US Patent 11839972 Personal mobility device

A mobility device having a body, a plurality of arms, and a control module operable to control the angular positions of the plurality of arms and the body. The body includes a first side, a second side, a front end, a rear end, a first frame rotatable about a first axis, and a second frame rotatable about a second axis. The first axis is parallel to the second axis. Rotation of the first frame causes simultaneous rotation of the second frame in the opposite direction. Arms are rotatably supported on the first side of the body and other arms are rotatably supported on the second side of the body. Each arm includes a wheel. The arms are independently rotatable from the other arms.