EP0861649A2 - Rollstuhl - Google Patents

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Publication number
EP0861649A2
EP0861649A2 EP98200480A EP98200480A EP0861649A2 EP 0861649 A2 EP0861649 A2 EP 0861649A2 EP 98200480 A EP98200480 A EP 98200480A EP 98200480 A EP98200480 A EP 98200480A EP 0861649 A2 EP0861649 A2 EP 0861649A2
Authority
EP
European Patent Office
Prior art keywords
wheel chair
signal
control unit
control
rotational position
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Withdrawn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
EP98200480A
Other languages
English (en)
French (fr)
Other versions
EP0861649A3 (de
Inventor
Petrus Johannes Scheulderman
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.)
Richard van Seenus Nederland BV
Original Assignee
Richard van Seenus Nederland BV
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 Richard van Seenus Nederland BV filed Critical Richard van Seenus Nederland BV
Publication of EP0861649A2 publication Critical patent/EP0861649A2/de
Publication of EP0861649A3 publication Critical patent/EP0861649A3/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Withdrawn legal-status Critical Current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
    • A61G5/04—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
    • A61G5/042—Front 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
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/14—Joysticks

Definitions

  • the invention relates to a wheel chair comprising a frame and two front wheels, which can each be driven by an electric motor, and at least one castor present on the rear side, which is provided with a pivot pin comprising a straight-ahead position, and a control unit for the electric motors, which control unit comprises a control element, by means of which the user can control the speed and the direction of the wheel chair, which control element delivers a speed signal and a directional signal, whereby the control unit controls the electric motors in dependence on the output signals of said control element.
  • Such a wheel chair is described in the applicant's European patent application No. 9 520 638.
  • the control unit operates in the usual manner, such that the speed signal determines the rotational speed of the electric motors, whilst a directional signal which indicates a deviation from the straight-ahead position effects a speed difference between the two electric motors.
  • this wheel chair is fitted with a mechanical facility which exerts a rotary force on the pivot pin in the direction of the straight-ahead position when the pivot pin pivots from the straight-ahead position.
  • the object of the invention is to provide a wheel chair of the above-mebtioned kind, wherein the control unit for the electric motors that is already present is used advantageously for ensuring a proper directional stability in straight-ahead direction.
  • the wheel chair according to the invention is fitted with a position sensor, which delivers a rotational position signal in dependence on the rotational position of the pivot pin of the castor, whereby control means are provided, which deliver a compensated directional signal to the control unit, such that the control unit controls the electric motors partially in dependence on the rotational position signal.
  • Fig. 1 is a side view of an embodiment of the wheel chair according to the invention.
  • Fig. 2 is a diagrammatic plan view of the frame of the wheel chair of Fig. 1.
  • Fig. 3 is a side view of the frame of Fig. 1.
  • Fig. 4 is a block diagram of the control means and the control unit of the wheel chair of Fig. 1.
  • Fig. 1 shows a side view of a wheel chair which comprises a frame 1 as shown in Figs. 1 and 2 and two front wheels 2 and 3, which can each be driven by an electric motor 4 and 5 respectively.
  • a centrally positioned castor assembly 6 which comprises two closely spaced wheels 7.
  • Castor assembly 6 is provided with a pivot pin 8, which is illustrated in the straight-ahead position in the drawing.
  • the wheel chair conventionally comprises a seat 9, an adjustable back support 10, leg supports 11 and armrests 12.
  • the inclination of seat 9 is adjustable, as is described in more detail in the above-mentioned European patent application.
  • Electric motors 4 and 5 can be controlled by means of a control unit indicated at 13 in the diagram of Fig. 4, which control unit is known per se and need not be described in more detail herein, therefore.
  • the control of electric motors 4, 5, and thus of the speed and the direction of the wheel chair takes place by means of a control element 14, in the form of a joystick in the present embodiment, which is supported by one of the armrests 12, so that control element 14 is easy to operate for the user.
  • Joystick 14 can be pivoted in all directions from a neutral position, in a manner which is known, whereby the direction in which the joystick is moved indicates the desired direction of movement of the wheel chair, and whereby the amount of travel of the joystick indicates the desired speed of the wheel chair.
  • Joystick 14 delivers two output signals thereby, a speed signal 15 and a directional signal 16.
  • Control unit 13 excites the electric motors 4 and 5 in dependence on these two signals. If directional signal 16 indicates a direction deviating from the straight-ahead direction, a speed difference between the two electric motors 4, 5 will be effected, such that the wheel chair will move in the desired direction.
  • position sensor 17 is provided for ensuring a proper directional stability in straight-ahead direction, which sensor delivers a rotational position signal in dependence on the rotational position of pivot pin 8 of castor assembly 6.
  • position sensor 17 is a potentiometer, which can be turned through 360°. It is also possible to use other types of position sensors, however.
  • the rotational position signal of position sensor 17 is preferably supplied to a processing element 20 via a limiting element 18, whose operation will be discussed in more detail hereafter, and a switch 19.
  • Said processing element 20 also receives the directional signal from control element 14. Processing element 20 combines the two input signals into a compensated directional signal, which is supplied to control unit 13.
  • processing element 20 will deliver a directional signal to control unit 13 which causes control unit 13 to excite electric motors 4 and 5 unevenly, such that pivot pin 8 will return to the straight-ahead position.
  • processing element 20 is to that end configured as an adding circuit, which adds the negative rotational position signal to the directional signal.
  • Said adding circuit may for example comprise a differential amplifier.
  • Limiting element 18 limits the rotational position signal of position sensor 17 to a small deviation from the value associated with the straight-ahead position, so that the compensated directional signal that is supplied to control unit 13 is limited, so that on the one hand an overly strong reaction of electric motors 4, 5 is avoided, while on the other hand a desired change of direction effected by means of control element 14 remains possible.
  • the speed signal 15 of control element 14 is also supplied to a comparator 21, which compares the speed signal with a reference value V ref , which corresponds with a predetermined minimum speed in forward direction. When said reference value is exceeded, comparator 21 will trip switch 19, so that the rotational position signal of position sensor 17 is only supplied to processing element 20 at a higher speed in forward direction.
  • an amplifier 22 is provided between position sensor 17 and limiting element 18, as a result of which even a small deviation from the straight-ahead position will lead to adequate compensation.
  • control unit 13 for ensuring directional stability in straight-ahead direction of the wheel chair which control unit is already available, is used in an advantageous manner in the above-described wheel chair.
  • safety of the wheel chair is improved by the fact that abrupt changes of course at higher speeds are prevented.
  • wheel chair uses a centrally positioned castor assembly
  • a position sensor may be placed on one of the pivot pins, or on both.

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)
  • Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
EP98200480A 1997-02-17 1998-02-16 Rollstuhl Withdrawn EP0861649A3 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL1005297A NL1005297C1 (nl) 1997-02-17 1997-02-17 Rolstoel.
NL1005297 1997-02-17

Publications (2)

Publication Number Publication Date
EP0861649A2 true EP0861649A2 (de) 1998-09-02
EP0861649A3 EP0861649A3 (de) 1999-06-23

Family

ID=19764436

Family Applications (1)

Application Number Title Priority Date Filing Date
EP98200480A Withdrawn EP0861649A3 (de) 1997-02-17 1998-02-16 Rollstuhl

Country Status (2)

Country Link
EP (1) EP0861649A3 (de)
NL (1) NL1005297C1 (de)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100435765C (zh) * 2005-03-08 2008-11-26 中国科学院自动化研究所 一种嵌入式智能轮椅控制系统及方法
US10864127B1 (en) 2017-05-09 2020-12-15 Pride Mobility Products Corporation System and method for correcting steering of a vehicle
JP2023040562A (ja) * 2021-09-10 2023-03-23 株式会社デンソー 移動体、プログラム

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4549624A (en) * 1984-10-12 1985-10-29 Everest & Jennings, Inc. Wheelchair direction control means
NL9300400A (nl) * 1993-03-05 1994-10-03 Ligtvoet Products Bv Aandrijfbesturingsinrichting voor een voertuig, in het bijzonder voor een rolstoel, en voertuig voorzien van een dergelijke aandrijfbesturingsinrichting.
NL9402006A (nl) * 1994-11-29 1996-07-01 Seenus Nl Bv R Van Rolstoelframe, alsmede zwenkwielsamenstel.

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100435765C (zh) * 2005-03-08 2008-11-26 中国科学院自动化研究所 一种嵌入式智能轮椅控制系统及方法
US10864127B1 (en) 2017-05-09 2020-12-15 Pride Mobility Products Corporation System and method for correcting steering of a vehicle
JP2023040562A (ja) * 2021-09-10 2023-03-23 株式会社デンソー 移動体、プログラム
EP4400356A4 (de) * 2021-09-10 2024-12-25 Denso Corporation Beweglicher körper und programm

Also Published As

Publication number Publication date
NL1005297C1 (nl) 1998-08-18
EP0861649A3 (de) 1999-06-23

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