Standing wheelchair

A standing wheelchair device comprising:

• a wheeled base for enabling the device to move on a supporting surface, the wheeled base including a platform that is tiltable with respect to a chassis to which wheels of the wheeled base are connected, a harness assembly being tiltable together with the platform;
• a proportional-integral-differential (PID) controller that is configured to maintain the platform at a predetermined tilt with respect to the horizontal;
• the harness assembly comprising a plurality of braces for attaching to parts of a body of a user of the device, at least some adjacent braces of said plurality of braces being connected by joints;
• and
• a lifting unit mounted on the base, supporting a hip joint of the harness assembly, and configured to raise or lower the hip joint such that when the user is attached to the harness assembly and is in a sitting position, raising a height of the hip joint causes the user to assume a standing position, and when the user is attached to the harness assembly and is in the standing position, lowering the hip joint causes the user to assume the sitting position or a reclining position.