segment, a lower leg segment positioned below the upper leg segment, a joint positioned between the upper leg segment and the lower leg segment, the joint including a cam defining a non-circular perimeter, and an actuator coupled to one of the upper leg segment and the lower leg segment, the actuator including an engagement member that is engaged with the non-circular perimeter of the of the cam of the joint, where the actuator selectively moves the engagement member to move the cam and the upper leg segment and the lower leg segment about the joint. ## Claims ### Claim 1 A support device comprising: a wheel; a base member; a leg coupled to the wheel and the base member, the leg comprising: an upper leg segment; a lower leg segment positioned below the upper leg segment; a joint positioned between the upper leg segment and the lower leg segment and rotatably coupling the upper leg segment and the lower leg segment, the joint comprising a cam defining a non-circular perimeter; and an actuator coupled to one of the upper leg segment and the lower leg segment, the actuator comprising an engagement member that is engaged with the non-circular perimeter of the of the cam of the joint, wherein the actuator selectively moves the engagement member to move the cam and the upper leg segment and the lower leg segment about the joint. ### Claim 2 (depends on 1) The support device of claim 1, wherein the engagement member comprises a flexible member that is wrapped around at least a portion of the non-circular perimeter of the cam. ### Claim 3 (depends on 1) The support device of claim 1, wherein the engagement member comprises a gear engaged with the non-circular perimeter of the cam. ### Claim 4 (depends on 1) The support device of claim 1, wherein: the joint defines a rotational axis and the upper leg segment and the lower leg segment rotate with respect to one another about the rotational axis; and the non-circular perimeter of the cam defines a lobe and an inner point that is positioned closer to the rotational axis that the lobe. ### Claim 5 (depends on 4) The support device of claim 4, wherein the lower leg segment and the upper leg segment are positionable between an extended position and a retracted position, wherein the lower leg segment and the upper leg segment are positioned closer to one another in the retracted position as compared to the extended position. ### Claim 6 (depends on 5) The support device of claim 5, wherein the engagement member engages and applies force to the lobe of the cam when the upper leg segment and the lower leg segment are in the retracted position. ### Claim 7 (depends on 5) The support device of claim 5, wherein the engagement member and applies force to the inner point of the cam when the upper leg segment and the lower leg segment are in the extended position. ### Claim 8 (depends on 1) The support device of claim 1, wherein the actuator is a first actuator and the engagement member is a first engagement member, and the support device further comprises a second actuator comprising a second engagement member engaged with the cam of the joint. ### Claim 9 (depends on 8) The support device of claim 8, wherein the first engagement member and the second engagement member are flexible members and each are wrapped around at least a portion of the non-circular perimeter of the cam of the joint. ### Claim 10 (depends on 8) The support device of claim 8, wherein the cam is a first cam, and the joint further comprises a second cam, and wherein the first engagement member is engaged with the first cam and the second engagement member is engaged with the second cam. ### Claim 11 (depends on 10) The support device of claim 10, wherein the first cam defines a first lobe and the second cam defines a second lobe, and wherein the first lobe and the second lobe are angularly offset from one another. ### Claim 12 (depends on 1) The support device of claim 1, further comprising a biasing member engaged with the cam. ### Claim 13 A wheelchair comprising: a base member for supporting a person; a wheel; and a leg as coupled to the base member and the wheel, the leg comprising: an upper leg segment; a lower leg segment positioned below the upper leg segment; a joint positioned between the upper leg segment and the lower leg segment and rotatably coupling the upper leg segment and the lower leg segment, the joint comprising a cam defining a non-circular perimeter; and an actuator coupled to one of the upper leg segment and the lower leg segment, the actuator comprising an engagement member that is engaged with the non-circular perimeter of the of the cam of the joint, wherein the actuator selectively moves the engagement member to move the cam and the upper leg segment and the lower leg segment about the joint. ### Claim 14 (depends on 13) The wheelchair of claim 13, wherein: the joint defines a rotational axis and the upper leg segment and the lower leg segment rotate with respect to one another about the rotational axis; and the non-circular perimeter of the cam defines a lobe and an inner point that is positioned closer to the rotational axis that the lobe. ### Claim 15 (depends on 14) The wheelchair of claim 14, wherein the lower leg segment and the upper leg segment are positionable between an extended position and a retracted position, wherein the lower leg segment and the upper leg segment are positioned closer to one another in the retracted position as compared to the extended position. ### Claim 16 (depends on 15) The wheelchair of claim 15, wherein the engagement member engages and applies force to the lobe of the cam when the upper leg segment and the lower leg segment are in the retracted position. ### Claim 17 (depends on 15) The wheelchair of claim 15, wherein the engagement member and applies force to the inner point of the cam when the upper leg segment and the lower leg segment are in the extended position. ### Claim 18 A method for moving a leg of a support device, the method comprising: moving a wheel of a support device along a surface, wherein the support device comprises an upper leg segment, a lower leg segment positioned below the upper leg segment, the wheel coupled to the lower leg segment, and a joint positioned between the upper leg segment and the lower leg segment, wherein the joint comprises a cam defining a non-circular perimeter; and moving an engagement member engaged with the non-circular perimeter of the cam, thereby moving the lower leg segment with respect to the upper leg segment about the joint. ### Claim 19 (depends on 18) The method of claim 18, wherein the engagement member comprises a flexible member that wraps at least partially around the non-circular perimeter of the cam, and moving the engagement member comprises taking up the engagement member from the cam. ### Claim 20 (depends on 18) The method of claim 18, wherein the engagement member comprises a gear engaged with the non-circular perimeter of the cam, and moving the engagement member comprises rotating the engagement member, thereby rotating the cam.