DE102019213024A1 - Handle part for a system for retrofitting a walking aid - Google Patents

Abstract

The invention relates to a handle part for receiving human control inputs for a mobile walking aid (1) with an electric drive comprising a base body (24) with an elongated shape which has a mechanical interface for attachment to the walking aid (1), a sliding body (25) , which is mounted displaceably in the direction of the elongated shape of the base body (24) along a rail or groove on this, and a force sensor (21) for measuring the displacement of the displacement body (25).

Description

The invention relates to a handle part for receiving human control inputs for a mobile walking aid with an electric drive and a corresponding system.

Mobile walking aids are known from the prior art. They usually have three or four wheels and are used to support people of old age or with physical limitations when walking upright and to enable them to improve mobility. Unlike walking sticks or walking frames without wheels, mobile walking aids do not have to be lifted from the ground while walking, which ensures greater stability and a reduced risk of falling. Mobile walking aids can also be referred to as rollators or walkers.

To support the user, mobile walking aids are also known which have an electric drive so that the user does not have to use any or little force to set the walking aid in motion. Such walking aids have a drive unit, control electronics and an energy store. The operating concept for such electrically assisted walking aids must be learned by the user, as it differs significantly from the use of a conventional mobile walking aid. For example, there are often individual buttons on the handle part for driving in the forward direction and stopping the walking aid. The user normally has to adapt to the walking aid because it is not able to deviate from defined driving profiles or a certain speed or acceleration.

It is therefore the object of the present invention to provide a solution to the problems mentioned, which allows comfortable and safe operation of a mobile walking aid.

The object is achieved by the features of the independent claims. Preferred developments are the subject of the dependent claims. The claims at this point are made part of the content of the description by express reference.

According to one aspect of the invention, a handle part for receiving human control inputs for a mobile walking aid with an electric drive comprises a base body with an elongated shape, which has a mechanical interface for attachment to the walking aid, a sliding body that extends in the direction of the elongated shape of the base body a rail or groove is mounted displaceably on or relative to this, and a sensor, in particular a force sensor, for detecting the displacement of the displacement body. In this context, a displacement body is preferably understood to mean an element that can only be moved by lateral displacement - a rotatably mounted element or lever does not fall under the term, for example. The elongated shape of the base body preferably extends in the direction of travel of the mobile walking aid, in particular horizontally when it is mounted on it. The handle part is preferably used to detect a thrust force by the user in the axial direction. This is possible, for example, with a potential sensor or with the help of a strain gauge.

The sliding body allows, for example, an intuitive operation compared to a conventional button or lever, so that users experience the same functionality as with any other unsupported mobile walking aid. At the same time, however, users only need to acquire a few new skills to use the electrically powered walking aid. The mechanical interface for attachment to the walking aid is preferably designed or dimensioned in such a way that the handle part can be retrofitted to mobile walking aids of different types or from different manufacturers. For this purpose, the system can preferably comprise rubber rings which, depending on the number and thickness used, serve as a variable base.

It is preferred that the mobility of the sliding body is limited to an axial displacement in the direction of the elongated shape of the base body. Slipping sideways with the hand or twisting, in particular if the user falls, is therefore not incorrectly recognized as a driving request. The restriction is therefore for safety. The first and / or second time derivative of the force is preferably limited in order to recognize an unusual situation, such as a fall, and, if necessary, to brake the motors.

The safety is preferably further increased in that the sensor is designed such that a displacement of the sliding body is measured by the sensor in only one direction, in particular the pressure direction. The pressure direction preferably means the forward direction of the mobile walking aid or the direction leading away from the user. Because the sensor only measures a positive distance and does not detect any tensile forces, it prevents the distance between the user and the walking aid and thus the risk of falling from becoming too great.

It is preferred that the sliding body is continuously displaceable, the sensor converting the displacement into a continuously variable signal. The stepless entry and implementation of the If the driver wishes, it is not necessary to adapt the walking speed of the user to the walking aid and particularly intuitive operation is made possible.

It corresponds to a preferred embodiment that the displacement body is connected to the base body via a return spring which is designed such that the displacement body is displaced into a zero position without the action of external force. This ensures that the walking aid cannot accelerate if the user does not have his hand on the handle.

According to a preferred embodiment, the sliding body has a shape which is adapted to a hand area between thumb and forefinger, in particular is designed as a negative shape of such a hand area. It goes without saying that such a negative shape can preferably also be roughly approximated. In other words, the sliding body is preferably ergonomically adapted to a hand.

It is preferred that a brake lever is attached to or integrated into the base body. This brake lever is preferably connected to a wheel brake and / or control electronics via a Bowden cable.

It is also preferred that the handle part has a switching device, in particular a button or switch, with which the sensor and / or the electric drive can be activated and deactivated. The walking aid can therefore also be used without an auxiliary drive like a conventional walking aid.

The handle part preferably has a display device, in particular a display, which shows a charge status of an energy store and / or an availability of the electric drive.

According to a preferred embodiment, the mechanical interface for attachment to the walking aid is designed as a clamp connection. For example, the interface can have a hollow cylindrical shape, possibly slightly conical on the inside, with which the handle part can be fastened to the counterpart of the walking aid by means of a press fit. In addition, securing by means of a clamp that can be tightened with screws is conceivable.

According to a further aspect of the invention, a system for retrofitting a mobile walking aid comprises a handle part, as described, as a user interface for receiving human control inputs, a wheel module with an electric motor designed as a wheel hub motor, on whose rotatably mounted rotor a wheel is attached, and a connecting device for Transfer of the control inputs to the wheel module.

The system preferably comprises two of the wheel modules, two of the handle parts and two connecting devices for transmitting the control inputs to the wheel module.

It is preferred that only one of the two handle parts is designed with the display device and the switching device. This makes the operation of the walking aid clearer and costs can be saved.

A wheel module for mounting on a mobile walking aid preferably comprises a wheel and an electric motor designed as a wheel hub motor, on whose rotatably mounted rotor the wheel is attached. The rotor of the motor is correspondingly mechanically connected to the wheel and the stator of the motor can be attached to the frame or the wheel holder of the walking aid. It is advisable to use a brushless DC motor, also BLDC. The commutation can take place in a known manner with the aid of a B6 bridge on the basis of the rotor position detected by the Hall sensor.

An electrical control device is preferably used to control the motor. This preferably regulates the torque or the speed of the motor, for example by means of a PWM signal that is output, for example, by a microcontroller that controls a power transistor. In order to regulate the motor speed when the load changes and to implement a setpoint change in the speed, at least one Hall sensor is attached to the motor, which transfers the position to the controlling microcontroller.

The wheel module preferably also includes an energy store for supplying the electric motor with energy. The energy store can be, for example, a lithium-ion accumulator that provides the motor with an electrical voltage.

Furthermore, the wheel module preferably comprises an interface for mounting on the mobile walking aid. The interface is preferably designed in such a way that the stationary part of the wheel module, that is to say everything except the rotor and the wheel, can be rigidly connected to the walking aid. The rotor axle can be rotatably mounted on the walking aid at the same point at which the axle of a conventional, non-driven wheel is otherwise mounted.

The wheel, the motor, the control device and the energy store, possibly also Sensors or other components preferably form a compact unit. As a result, the expansion from a conventional to a powered walking aid is significantly simplified.

The compactness of the unit can be achieved, for example, in that all or some of the components mentioned are arranged directly adjacent to one another. They are preferably mechanically connected to one another, with temperature problems being able to be avoided by suitable thermal insulation. According to a preferred embodiment, the components are attached to a common support structure and / or enclosed by a common housing or embedded therein. In contrast to the targeted placement of drive components as the basis for the development of an electrically powered mobile walking aid, which has been customary in the pre-development or development process, the design as a compact unit allows simple retrofitting of a previously non-motor-assisted walking aid, so that there is no need to purchase a completely new one can be.

It is preferred that the interface comprises a fastening element for fastening the wheel module to the wheel holder of the mobile walking aid. To relieve the stress on joints and to increase mobility, a mobile walking aid generally has a support structure, usually as a frame made of aluminum or a carbon fiber-reinforced plastic, with openings for the rotatable mounting of the wheels. The wheel mount is preferably understood to mean this support structure or a wheel-bearing leg or the area around the openings.

The fastening element preferably comprises a clamping device for clamping the wheel module to the wheel holder. The necessary clamping force can be generated with the help of screws. The clamping device can comprise an elastic element that adapts to various shapes of a wheel mount and at least partially encloses it. Thus, the wheel module can be mounted as a compact unit on any version of a conventional walking aid.

The motor, control device and energy store are preferably arranged in a common housing or at least fastened to a common support structure. This means that there is no need to assemble several individual components.

It corresponds to a preferred embodiment that the housing is designed to run around the axis of rotation of the wheel. In other words, the housing encloses a space in all radial directions around the axis of rotation. In this way, a particularly space-saving and flexible assembly with regard to different types of walking aids can be achieved.

The wheel preferably comprises an integrated roller bearing. On the one hand, this allows the bearing to be adapted to the conditions of a powered walking aid and, on the other hand, enables a conventional wheel module to be exchanged with a wheel module described here, even in cases where an exchange is only possible together with the bearing.

It is preferred that the wheel module comprises one or more inertial sensors for detecting movement. The inertial sensors are preferably also arranged in the housing. In addition to a single rotation rate or acceleration sensor, the term inertial sensor preferably also includes an inertial measuring unit, also called IMU, which is formed by a spatial combination of several inertial sensors such as acceleration sensors and rotation rate sensors, also called gyroscopic sensors. It is particularly preferably one or more inertial sensors that are designed to detect accelerations in three spatial directions and to detect rotational movements about these three axes, so that very precise position detection is possible.

According to a further aspect, the wheel module is part of a system for retrofitting a mobile walking aid, which also includes a user interface, also called HMI, for receiving human control inputs and a connection device for transmitting the control inputs to the wheel module. Such a system contains all the components that are necessary for the electrification of a mobile walking aid, but can still be mounted on an existing walking aid without it having to be modified. The components can easily be attached to the support structure of the walking aid, for example with clip-like clamping devices, so that an input at the user interface via the connecting device can reach the control device of the motor and support the user when walking.

It corresponds to a preferred embodiment that the user interface comprises a handle, the handle comprising a sliding body which is designed to absorb forces, in particular exclusively, in an axial direction. This ensures that no unintentional control inputs are made.

According to a preferred embodiment, the connecting device is designed as a line for transmitting electrical signals. Such a line in the form of an electric cable can be along the Support structure are laid and various signals are transmitted in both directions. Alternatively, the connection device is designed for wireless transmission of the signals.

The electrical control device of the wheel module is preferably designed to adapt the torque and / or the speed of the motor as a function of the signals transmitted via the line, preferably additionally as a function of measurement data from at least one inertial sensor. The motor is preferably designed for 4-quadrant operation, i.e. for setting the rotational speed and torque in positive and negative directions.

Alternatively, the connecting device is designed as a Bowden cable. This is preferably a movable machine element for the transmission of a mechanical movement as well as compressive and tensile forces by means of a flexible combination of a wire rope and a sleeve that is pressure-resistant in the direction of travel. This allows flexible adaptation of the connection device to different walking aids and represents a particularly reliable way of signal transmission.

The wheel module preferably has a device which is designed to translate forces transmitted via the Bowden cable into electrical signals, the electrical control device of the wheel module being designed to measure the torque and / or the speed of the motor as a function of the electrical signals, preferably additionally adapt depending on measurement data of at least one inertial sensor. The device, which is designed to translate forces transmitted via the Bowden cable into electrical signals, can for example comprise a lever element which is movable by the pull cable of the Bowden cable and whose movement is detected by a sensor.

According to a further alternative, the connecting device comprises both a line for transmitting electrical signals and a Bowden cable. Preferably, the Bowden cable is functionally connected to a brake and the line to an acceleration slide, handle, or button. This division allows safe and uncomplicated operation, while still ensuring easy retrofitting of the mobile walking aid.

According to an embodiment which is particularly advantageous in the case of walking aids with two rear wheels, the system comprises two wheel modules, two user interfaces for receiving human control inputs and two connecting devices for transmitting the control inputs to the wheel module. A wheel module, a user interface and a connecting device are preferably assigned to one side of the walking aid.

Another advantage lies in a mobile walking aid which comprises a support structure carried on wheels for supporting a person and a system as described. Due to its simplicity, the system can be easily dismantled from the walking aid or reassembled on it or on a walking aid from another manufacturer.

In addition to a wheel, the wheel module preferably comprises an electric motor designed as a wheel hub motor, on whose rotatably mounted rotor the wheel is attached, an electric control device for controlling the motor and a movement control unit for calculating the motor support of the wheel module and one or more inertial sensors for detecting movement. The system preferably also comprises a user interface for receiving human control inputs as well as a connection device for transmitting the control inputs to the wheel module, the movement control unit being designed to, depending on the signals transmitted via the connection device and on the measurement data of the at least one inertial sensor, the torque and / or the Adjust the engine speed. The motor assistance is therefore not only dependent on the input of the user via the user interface, but also on the measurement data of the inertial sensor. In this way, various applications can be easily integrated into the operating concept in such a way that the walking aid is always comfortable to use. With regard to this concept, further preferred embodiments are explained below.

It is preferred that the movement control unit is designed to distinguish a positive or negative angle of inclination of the system detected by the at least one inertial sensor and to adapt the torque and / or the speed of the motor and / or its direction as a function thereof. A positive angle of inclination preferably relates to a horizontal plane and describes an upward inclination in the direction of travel. A negative angle of inclination preferably describes a downward inclination accordingly. By differentiating between uphill and downhill travel, the torque or the speed can be regulated according to the user's wishes.

The movement control unit is preferably designed to distinguish a positive or negative angle of inclination of the system detected by the at least one inertial sensor and the torque and / or the speed of the motor with a rate of change that depends on it. In other words, an acceleration or braking gradient is adapted to the driving situation.

It is preferred that the movement control unit is designed so that in the case of a positive angle of inclination the motor is controlled with a torque in an accelerating direction of rotation and in the case of a negative angle of inclination in a braking direction of rotation, each based on the same signal transmitted via the connecting device. In other words, the increase in the assisting torque - plotted against the force of the user input or displacement of the sliding body on the handle part - is steeper when driving uphill and less steep when driving downhill is detected. The fact that the motor is controlled in a braking direction of rotation is preferably to be understood to mean that the motor is put into generator mode. This creates a braking effect and kinetic energy is converted into electrical energy, which is preferably used to charge the energy store.

The motion control unit is preferably designed in such a way that the motor is controlled with a torque in a braking direction of rotation when the speed reaches or exceeds a specified maximum value. For the scenario of running uphill, a different, in particular higher, maximum speed can preferably be defined than for running downhill.

The system preferably comprises a brake for the wheel, the movement control unit being designed such that the motor is controlled with a torque in a braking direction of rotation when the brake is actuated. The motor is preferably operated in so-called 4-quadrant operation, so it can both accelerate and brake in both directions.

It is preferred that the movement control unit blocks the motor in one of the directions of rotation, in particular a backward-facing direction of rotation, in the event of a negative angle of inclination. This prevents the walking aid from rolling back unintentionally on the slope and thus preventing an accident.

According to a preferred embodiment, the inertial sensor is designed to measure accelerations in all three axes of space and rotational accelerations about each of these axes. Such an inertial sensor is also called a 6-axis sensor. It can be implemented, for example, by a number of distributed sensors or by a compact inertial measuring unit.

A mobile walking aid preferably comprises a support structure carried on wheels for supporting a person and a system described here.

The movement control unit preferably executes the method according to which the torque and / or the speed of the motor is adapted as a function of the signals transmitted via the connecting device and of measurement data from the at least one inertial sensor. It goes without saying that further features can also be reformulated in process steps and one or more protection claims can likewise be formulated for such a process.

A drive system can be considered as a subsystem of the system already described, which preferably has two wheel modules for mounting on a mobile walking aid, each of the wheel modules comprising a wheel, an electric motor designed as a wheel hub motor, on whose rotatably mounted rotor the wheel is attached. The rotor of the motor is correspondingly mechanically connected to the wheel and the stator of the motor can be attached to the frame or the wheel holder of the walking aid. It is advisable to use a brushless DC motor, also BLDC. The commutation can take place in a known manner with the aid of a B6 bridge on the basis of the rotor position detected by the Hall sensor.

An electrical control device is preferably used to control the motor. This preferably regulates the torque or the speed of the motor, for example by means of a PWM signal that is output, for example, by a microcontroller that controls a power transistor. In order to regulate the motor speed when the load changes and to implement a setpoint change in the speed, at least one Hall sensor is attached to the motor, which transfers the position to the controlling microcontroller.

The wheel modules preferably each also include an energy store for supplying the electric motor with energy. The energy store can be, for example, a lithium-ion accumulator that provides the motor with an electrical voltage. The energy store is preferably designed in such a way that it can be charged inductively.

Furthermore, each of the wheel modules preferably includes an interface for mounting on the mobile walking aid. The interface is preferably designed in such a way that the stationary part of the wheel module, that is to say everything except the rotor and the wheel, can be rigidly connected to the walking aid. The rotor axis can be in the same place on the walking aid be rotatably mounted on which the axle of a conventional, non-driven wheel is otherwise mounted.

One of the wheel modules is preferably designed as a slave wheel module and the other wheel module as a master wheel module. In other words, there is a hierarchical form of managing access to a common resource in the form of a common data channel, in this case with regard to the regulation or control of the drive motors.

The control device of the master wheel module therefore preferably has a movement control unit for calculating the respective motor assistance of the master wheel module and of the slave wheel module. The movement control can therefore be carried out centrally or singularly and used for both wheel modules. The slave wheel module therefore does not need its own movement control unit, which is why the slave wheel module preferably does not have one.

It is preferred that each of the wheel modules has a wireless connection module which is each designed to communicate bidirectionally with the other connection module. The connection module of the master wheel module is expediently designed to send at least the motor support of the slave wheel module calculated by the motion control unit, ie preferably torque and / or speed, to the connection module of the slave wheel module.

The slave wheel module is preferably designed to transmit a signal to the connection module of the master wheel module via its connection module, which signal represents a drive input from a user, a battery status, an actual value of the engine speed and / or a functional status. As these signals are transmitted wirelessly, all information is available to ensure safe movement control of the walking aid with just one movement control unit.

It is preferred that the connection modules each have a plurality of communication channels for the simultaneous sending and receiving of data in order to enable a rapid and reliable exchange of data.

The connection modules preferably each comprise one
WLAN communication chip. The WLAN communication chip is preferably designed to implement several WLAN standards or IEEE 802.11 standards.

Alternatively or additionally, it is preferred that the connection modules each include a Bluetooth communication chip.

One or both wheel modules preferably comprise one or more inertial sensors for detecting movement. The position of the drive system or the walking aid in the room can thus be determined and the control of the drive can be adjusted accordingly.

It is preferred that the movement control unit is designed to adapt the torque and / or the speed of the respective motor as a function of the signals transmitted via the line, preferably additionally as a function of measurement data from at least one inertial sensor.

The drive system preferably has two user interfaces for receiving human control inputs and a connection device for transmitting the control inputs to the wheel modules. The user interfaces are preferably implemented by ergonomically adapted handle parts.

According to a further aspect, a mobile walking aid comprises a support structure carried on wheels for supporting a person and a drive system as described.

The properties, features and advantages of this invention described above and the manner in which they are achieved will become more clearly and more clearly understood in connection with the following description of exemplary embodiments in connection with the drawings.

Figure list

• 1 a mobile walking aid with an indicated system according to the invention according to an embodiment
• 2 an electric-electronic architecture according to an embodiment of the invention
• 3rd a handle as an interface to the user and a diagram showing the signal conversion of the input,
• 4th a characteristic curve for determining the motor support depending on the downhill or uphill gradient,
• 5 a division of the control devices within the wheel modules,
• 6th to 12th various exemplary applications according to an embodiment of the invention.

In the 1 shown mobile walking aid 1 corresponds to a conventional walking aid that has been retrofitted by a system according to the invention and thus has an electric drive that enables a user to walk with the walking aid 1 supported. For this purpose, the system includes the walking aid for the left and the right side 1 a wheel module 4th , a user interface 2 for receiving human control inputs and a connection device 3rd to transfer the control inputs to the wheel module 4th .

The user interface 2 is controlled by a right and left handle of the walker 1 formed, each of which has a sliding body 25th comprises as a displaceable receiving element which is designed to absorb forces in an axial direction. This is the name given to the side of the walking aid 1 with the handles on the back, the opposite side faces forward and the walking aid 1 can be assigned a forward direction accordingly. Regardless of the handles, it should be possible for a person skilled in the art to be able to assign a forward direction with other types of walking aids. The sliding bodies 25th are designed so that they can only receive input from the user in the forward direction that relates to a desired drive assistance.

The one from the sliding body 25th Axial force received is converted into an electrical signal. Via a cable that is part of the connecting device 3rd is, the electrical signal is sent to the respective wheel module 4th directed. This has an electrical control device 50 for controlling an electric motor designed as a BLDC 41 . The motor 41 is in the wheel module as a wheel hub motor 4th integrated and has a Hall sensor for detecting the rotational position of the rotor. The electrical control device 50 includes a motor controller as a sub-unit 51 that depend on commands from a motion control unit 52 the speed or the torque of the motor by means of pulse width modulation 41 regulates.

Just the control device 50 one of the wheel modules 4th - that of the master wheel module 4a - includes the motion control unit 52 with which the respective motor support of the master wheel module 4a as well as the slave wheel module 4b is calculated.

The components of the system are designed in such a way that they can be attached to the walking aid with simple means, such as clamp connectors 1 can be attached. Since the system is only indicated with lines, the clamp connectors are in 1 not shown. The wheel modules too 4th each include such an interface 43 for mounting on the mobile walking aid 1 .

Furthermore, each of the wheel modules includes 4th an energy store 42 in the form of a battery and an inductive charging system 44 and an inertial sensor 45 for detecting the position of the walking aid 1 .

An embodiment for an electrical-electronic architecture is shown in FIG 2 shown. There are energy connections 8th , i.e. supplies with electrical energy, and signal connections 9 each represented by thick arrows.

It is possible to use the walking aid via a charging station 1 to be charged inductively. This is very convenient, especially for older users, and thus enables better operability of the overall system. The charging station contains an AC / DC converter and inductively transfers the required charging energy for the two wheel modules 4th or energy storage.

The reception of human control inputs takes place via the two user interfaces designed as handle parts 2 with the help of a force sensor 21 . The one with the master wheel module 4a connected user interface 2 also has a single switching device 22nd as an on and off button and a display device 23 on.

The human control inputs are combined with the data from the inertial sensor 45 as well as the engine control 51 in the motion control unit 52 processed to determine the required motor support and to the motor control 51 to pass on. Each of the wheel modules 4th has a wireless connection module 46 on. From the master wheel module 4a is via its connection module 46 those from the engine 41 of the slave wheel module 4b Required motor support transmitted and from the slave wheel module 4b via its connection module 46 those for the motion control unit 52 relevant data, such as the current rotational position of the rotor in the motor 41 .

The energy storage 42 can by means of the inductive charging system 44 to be charged. To the energy storage 42 belong in the master wheel module 4a still a battery fuse 42a , a battery monitoring unit 42d , a master power switch 42c and a status light 42b . In the slave wheel module 4b it is accordingly a slave main power switch 42e .

For charging via the inductive charging system 44 becomes an external charging station 70 used for this purpose via a power supply 71 and per wheel module 4th a loading unit 72 having.

3rd shows the user interface 2 which is primarily formed by a grip part for one hand of the user. The handle part comprises one on a base body 24 axially displaceable sliding body 25th , which is used to absorb forces in Direction of the displacement axis is designed and ergonomically adapted to one hand. So that the sliding body 25th always returns to its zero position without external force, it is equipped with a suitable return mechanism, such as a return spring.

The displacement force is determined by means of the force sensor 21 measured - the force sensor 21 can be designed for this purpose, for example, as a spring body force transducer with strain gauges or as a Hall sensor - and the force is converted into a signal that is transmitted via the connecting device 3rd the control devices 50 of the wheel modules 4th reached. With the signal on the ordinate and the force applied by the user on the abscissa it is on the right side of 3rd the relationship between signal and force is plotted in a diagram.

The motor support can be done by means of the on the force sensors 21 measured thrust as well as taking into account the inertial sensor measuring in six axes 45 be calculated. The supporting motor torque results from the thrust on the handle, the angle of incline of the walking aid 1 as well as the defined maximum speed. In 4th this is shown as a diagram.

The supporting torque is on the ordinate and the force absorbed on the handle part is on the abscissa for the case of a walking aid moving in the forward direction 1 applied. The steeper increase in torque over the force corresponds to the situation that the walking aid 1 is inclined uphill, while the flatter slope corresponds to a situation in which the walking aid 1 slopes downhill. The incline of the walker 1 is made with the help of the inertial sensor 45 detected.

The motor assistance is always zero or negative if the speed requested according to the user input is less than the current speed or if the current speed reaches the defined maximum speed or if the user has activated the service brake.

A possible partitioning of the in 2 shows the system shown in software modules 5 . The slave wheel module transmits in a suitable manner 4b by means of a radio link via the connection module 46 Data to the master wheel module 4a or its connection module 46 . Relevant data here are in particular the force absorbed by the slave wheel module 4b via the connecting device 3rd connected user interface 2 as well as the status of the energy source 42 , the actual value of the engine speed and the current status of the inertial sensor 45 , Engine 41 and energy source 42 .

In 6th an application is shown in which the walking aid 1 is moved on a horizontal plane by the user. Both directions of movement, both pushing and pulling, are possible, but the electric motors only provide assistance in the forward direction 41 . In 6th as well as in the 7th to 12th both an input by the user and a weight force, shown as arrows, are shown in each case. In the application of the 6th receive the control devices 50 of the wheel modules 4th As a result of the input of the user the command, an acceleration of the walking aid 1 until the user's input ends or the maximum speed is reached.

In the case of the 7th is additionally provided by the inertial sensor 45 an uphill slope and at 8th a downward slope of the walker 1 recognized and the torque adjusted accordingly.

In the application of the 9 is through both force sensors 21 a strong force exerted by the user on the handle parts and thus an impending fall was detected. The control devices 50 of the wheel modules 4th then receive the command to block the motors 41 so that a fall is caused by the walking aid rolling away 1 is prevented. The risk of falling is further reduced by the fact that correct operation of the handle parts requires the user to maintain an upright posture.

Used by the inertial sensor 45 a tilting of the walker 1 detected on a curb, the engine accelerates 41 only up to a speed predefined for this application. This use case is in 10 shown.

In order to enable steering movements, the wheel of the wheel module on the outside of the curve is used if the user inputs asymmetrically 4th opposite the wheel of the inner wheel module 4th accelerated to make cornering easier.

In the in 12th The application shown, the user activates the brake and sits on a seat device of the walking aid 1 . The brake activated via the Bowden cable has priority over any input via the handle parts and the motors 41 remain deactivated.

In the illustrated and in other applications, the speed of the walking aid is thus 1 to the user as well as to the situation or inclination of the walking aid 1 customized.

Claims (14)

Comprising handle part for receiving human control inputs for a mobile walking aid (1) with an electric drive a base body (24) with an elongated shape which has a mechanical interface for attachment to the walking aid (1), a sliding body (25) which is mounted in the direction of the elongated shape of the base body (24) along a rail or groove relative to this, and a sensor for detecting the displacement of the sliding body (25). Handle part according to Claim 1 , characterized in that the mobility of the sliding body (25) is limited to an axial displacement in the direction of the elongated shape of the base body (24). Handle part according to one of the preceding claims, characterized in that the force sensor (21) is designed so that a displacement of the sliding body (25) is measured by the force sensor (21) only in one direction, in particular the pressure direction. Handle part according to one of the preceding claims, characterized in that the displacement body (25) can be displaced steplessly, the force sensor (21) converting the displacement into a stepless signal. Handle part according to one of the preceding claims, characterized in that the sliding body (25) is connected to the base body via a return spring which is designed so that the sliding body (25) is moved into a zero position without external force. Handle part according to one of the preceding claims, characterized in that the sliding body (25) has a shape which is adapted to a hand area between thumb and forefinger, in particular is designed as a negative shape of this hand area. Handle part according to one of the preceding claims, characterized in that a brake lever is attached to the base body (24) or is integrated into it. Handle part according to one of the preceding claims, characterized in that the handle part has a switching device, in particular a button or switch, with which the force sensor (21) and / or the electric drive can be activated and deactivated. Handle part according to one of the preceding claims, characterized in that the handle part has a display device, in particular a display, which indicates a charge status of an energy store (42) and / or an availability of the electric drive. Handle part according to one of the preceding claims, characterized in that the mechanical interface for attachment to the walking aid (1) is designed as a clamp connection. Handle part according to one of the preceding claims, characterized in that the sensor is designed as a force sensor (21) and detects the displacement of the displacement body (25) by measuring the displacement force. System for retrofitting a mobile walking aid (1), comprising a handle part according to one of the preceding claims as a user interface (2) for receiving human control inputs, a wheel module with an electric motor (41) designed as a wheel hub motor, on whose rotatably mounted rotor a wheel is attached, and a connecting device (3) for transmitting the control inputs the wheel module (4). System according to Claim 12 , comprising two of the wheel modules (4), two handle parts according to one of the Claims 1 to 9 and two connection devices (3) for transmitting the control inputs to the wheel module (4). System according to Claim 13 , characterized in that only one of the two handle parts according to the Claim 8 is trained.

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