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.移動裝置(1)包括：主框架(3)；驅動輪擺動臂(5)，其樞轉地連接到主框架(3)；驅動輪(7)，其連接到個別的驅動輪擺動臂(5)；輪馬達，每個輪馬達建構成驅動個別的驅動輪(7)；後輪擺動臂(9)，其樞轉地連接到主框架(3)；後輪(11)，其連接到後輪擺動臂(9)；以及致動裝置，其建構成獨立於輪馬達的控制來控制後輪擺動臂(9)和主框架(3)之間的後輪擺動臂角度。
