EP0405542A2 - Chaise roulante - Google Patents

Chaise roulante Download PDF

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Publication number
EP0405542A2
EP0405542A2 EP90112341A EP90112341A EP0405542A2 EP 0405542 A2 EP0405542 A2 EP 0405542A2 EP 90112341 A EP90112341 A EP 90112341A EP 90112341 A EP90112341 A EP 90112341A EP 0405542 A2 EP0405542 A2 EP 0405542A2
Authority
EP
European Patent Office
Prior art keywords
seat
wheelchair according
support frame
backrest
wheelchair
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP90112341A
Other languages
German (de)
English (en)
Other versions
EP0405542A3 (en
Inventor
Hans-Joachim Abe
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Erfi Produktions-Gmbh & Co KG
Original Assignee
Erfi Produktions-Gmbh & Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Erfi Produktions-Gmbh & Co KG filed Critical Erfi Produktions-Gmbh & Co KG
Publication of EP0405542A2 publication Critical patent/EP0405542A2/fr
Publication of EP0405542A3 publication Critical patent/EP0405542A3/de
Withdrawn legal-status Critical Current

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Classifications

    • 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
    • A61G5/006—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs convertible to stretchers or beds
    • 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
    • A61G5/125—Rests specially adapted therefor, e.g. for the head or the feet for arms
    • 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
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1056—Arrangements for adjusting the seat
    • A61G5/107—Arrangements for adjusting the seat positioning the whole seat forward or rearward
    • 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
    • A61G5/1056—Arrangements for adjusting the seat
    • A61G5/1075—Arrangements for adjusting the seat tilting the whole seat backwards
    • 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

Definitions

  • the invention relates to a wheelchair for the sick and physically handicapped with a mobile pedestal, on which a seat with an inclinable backrest, which is pivotally connected to the seat, is attached via an infinitely variable in the support frame, the seat and backrest being one in any , Infinitely adjustable angular position form existing unit, which is articulated and slidably supported on the support frame 3.
  • Such a wheelchair is known from GB-OS 21 25 285 and in further development from the older German patent application P 38 05 630.5. Difficulties arise particularly when adjusting the angle of the seat and backrest relative to one another, especially under the weight of the person in the wheelchair. In this case, a high level of effort is required for the operator, so that as a rule a second person must be consulted for the adjustment. The physically handicapped himself is not able to make an adjustment, so that he is dependent on the help of others. The inclination of the support frame can only be changed with great effort and with the help of third parties.
  • an easy adjustment and adjustment of the different wheelchair parts is of particular importance so that the sick or physically handicapped can be brought into a position and position at any time or can bring himself to serve his well-being or in which he can be treated and cared for most appropriately, so that the healing process is accelerated accordingly.
  • the object of the invention is therefore to provide a wheelchair of the type specified in the preamble of claim 1, the essential individual parts, such as seat and backrest, can be easily and quickly adjusted and adjusted with respect to the inclination and angular position of the individual parts. Such an adjustment should also be able to be carried out by the sick or physically handicapped themselves in the wheelchair, so that he can adjust and change the position most convenient for him at any time.
  • the wheelchair specified in the preamble of claim 1 is to be improved to the extent that it is fatigue-free and comfortable sitting and lying conditions as well as moving the patient to any position required for treatment and healing.
  • the design effort should be as minimal as possible and on the other hand a high durability and reliable operation of the wheelchair should be guaranteed.
  • This actuating element is expediently driven by an electric motor.
  • an electric motor for easy inclination adjustment of the support frame, which consists of several curved struts that are and guide rollers are held and guided, a tension element designed, for example, as a rope or chain is provided, which is attached at one point to the support frame and is guided over deflection rollers and a drive, the drive also being coupled to an electric motor according to a further advantageous feature of the invention is.
  • the unit consisting of the seat and backrest makes it easy and quick to adjust the inclination of the support frame and thus the unit consisting of the seat and backrest, so that this unit can be moved from an overhead position into the horizontal position to a vertical position with any angle of the seat relative to the backrest.
  • the armrests which can be adjusted in the widthwise direction, are furthermore pivotable upwards according to a feature of the invention, so that the patient can easily get in from the side or the patient can be easily lifted in by a third party.
  • the wheelchair according to the invention is easily adaptable to the required sizes and proportions due to its constructive design and can therefore be used for children as well as adults. It is compact and can withstand heavy loads, so that it has a long service life. Because of its versatility, it is suitable to replace a variety of different devices and facilities that are normally required.
  • the wheelchair shown in Fig. 1 for the sick and physically disabled consists essentially of three assemblies, namely the mobile pedestal 1, a support frame 2 supported thereon adjustable and the unit 5 consisting of seat 3 and backrest 4, which is articulated on the support frame 2.
  • the mobile pedestal 1 is designed as a frame structure, which consists of laterally arranged upper and lower longitudinal frame parts 6 and 7 and vertical struts 8, 9 arranged between them, cross frame parts, not shown, connecting the laterally arranged frame parts 6 to 9, so that a compact and load-bearing substructure is formed.
  • On the rear vertical struts 8, several bores lying one above the other are provided which accommodate the wheels 10 Axes are used so that wheels 10 with different diameters can be used as required.
  • castors 11 are arranged at the front end of the pedestal 1. These castors 11 are mounted in a support frame 12 so as to be pivotable about the vertical axis.
  • This support frame 12 is inserted into the front end of the base 1, the longitudinal frame parts 6 and 7 being designed as rectangular tubes, which allow the support frame 12 to be inserted without further ado.
  • the rear end of the pedestal 1 is designed in the same way as its front end, so that such castors 11 can be attached to the rear end instead of the wheels 10, which results in a further improvement in the steerability of the pedestal 1, which in this case, for example can also be moved at right angles to the direction of travel, so that the wheelchair can be pushed in even in confined spaces, for example in niches or the like.
  • the support frame 2 consists of several, in the exemplary embodiment three, arcuate struts 13, 14 and 15, as is also clear from FIGS. 2 and 6. These struts 13, 14, 15 have a common axis of curvature which extends in the transverse or width direction, that is to say perpendicular to the plane of the drawing in FIGS. 1 and 6.
  • the radius of the central strut 14 is larger than the radii of the lateral struts 13 and 15, which are of equal size to one another.
  • the central strut 14 is supported and held on at least two larger support rollers 16 and 17 and a plurality of smaller support and guide rollers 18 of the base 1.
  • the single ones Rollers 16 to 20 have a lateral surface adapted to the cross-sectional shape of the struts 13, 14, 15.
  • the struts 13, 14, 15 (the strut 15 is shown in FIG. 3) are designed as tubes with a circular cross section. Accordingly, the jacket 21 of the rollers 16 to 20 is concave, so that the respective struts are partially covered by the rollers and secure support is guaranteed.
  • the inclination adjustment of the support frame 2 takes place by means of a tension element 22 (see FIG.
  • This chain 22 is fastened with its two ends at one point of the support frame 2, specifically in a single-point fastening at the fastening point 23 of the strut 14.
  • the chain 22 runs over the rollers 16 and 17 or special rollers, not shown, which are designed as sprockets are, as well as the deflection wheel 24 and the chain tensioner 25, which are also designed as sprockets and of which the sprocket 24 is driven by the flanged electric motor 26 which is operatively connected to the sprocket 24 via a reduction gear, not shown, and thus forms the drive .
  • the support frame 2 can thus be infinitely varied in its inclination depending on the drive direction, as indicated by the double arrow A in FIG. 6. Due to the roller support of the support frame 2, this is possible without great effort and can also be heard, for example, by the person in the wheelchair himself, who thereby becomes independent of third parties.
  • the individual deflection rollers in the area of this traction element 22 are provided with a circumferential groove-shaped incision 53 (indicated by dash-dotted lines in FIG. 3).
  • the additional deflection rollers 54 and 55 increase the circumferential or circumferential angle between the tension element 22 and the drive wheel 24.
  • a starting cam 70 can also be provided on the tension element 22 or on the strut 14 cooperates with limit switches 71, 72 so that certain inclination limit positions are not exceeded.
  • the unit 5 consisting of seat 3 and backrest 4 is articulated and held.
  • An end plate 27 is arranged on the support frame 2, as can be seen particularly clearly from FIG. 2.
  • This end plate 27 is oriented transversely and firmly connected to the struts 13, 14 and 15, the ends of which are e.g. are welded to the end plate 27.
  • the end plate 27 is equipped with two lateral, approximately angled holding plates 28 and 29.
  • On these holding plates 28 and 29, the seat 3 of the unit 5 is articulated at 30.
  • a footrest 31 is articulated at 32 on the holding plates 28, 29, as can be seen from FIG. 1.
  • the footrest 31 has an inserted support part 33 which can be displaced in the vertical direction.
  • the footrest 31 can thus both be pivoted about the articulation axis 32 into a desired position and also adjusted in its effective length or height, whereby a gag or the like ensures that the respective setting is retained.
  • a turntable 56 is arranged on the support part 33, which essentially consists of a base plate 57 fastened to the support part 33 and a rotary plate 58 supported thereon by rolling elements.
  • the backrest 4 is in turn linear with its frame Guide bearings 35 guided, which are pivotally connected to the support frame 2 via the joint 36.
  • handlebars holding or coupling rods 37 and 38 are articulated at 39, the other end of which is in turn articulated with the guide bearings 40, 41, in which the seat 3 is guided and held in communication.
  • the two bearings 40 and 41 are connected to one another via a cross bridge 42.
  • An adjusting element 43 which is designed as a threaded spindle, is also arranged in the center.
  • This threaded spindle 43 is on the one hand rotatably mounted on the seat 3 and on the other hand passes through a spindle nut 44 which is arranged on the underside of the cross bridge 42 and is thus firmly connected to the longitudinally displaceable guide bearings 40 and 41.
  • the threaded spindle 43 is only indicated by dash-dotted lines in FIGS. 1 and 4.
  • the articulation points 30 and 39 of seat 3 and coupling rods 37, 38 are arranged on the holding plates 28, 29 at a distance from one another.
  • any intermediate positions can be continuously adjusted, as is also possible, positions of the seat 3 and beyond the positions shown thus to reach the backrest 4 pivotally connected to the seat 3, so that the unit 5 consisting of seat 3 and backrest 4 can be moved from any seated position to the extended position to an overstretched position (synchronized bed).
  • any angular positions of the unit 5 are possible, for example as a horizontal bed or as a vertical standing board, etc.
  • the actuating element 43 can also be designed, for example, as a working cylinder or the like. As can still be seen in FIG.
  • the spindle nut 44 carries a cam 59 which interacts with the switches 60, 61 and 62 which are arranged on the control plate 63.
  • the switches 60, 61, 62 open or close the circuit for the drive motor 45, so that certain angular positions between the backrest 4 and seat 3 (for example a support position, the extended position and an overstretched position) are maintained as the respective limit position and only on special command be crossed, be exceeded, be passed.
  • Fig. 1 the arrangement of cushion elements 46 and 47 for the backrest 4 and the seat 3 can still be seen, which are each supported on a special frame (not shown further) and are held displaceably with respect to this, the two cushion pads 46, 47 are connected to one another by compressible intermediate pieces 48. In this way, there is no bulge when adjusting the various angular positions between seat 3 and backrest 4. So that X-rays can be taken in severely disabled patients in a wheelchair without the patient having to leave the wheelchair, there are receiving shafts 64 in the cushion pads 46, 47 and 65 are provided, into which X-ray cassettes can be inserted. It should be pointed out still on the fact that the wheelchair has parking brakes 66 and 67, which are arranged on the support frame 2 and on the armrest 49 and act on the wheels 10, so that the wheelchair is held securely in its respective position and unintentional rolling is prevented.
  • Fig. 7 shows the design and arrangement of the armrests 49.
  • a rectangular tube 50 is supported on the seat 3, which extends in the width direction and is open at both lateral ends.
  • elbows 51 which, according to double arrow D, can be inserted more or less deeply into the rectangular tube 50.
  • the actual armrests 52 are in turn plugged in, which can be adjusted in the vertical direction according to double arrow E and carry the armrests 49 in a pivotally movable connection, so that they can be pivoted upward according to arrow F to facilitate entry into the wheelchair .
  • FIG. 8 An alternative inclination adjustment of the support frame 2 is shown in FIG. 8.
  • a rack-like toothing 68 or the like is arranged on the central strut 14, into which the drive gear 69 engages, during its rotation the support frame 2 is pivoted accordingly.
  • This toothing 68 can also be arranged on the inner or concave side of the strut 14 or can be designed as a welded-on drive element.
  • the electric motors 26, 45 for the inclination adjustment of the support frame 2 or the angle adjustment between the seat 2 and the backrest 3 can also be omitted and manual operation can instead be provided.
  • the angle adjustment between the seat and backrest and the drive of the support frame 2 by means of a flexible shaft, which is provided with a hand crank or the like.
  • the wheelchair can therefore be adjusted and adjusted as required, so that it can be used in a variety of ways and replaces a large number of special devices and devices, such as a treatment couch, standing board, synchronous couch, etc. Its easy and simple operability when adjusting and adjusting the seats is particularly noteworthy. Another advantage is that the wheelchair is largely constructed in a modular system, which simplifies its manufacture and can be adapted to a wide variety of individual requirements without great effort. It should also be noted with regard to the coupling rods 37 and 38 that these are adjustable in length, so that an exact adjustment and adaptation to different seat depths is possible.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Chair Legs, Seat Parts, And Backrests (AREA)
  • Handcart (AREA)
EP19900112341 1989-06-29 1990-06-28 Wheelchair Withdrawn EP0405542A3 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3921384A DE3921384C1 (fr) 1989-06-29 1989-06-29
DE3921384 1989-06-29

Publications (2)

Publication Number Publication Date
EP0405542A2 true EP0405542A2 (fr) 1991-01-02
EP0405542A3 EP0405542A3 (en) 1991-09-11

Family

ID=6383917

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19900112341 Withdrawn EP0405542A3 (en) 1989-06-29 1990-06-28 Wheelchair

Country Status (2)

Country Link
EP (1) EP0405542A3 (fr)
DE (1) DE3921384C1 (fr)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4435023A1 (de) * 1994-09-25 1996-03-28 Frithjof Kremeike Sitzgelegenheit mit Rückenlehne, dadurch gekennzeichnet, daß man sie von hinten besteigen kann
EP0960613A3 (fr) * 1998-05-25 2000-04-12 Georges Gautschi Véhicule pour invalides
WO2000027332A1 (fr) * 1998-11-09 2000-05-18 Invacare Corporation Siege basculant a centre de gravite constant pour fauteuil roulant
US6126186A (en) * 1998-11-09 2000-10-03 Invacare Corporation Constant center of gravity tilt seat of a wheelchair
WO2006008455A3 (fr) * 2004-07-16 2006-04-27 Andrew Ramon Brown Systeme d'entrainement d'un vehicule a propulsion humaine
EP1621175A3 (fr) * 2004-07-30 2006-05-24 Hill-Rom Services, Inc. Lit avec position de chaise permettant de quitter le lit
WO2008036018A1 (fr) * 2006-09-19 2008-03-27 Permobil Ab Siège pour fauteuil roulant et procédé de variation de l'angle entre une partie d'assise et un dossier
US8474848B2 (en) 2003-03-31 2013-07-02 Sunrise Medical (Us) Llc Personal mobility vehicle with tiltable seat
DE202012103858U1 (de) * 2012-10-09 2013-10-10 Hans-Georg Pieper Infusionshalter für einen Rollator, eine Gehhilfe, einen Rollstuhl oder dergleichen
CN109771161A (zh) * 2018-11-30 2019-05-21 沈阳工业大学 便携式助力轮椅

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4201187C2 (de) * 1991-10-18 2001-12-13 Fritz Curtius Kippstuhl mit an einer mittleren Stützkonstruktion befestigten Sitzfläche
DE4216876C1 (de) * 1992-05-21 1994-01-05 Christian Klepsch Treppengängiger Rollstuhl
DE4231876C1 (de) * 1992-09-23 1994-04-21 Christian Klepsch Treppengängiger Rollstuhl

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4183578A (en) * 1978-03-29 1980-01-15 Imasen Electric Co., Ltd. Electrically operated wheeled chair for physically handicapped persons
US4333681A (en) * 1979-11-16 1982-06-08 Nelson M Eugene Power operated reclining wheelchair
EP0155918A2 (fr) * 1984-03-19 1985-09-25 Amici Ivano Fauteuil roulant pour invalides
DE3805630C1 (en) * 1988-02-24 1989-07-27 Hans Joachim 8637 Ahorn De Abe Wheelchair

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2476769A (en) * 1945-10-13 1949-07-19 Gendron Wheel Company Invalid chair
GB2125285A (en) * 1982-07-22 1984-03-07 Terence Phillips Invalid chair

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4183578A (en) * 1978-03-29 1980-01-15 Imasen Electric Co., Ltd. Electrically operated wheeled chair for physically handicapped persons
US4333681A (en) * 1979-11-16 1982-06-08 Nelson M Eugene Power operated reclining wheelchair
EP0155918A2 (fr) * 1984-03-19 1985-09-25 Amici Ivano Fauteuil roulant pour invalides
DE3805630C1 (en) * 1988-02-24 1989-07-27 Hans Joachim 8637 Ahorn De Abe Wheelchair

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4435023A1 (de) * 1994-09-25 1996-03-28 Frithjof Kremeike Sitzgelegenheit mit Rückenlehne, dadurch gekennzeichnet, daß man sie von hinten besteigen kann
EP0960613A3 (fr) * 1998-05-25 2000-04-12 Georges Gautschi Véhicule pour invalides
EP2039334A2 (fr) 1998-11-09 2009-03-25 Invacare Corporation Support de produit à peser pour une balance
WO2000027332A1 (fr) * 1998-11-09 2000-05-18 Invacare Corporation Siege basculant a centre de gravite constant pour fauteuil roulant
US6126186A (en) * 1998-11-09 2000-10-03 Invacare Corporation Constant center of gravity tilt seat of a wheelchair
US6206393B1 (en) * 1998-11-09 2001-03-27 Invacare Corporation Constant center of gravity tilt seat of a wheelchair
AU742801B2 (en) * 1998-11-09 2002-01-10 Invacare Corporation Constant center of gravity tilt seat of a wheelchair
EP2039334A3 (fr) * 1998-11-09 2009-09-30 Invacare Corporation Support de produit à peser pour une balance
US8474848B2 (en) 2003-03-31 2013-07-02 Sunrise Medical (Us) Llc Personal mobility vehicle with tiltable seat
US7780179B2 (en) 2004-07-16 2010-08-24 Andrew Ramon Brown Drive system for a human powered vehicle
CN101052367B (zh) * 2004-07-16 2010-11-10 安德鲁·拉蒙·布朗 用于手动车辆的驱动系统
WO2006008455A3 (fr) * 2004-07-16 2006-04-27 Andrew Ramon Brown Systeme d'entrainement d'un vehicule a propulsion humaine
US7458119B2 (en) 2004-07-30 2008-12-02 Hill-Rom Services, Inc. Bed having a chair egress position
EP1621175A3 (fr) * 2004-07-30 2006-05-24 Hill-Rom Services, Inc. Lit avec position de chaise permettant de quitter le lit
WO2008036018A1 (fr) * 2006-09-19 2008-03-27 Permobil Ab Siège pour fauteuil roulant et procédé de variation de l'angle entre une partie d'assise et un dossier
DE202012103858U1 (de) * 2012-10-09 2013-10-10 Hans-Georg Pieper Infusionshalter für einen Rollator, eine Gehhilfe, einen Rollstuhl oder dergleichen
CN109771161A (zh) * 2018-11-30 2019-05-21 沈阳工业大学 便携式助力轮椅
CN109771161B (zh) * 2018-11-30 2024-01-26 沈阳工业大学 便携式助力轮椅

Also Published As

Publication number Publication date
DE3921384C1 (fr) 1991-02-14
EP0405542A3 (en) 1991-09-11

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