This presentation from over a year ago looks at how we might have a morphing joint at or near the knee in a morphing handcycle. The nice thing about this is that you can bend the joint and have the foot stay in the same location in the footrest. Meanwhile, the wheelbase can be reduced, and you can move the pedals further away from the rider, making it easy to get in and out of the bike. This same joint might be used as a coupler, allowing removal of the front end so you can put the bike in the trunk of a car.
Given that John Baron and I had a recent discussion about the forward morphing joint on Morph II, I thought it would be good to post this exploration from over a year ago and see where it takes us.