DE102017111129A1 - Wheelchair with at least one electric auxiliary drive - Google Patents
Wheelchair with at least one electric auxiliary drive Download PDFInfo
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- DE102017111129A1 DE102017111129A1 DE102017111129.8A DE102017111129A DE102017111129A1 DE 102017111129 A1 DE102017111129 A1 DE 102017111129A1 DE 102017111129 A DE102017111129 A DE 102017111129A DE 102017111129 A1 DE102017111129 A1 DE 102017111129A1
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- wheelchair
- drive
- speed
- auxiliary drive
- auxiliary
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- 230000001133 acceleration Effects 0.000 claims description 14
- 238000011156 evaluation Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 210000003205 muscle Anatomy 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/048—Power-assistance activated by pushing on hand rim or on handlebar
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/02—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
- A61G5/045—Rear wheel drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1005—Wheelchairs having brakes
- A61G5/1008—Wheelchairs having brakes for gradually slowing down the wheelchair
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1005—Wheelchairs having brakes
- A61G5/101—Wheelchairs having brakes of the parking brake type, e.g. holding the wheelchair
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1005—Wheelchairs having brakes
- A61G5/1021—Wheelchairs having brakes engaging specific brake elements
- A61G5/1027—Hub elements, e.g. drums
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1005—Wheelchairs having brakes
- A61G5/1032—Wheelchairs having brakes engaging an element of the drive or transmission, e.g. drive belt, electrodynamic brake
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1054—Large wheels, e.g. higher than the seat portion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1086—Anti-roll-back devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
- A61G5/128—Rests specially adapted therefor, e.g. for the head or the feet for feet
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/36—General characteristics of devices characterised by sensor means for motion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/42—General characteristics of devices characterised by sensor means for inclination
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Die Erfindung betrifft einen Rollstuhl mit einem Rahmen und zwei Antriebsrädern, die sowohl manuell durch auf sie in nacheinander abfolgenden Anschubphasen eingeleitete Kräfte als auch mittels wenigstens eines elektrischen Hilfsantriebes antreibbar sind. Erfindungsgemäß ist vorgesehen, dass an Gelände-Steigungs- oder Gefällstrecken vom Hilfsantrieb die Funktion einer Haltebremse übernehmbar ist, indem der Geschwindigkeitsverlauf jedes der Antriebsräder detektiert wird und dann, wenn beide Antriebsräder eine vorgegebene Geschwindigkeit bis zum Stillstand unterschreiten, der Hilfsantrieb so zugeschaltet wird, dass der Rollstuhl im Stillstand für ein Zeitintervall verharrt.The invention relates to a wheelchair with a frame and two drive wheels which can be driven both manually by forces applied to them in successive successive start-up phases and by means of at least one electric auxiliary drive. According to the invention, the function of a holding brake can be assumed by the auxiliary drive on terrain inclines or downhill sections by detecting the speed profile of each of the drive wheels and then, when both drive wheels fall below a predetermined speed to a standstill, the auxiliary drive is engaged in such a way the wheelchair stops at a standstill for a time interval.
Description
Die Erfindung betrifft einen Rollstuhl mit einem Rahmen und wenigstens zwei Antriebsrädern, die sowohl manuell durch auf sie in nacheinander abfolgenden Anschubphasen eingeleitete Kräfte als auch mittels eines elektrischen Hilfsantriebes antreibbar sind.The invention relates to a wheelchair with a frame and at least two drive wheels which can be driven both manually by forces applied to them in successive successive start-up phases and by means of an electrical auxiliary drive.
Ein solcher Rollstuhl ist beispielsweise aus der
Aus der
Aufgrund der Sensorinformationen an den Drehmoment-Sensoren zwischen Greifring und Rad bzw. der Mensch-Maschine-Schnittstelle und der zeitgleich erfassten Bewegung der Arme und/oder des Oberkörpers werden erkennt die Sensorik den Handlungswunsch des Fahrers und es wird die Muskelimpedanz geschätzt. Durch entsprechende Ansteuerung des Hilfsantriebes wird der Fahrer bei der Ausübung seiner Handlung unterstützt, ohne jedoch seine Handlungswirkung zu ersetzen oder zu überstimmen.Based on the sensor information on the torque sensors between the gripping ring and the wheel or the human-machine interface and the simultaneously detected movement of the arms and / or the upper body, the sensors recognize the driver's intention to act and the muscle impedance is estimated. By appropriate control of the auxiliary drive, the driver is assisted in the performance of his action, but without replacing his action or overrule.
Die
Die
In der
Der Erfindung liegt deshalb die Aufgabe zugrunde, die Steuerung des Hilfsantriebes so zu verbessern, dass der Hilfsantrieb dazu verwendet werden kann, als Haltebremse zu wirken, wenn der Rollstuhl an Steigungs- oder Geländestellen angehalten wird und in der Halteposition verharren soll.The invention is therefore based on the object to improve the control of the auxiliary drive so that the auxiliary drive can be used to act as a holding brake when the wheelchair is stopped on slope or terrain and should remain in the holding position.
Zur Problemlösung zeichnet sich der gattungsgemäße Rollstuhl dadurch aus, dass an Gelände-Steigungs- oder Gefällstrecken vom Hilfsantrieb die Funktion einer Haltebremse übernehmbar ist, indem der Geschwindigkeitsverlauf jedes der Antriebsräder detektiert wird und dann, wenn beide Antriebsräder eine vorgegebene Geschwindigkeit bis zum Stillstand unterschreiten, der Hilfsantrieb so zugeschaltet wird, dass der Rollstuhl im Stillstand für ein Zeitintervall verharrt.To solve the problem of the generic wheelchair is characterized in that on terrain slope or downhill sections of the auxiliary drive, the function of a holding brake is accepted by the speed profile of each of the drive wheels is detected and then when both drive wheels below a predetermined speed to a stop, the Auxiliary drive is switched so that the wheelchair remains at a standstill for a time interval.
Dieses Zeitintervall kann wenige Sekunden lang sein oder auch so lange dauern, bis diese Bremsfunktion abgeschaltet wird oder der Rollstuhlfahrer wieder Antriebskräfte in die Greifringe der Antriebsräder einleitet. Die Geschwindigkeit kann beispielsweise vmin = 1 km/h sein. Stillstand des Rollstuhls kann bereits dann detektiert werden, wenn die Geschwindigkeit (noch) nicht exakt 0 km/h ist, sondern im Bereich von Messungenauigkeiten und/oder Toleranzen davon abweicht.This time interval can be a few seconds or even take so long until this braking function is switched off or the wheelchair user again initiates driving forces in the gripping rings of the drive wheels. The speed may be, for example, v min = 1 km / h. Standstill of the wheelchair can already be detected if the speed (still) is not exactly 0 km / h, but deviates in the range of measurement inaccuracies and / or tolerances thereof.
Zur Erkennung von Steigungs- bzw. Gefällstrecken ist vorzugsweise ein Neigungssensor vorgesehen.In order to detect inclines or inclines, an inclination sensor is preferably provided.
Der Hilfsantrieb besteht vorzugsweise aus zwei je eine Ausgangswelle aufweisende, zu einer Einheit zusammengefasste Elektromotoren und jede Ausgangswelle ist an ihrem freien Ende mit einer Antriebsachse bzw. einer Radnabe je eines Antriebsrades verbunden. The auxiliary drive preferably consists of two each having an output shaft having, combined into one unit electric motors and each output shaft is connected at its free end to a drive axle or a wheel hub of each drive wheel.
Der Geschwindigkeitsverlauf der Antriebsräder 1, 2 wird vorzugsweise durch Messen der Drehzahl der permanent mit den Antriebsachsen bzw. den Radnaben verbundenen Elektromotoren gemessen.The speed profile of the
Wenn der Hilfsantrieb zur Unterstützung des Rollstuhlfahrers beim Antrieb des Rollstuhles verwendet werden soll, werden zur Steuerung des Hilfsantriebes eine Mehrzahl aufeinanderfolgender Zeitabstände zwischen zwei Anschubphasen und der Geschwindigkeitsverlauf des Rollstuhls als Funktion der Zeit ausgewertet und es wird während der Anschubphasen die Beschleunigung des Rollstuhls ermittelt und der Hilfsantrieb zugeschaltet, wenn die Zeitabständen einen vorgegebenen Wert unterschreiten und gleichzeitig die Beschleunigung einen vorgegebenen Wert unterschreitet. Der Grenzwert der Zeitabstände kann beispielsweise 1,5 s und der Grenzwert der Beschleunigung beispielsweise 2,5 ms-2 sein. Die Vorgaben sind im Grunde genommen beliebig und hängen in erster Linie von der Konstitution des Fahrers bzw. dessen Wunsch nach Antriebsunterstützung ab.If the auxiliary drive to assist the wheelchair user to drive the wheelchair is to be used to control the auxiliary drive a plurality of successive intervals between two startup phases and the speed of the wheelchair as a function of time evaluated and it is determined during the startup phases, the acceleration of the wheelchair and the Auxiliary drive switched on when the time intervals fall below a predetermined value and at the same time the acceleration falls below a predetermined value. For example, the limit of the time intervals may be 1.5 s and the limit value of the acceleration may be 2.5 ms -2 . The requirements are essentially arbitrary and depend primarily on the constitution of the driver or his desire for propulsion support.
Vorzugsweise werden in einem Auswerteintervall mindestens zwei Zeitabstände ausgewertet. Insbesondere vorzugsweise drei, wobei die Geschwindigkeit, mit der der Hilfsantrieb zugeschaltet wird, frei konfigurierbar ist und insbesondere die zuletzt gemessene Geschwindigkeit verwendet werden soll. Dabei ist aufgrund des starken Anstiegs des Verhältnisses von Geschwindigkeitsänderung zu Zeitintervall die zuletzt gemessene Geschwindigkeit nicht sofort erreichbar. Die manuell aufzubringende Kraft durch den Benutzer ist jedoch deutlich geringer, woraus schwache Schwankungen bei längeren Rollphasen resultieren.Preferably, at least two time intervals are evaluated in an evaluation interval. In particular, preferably three, wherein the speed at which the auxiliary drive is switched on, is freely configurable and in particular the last measured speed is to be used. Due to the sharp increase in the ratio of speed change to time interval, the last measured speed can not be reached immediately. However, the force to be applied manually by the user is significantly lower, resulting in weak fluctuations in longer roll phases.
Vorzugsweise wird die Geschwindigkeit, die maximal während einer Anschubphase im Auswerteintervall gemessen (erreicht) wurde, bei der Zuschaltung des Hilfsantriebes nicht überschritten.Preferably, the speed, which was measured (reached) during a maximum of a starting phase in the evaluation interval, is not exceeded when the auxiliary drive is switched on.
Vorzugsweise wird die Geschwindigkeit des Rollstuhls mittels der Steuerung der Geschwindigkeit des Hilfsantriebes konstant gehalten.Preferably, the speed of the wheelchair is kept constant by means of the control of the speed of the auxiliary drive.
Vorzugsweise wird die Beschleunigung des Rollstuhls ermittelt, indem die Drehzahl mindestens eines der permanent mit den Antriebsachsen bzw. den Radnaben verbundenen Elektromotoren gemessen.Preferably, the acceleration of the wheelchair is determined by measuring the speed of at least one of the permanently connected to the drive axles or the wheel hubs electric motors.
Mit Hilfe einer Zeichnung soll ein Ausführungsbeispiel der Erfindung nachfolgend näher beschrieben werden:With the help of a drawing, an embodiment of the invention will be described in more detail below:
Es zeigen
-
1 - die perspektivische Darstellung eines Rollstuhls; -
2 - die Anordnung eines ersten Hilfsantriebes zwischen den Antriebsrädern in perspektivischer Explosionsdarstellung; -
3 - eine perspektivische Explosionsdarstellung des Hilfsantriebes; -
4 - eine perspektivische Darstellung eines in den Rollstuhlrahmen eingesetzten Hilfsantriebes; -
5 ein erstes Geschwindigkeits-Zeit-Diagramm; -
6 - ein zweites Geschwindigkeits-Zeit-Diagramm.
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1 - the perspective view of a wheelchair; -
2 - The arrangement of a first auxiliary drive between the drive wheels in a perspective exploded view; -
3 - An exploded perspective view of the auxiliary drive; -
4 a perspective view of an auxiliary drive used in the wheelchair frame; -
5 a first speed-time diagram; -
6 - a second speed-time diagram.
Der Rollstuhl besteht im Wesentlichen aus dem Rahmen
Bei der in den
Darüber hinaus hat diese Ausgestaltung auch den Vorteil, dass besonders kleine Elektromotoren Verwendung finden, was zur Gewichtsreduzierung führt.
Die Abtriebswellen
The output shafts
Der in
Anhand der
Der Hilfsantrieb
BezugszeichenlisteLIST OF REFERENCE NUMBERS
- 11
- Antriebsraddrive wheel
- 1.11.1
- GreifringGreifring
- 1a1a
- Antriebsachsedrive axle
- 2 2
- Antriebsraddrive wheel
- 2.12.1
- Greifring Greifring
- 33
- Rahmenframe
- 3.13.1
- Gabelfork
- 3.23.2
- Anlaufflächeapproach surface
- 44
- Hilfsantriebauxiliary drive
- 4.14.1
- Achsrohr axle tube
- 55
- SitzSeat
- 66
- Fußstützefootrest
- 77
- Lenkradsteering wheel
- 88th
- Lenkradsteering wheel
- 99
- Radnabe wheel hub
- 9.19.1
- Innenverzahnunginternal gearing
- 1010
- Antriebsmotordrive motor
- 10.110.1
- Ausgangswelleoutput shaft
- 10.210.2
- Außenverzahnungexternal teeth
- 1515
- Neigungssensortilt sensor
- 2020
- Antriebsmotor drive motor
- 20.120.1
- Ausgangswelleoutput shaft
- 20.220.2
- Außenverzahnungexternal teeth
- 3030
- Handgriff handle
- tt
- ZeitTime
- Ti T i
- Zeitabstandlag
- S1 S 1
- Anschubphasestart-up phase
- S2 S 2
- Anschubphasestart-up phase
- Si S i
- Anschubphase start-up phase
- Si+1 S i + 1
- Anschubphasestart-up phase
- vv
- Geschwindigkeitspeed
- v2 v 2
- Geschwindigkeitspeed
- vmax v max
- Geschwindigkeitspeed
- vmin min
- Geschwindigkeit speed
- ZZ
- Zeitintervalltime interval
- Beschleunigungacceleration
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 102012103136 B4 [0002]DE 102012103136 B4 [0002]
- DE 102014103907 A1 [0003]DE 102014103907 A1 [0003]
- DE 102005048374 A1 [0005]DE 102005048374 A1 [0005]
- EP 2740455 B1 [0006]EP 2740455 B1 [0006]
- WO 2013/006818 [0007]WO 2013/006818 [0007]
- DE 102016118032 [0024]DE 102016118032 [0024]
Claims (10)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017111129.8A DE102017111129A1 (en) | 2017-05-22 | 2017-05-22 | Wheelchair with at least one electric auxiliary drive |
PCT/EP2018/060787 WO2018215163A1 (en) | 2017-05-22 | 2018-04-26 | Wheelchair with at least one electric auxiliary drive |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017111129.8A DE102017111129A1 (en) | 2017-05-22 | 2017-05-22 | Wheelchair with at least one electric auxiliary drive |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102017111129A1 true DE102017111129A1 (en) | 2018-11-22 |
Family
ID=62111055
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102017111129.8A Granted DE102017111129A1 (en) | 2017-05-22 | 2017-05-22 | Wheelchair with at least one electric auxiliary drive |
Country Status (2)
Country | Link |
---|---|
DE (1) | DE102017111129A1 (en) |
WO (1) | WO2018215163A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN117597098A (en) | 2021-06-29 | 2024-02-23 | 游戏改变者技术有限公司 | Wheelchair propulsion system |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005048374A1 (en) | 2005-10-10 | 2007-04-19 | Meyra Wilhelm Meyer Gmbh & Co. Kg | Wheelchair with device for keeping the speed constant |
DE202008017474U1 (en) * | 2008-08-08 | 2009-09-24 | Ulrich Alber Gmbh | Auxiliary drive device for a wheelchair and wheelchair with auxiliary drive device |
WO2013006818A2 (en) | 2011-07-06 | 2013-01-10 | Richter W Mark | Motion-based power assist system for wheelchairs |
EP2740455B1 (en) | 2012-12-07 | 2015-09-09 | AAT Alber Antriebstechnik GmbH | Small vehicle, in particular wheelchair |
DE102014103907A1 (en) | 2014-03-21 | 2015-09-24 | Karlsruher Institut für Technologie | Passenger vehicle and control of a passenger vehicle and a method for operating the same |
DE102012103136B4 (en) | 2012-04-12 | 2016-01-14 | Aat Alber Antriebstechnik Gmbh | Auxiliary drive device for wheelchairs |
US20160121956A1 (en) * | 2013-07-04 | 2016-05-05 | Yamaha Hatsudoki Kabushiki Kaisha | Wheelchair electric device, electric wheelchair with wheelchair electric device and drive monitoring method for electric wheelchair |
DE102016118032A1 (en) | 2016-09-23 | 2018-01-11 | Otto Bock Mobility Solutions Gmbh | Drive unit and wheelchair with drive unit |
-
2017
- 2017-05-22 DE DE102017111129.8A patent/DE102017111129A1/en active Granted
-
2018
- 2018-04-26 WO PCT/EP2018/060787 patent/WO2018215163A1/en active Application Filing
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005048374A1 (en) | 2005-10-10 | 2007-04-19 | Meyra Wilhelm Meyer Gmbh & Co. Kg | Wheelchair with device for keeping the speed constant |
DE202008017474U1 (en) * | 2008-08-08 | 2009-09-24 | Ulrich Alber Gmbh | Auxiliary drive device for a wheelchair and wheelchair with auxiliary drive device |
WO2013006818A2 (en) | 2011-07-06 | 2013-01-10 | Richter W Mark | Motion-based power assist system for wheelchairs |
DE102012103136B4 (en) | 2012-04-12 | 2016-01-14 | Aat Alber Antriebstechnik Gmbh | Auxiliary drive device for wheelchairs |
EP2740455B1 (en) | 2012-12-07 | 2015-09-09 | AAT Alber Antriebstechnik GmbH | Small vehicle, in particular wheelchair |
US20160121956A1 (en) * | 2013-07-04 | 2016-05-05 | Yamaha Hatsudoki Kabushiki Kaisha | Wheelchair electric device, electric wheelchair with wheelchair electric device and drive monitoring method for electric wheelchair |
DE102014103907A1 (en) | 2014-03-21 | 2015-09-24 | Karlsruher Institut für Technologie | Passenger vehicle and control of a passenger vehicle and a method for operating the same |
DE102016118032A1 (en) | 2016-09-23 | 2018-01-11 | Otto Bock Mobility Solutions Gmbh | Drive unit and wheelchair with drive unit |
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WO2018215163A1 (en) | 2018-11-29 |
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