A mobility device (1) comprising: a main frame (3), drive wheel swing arms (5) pivotally connected to the main frame (3), drive wheels (7) connected to a respective one of the drive wheel swing arms (5), wheel motors, each wheel motor being configured to drive a respective drive wheel (7), a rear wheel swing arm (9) pivotally connected to the main frame (3), a rear wheel (11) connected to the rear wheel swing arm (9), and an actuating device configured to control a rear wheel swing arm angle between the rear wheel swing arm (9) and the main frame (3) independently of control of the wheel motors.
