EP0995415A2 - Dispositif de commande pour un système d'assistance de fauteuil roulant motorisé - Google Patents

Dispositif de commande pour un système d'assistance de fauteuil roulant motorisé Download PDF

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Publication number
EP0995415A2
EP0995415A2 EP99118914A EP99118914A EP0995415A2 EP 0995415 A2 EP0995415 A2 EP 0995415A2 EP 99118914 A EP99118914 A EP 99118914A EP 99118914 A EP99118914 A EP 99118914A EP 0995415 A2 EP0995415 A2 EP 0995415A2
Authority
EP
European Patent Office
Prior art keywords
control device
sensor
armature
auxiliary drive
spring elements
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Withdrawn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
EP99118914A
Other languages
German (de)
English (en)
Other versions
EP0995415A3 (fr
Inventor
Ulrich Alber
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.)
Alber GmbH
Original Assignee
Alber GmbH
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 Alber GmbH filed Critical Alber GmbH
Publication of EP0995415A2 publication Critical patent/EP0995415A2/fr
Publication of EP0995415A3 publication Critical patent/EP0995415A3/fr
Withdrawn legal-status Critical Current

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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
    • A61G5/041—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
    • A61G5/04—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
    • A61G5/10—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

Definitions

  • the invention relates to a control device for Auxiliary drive devices for self-propelled wheelchairs have wheels provided with hand rims, the Grip rings opposite the impellers in the circumferential direction are slidably arranged.
  • Such an auxiliary drive device is, for example known from EP 0 832 632 A2.
  • the auxiliary drive device is to ensure that it Uphill or downhill runs do not overload the Arm muscles and joints of the wheelchair user comes. On the other hand, however, the therapeutic value of the Self-propelled wheelchairs for the development of arm and Shoulder muscles are preserved. In this respect is one Possibility of setting the level of support of the Auxiliary drive device desirable.
  • the present invention has for its object a Control device for auxiliary drive devices from Propose self-propelled wheelchairs with a precise Setting the level of support for the Auxiliary drive device for both uphill and Downhill descents are possible.
  • This task is accomplished with a control device at the beginning mentioned type solved, which is characterized according to the invention limited by a pivotable relative to the impeller mounted anchor, the tip of which with the gripping ring of the Impeller is connected, two side arms of the anchor are each acted upon by a spring element, the maximum expansion is limited by a stop and which the anchor after the application of force on the Move the hand rim back to a zero position and through a sensor device for detecting the pivot position of the Ankers, the level of support of Auxiliary drive device a function of the signals of the Sensor device is.
  • the armature is preferably mounted in a housing that is firmly connected to the impeller. Through the relative movement of the gripping ring with respect to the rim of the impeller The armature pivots the force application onto the gripping ring its zero position, the degree of deflection from the Strength of the force applied to the hand rim depends. Each the more the anchor swings out, the higher it becomes Degree of support of the auxiliary drive device. To The spring elements ensure the end of the force application making sure that the anchor returns to its zero position swiveled back.
  • each apply one arm of the anchor works Control device according to the invention both in uphill and also when going downhill.
  • the direction of pivoting of the anchor determines the direction in which the torque of the motor the drive device acts. Will slow down on the Gripping ring acted, the torque of the motor acts Drive device backwards or opposite the current direction of rotation of the impeller and thus supports the braking of the wheels. Also determined when braking the strength of the force introduction the degree of support of the Auxiliary drive device.
  • the expansion of the spring elements is through stops limited so that it stops after the application of force the gripping rings do not cause the armature to swing around the Zero position can come.
  • the spring force the spring elements is adjustable. This allows one certain basic setting of the level of support of the Carry out auxiliary drive devices. The higher the spring force the lower the level of support, since the higher Spring force on the hand rim requires more force to pivot the anchor a certain amount.
  • the Spring force of the spring elements can, for example, by Setting the preload of the spring elements using a Adjustment wheel are made.
  • the spring elements themselves can be made of rubber, for example.
  • the armature In its zero position, the armature can preferably be radial to Be aligned. Then they are completely symmetrical Conditions for uphill and downhill runs.
  • the Anchor tip can be rotatably mounted on it Axis element to be connected to the gripping ring, the Axle element can be guided through an elongated hole in the housing.
  • the anchor can be split into two Have feet, each foot a pressure sensor acted upon.
  • the sensor device can preferably Non-contact sensors have less Are subject to wear.
  • Such a sensor can for example a differential magnetoresistive sensor or be a Hall sensor.
  • Fig. 1 shows a section of a tire 11 a Wheel 10 of a wheelchair.
  • the impeller 10 has one Rim 12 and a grip ring 13.
  • To the fig 12 of the Impeller is a housing 14 of a control device 15 screwed on.
  • an armature 16 is around a pivot point D is pivotally arranged.
  • the top 16.1 the armature 16 is over with the gripping ring 13 of the impeller 10 an axle element 17 is connected, like the section in FIG. 4 shows.
  • the rotation of the armature 16 is two Stops 18 and 19 limited.
  • Two side arms 20 and 21 the armature 16 are from below by spring elements 22, 23rd acted upon. The two spring elements 22 and 23 force the Armature 16 in the zero position shown in Fig.
  • the anchor 16 also has a two-part foot 27 which with a Sensor 28 cooperates.
  • the sensor 28 provides the Swivel position of the armature 16 fixed. Depending on the Sensor signals that via lines 29 to Auxiliary drive device are then transmitted Degree of support of an auxiliary drive device (not shown) of the wheelchair.
  • the Auxiliary drive device preferably includes one Electric motor and a corresponding electronic Control unit for controlling the electric motor.
  • the control device 15 is at a Force transmission on the grip ring 13 for uphill driving shown.
  • the armature 16 is now in the forward direction 30 of the Impeller 10 pivoted. Learned in the example shown the armature 16 deflects up to its stop 18. This pivot position is detected by the sensor 28 and via the Control lines 29 to not shown Auxiliary drive device forwarded. After the End stop for the pivoting movement of the armature 16 reached is, the auxiliary drive device becomes the maximum Provide support for those using the handwheel 24 preset level of support is allowed.
  • the auxiliary drive device 22 As soon as the The force application on the gripping wheel 13 is finished, the left, compressed by the pivoting movement of the armature 16 Spring element 22 for the return of the armature 16 in its Zero position. A swinging around the zero position is by the second spring element 23 and by the two stops 25 and 26 for the travel of the two elements 22 and 23 avoided.
  • the tire 11 and the rim 12 of the impeller 10 and the gripping ring 13 can be seen.
  • On the rim 12 is the housing 14 of the control device 15 screwed on.
  • the tip 16.1 of the armature 16 is about that Axis element 17 connected to the gripping ring 13. Since the Gripping ring 13 in relation to the impeller 10 in the circumferential direction is arranged to be displaceable to a limited extent Force application to the gripping ring 13 for pivoting of the armature 16, this pivoting by the sensor 28 evaluated and the auxiliary drive device for the Wheelchair is controlled accordingly.
  • Embodiment becomes a "differential magnetoresistive Sensor" from Siemens (type FP 210D250-22) with integrated magnet. Because a deviation with respect to the target position between the center of the sensor 28 and the center D of the armature 16 to a deviation of the The mechanical position Manufacturing tolerances are kept small. In addition, should each sensor 28 can be electronically adjusted.
  • the distance between the foot 27 of the armature 16 and the sensor 28 should be approx. 0.05 mm. The foot hits the sensor on, this is destroyed. If the distance is too large, the maximum output voltage of the sensor not reached. On mechanical adjustment of the sensor position is possible through the easy destructibility of the sensor is problematic. It can also the actual distance between anchor and sensor in installed condition cannot be checked visually.
  • a sensor in a further preferred embodiment of the Invention uses a programmable linear Hall sensor as it is known, for example, under the name HAL 800 is provided by Micronas Intermetall. A such an embodiment is shown in FIG. 5.
  • FIG. 5 there are 16 on the base 27 of the armature 16 two magnets 33, 34 attached.
  • An analog linear Hall sensor is designated 30.
  • a connector 31 is for easier replacement of the sensor is provided.
  • the Connector 31 and the sensor 30 are in a mounting sleeve 32 poured.
  • the electrical properties of the linear Hall sensor 30 5 are similar according to the embodiment in FIG that of the magnetoresistive sensor 28 of the Embodiment according to Figures 1 to 4. Both Sensors have three connections, namely one for each Ground, supply voltage and voltage output. The Voltage output is at half the operating voltage in the Neutral position and changes linearly to the magnetic field. The The difference between the two sensors is the sensor structure. In which magnetoresistive sensor 28 is the magnet under the Integrated sensor surface and it becomes the difference between two adjacent field plates determined. The Magnetic field is deflected by the moving armature 16 and leads to a voltage change at the output.
  • the analog one Hall sensor 30 measures the field strength, amplifies it and gives it at the output as a proportional voltage. This Arrangement is significantly less sensitive to the distance between the sensor and the anchor.
  • the sensor 30 lies with its sampling point in the center of anchor D.
  • the senor 30 of the exemplary embodiment according to FIG. 5 can be influenced by mechanical errors or faulty magnets as well as the gain and the zero point compensated by appropriate programming or can be set. This means that the sensor 30 in Connection to a computer regarding its installation position and certain boundary conditions can be compared.
  • the Sensor 30 also has temperature compensation.
  • the provision of the connector 31 enables that the complete control device as a sensor unit after Assembled assembly and then as pre-assembled and balanced assembly can be attached to the impeller.
  • a structural unit is thus provided, as a whole is interchangeable and independent of the engine Auxiliary drive device or from the control electronics can be exchanged without a new adjustment necessary is.

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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)
  • Handcart (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
EP99118914A 1998-10-21 1999-09-25 Dispositif de commande pour un système d'assistance de fauteuil roulant motorisé Withdrawn EP0995415A3 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19848530A DE19848530C1 (de) 1998-10-21 1998-10-21 Ansteuervorrichtung für Hilfsantriebsvorrichtungen für Selbstfahrer-Rollstühle
DE19848530 1998-10-21

Publications (2)

Publication Number Publication Date
EP0995415A2 true EP0995415A2 (fr) 2000-04-26
EP0995415A3 EP0995415A3 (fr) 2001-01-10

Family

ID=7885191

Family Applications (1)

Application Number Title Priority Date Filing Date
EP99118914A Withdrawn EP0995415A3 (fr) 1998-10-21 1999-09-25 Dispositif de commande pour un système d'assistance de fauteuil roulant motorisé

Country Status (2)

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EP (1) EP0995415A3 (fr)
DE (1) DE19848530C1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005107672A1 (fr) * 2004-05-12 2005-11-17 Revab Ip B.V. Chaise roulante a support d'entrainement et capteur de force a utiliser avec celle-ci
DE202008017258U1 (de) 2008-03-19 2009-03-26 Ulrich Alber Gmbh Hilfsantriebsvorrichtung für einen Rollstuhl und Rollstuhl mit Hilfsantriebsvorrichtung
EP4342439A1 (fr) 2022-09-23 2024-03-27 Motion Advantage Verwaltungs-GmbH Fauteuil roulant entraîné par la force musculaire et procédé de commande d'un entraînement auxiliaire pour un tel fauteuil roulant

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10046963C1 (de) * 2000-09-22 2001-12-06 Alber Ulrich Gmbh & Co Kg Fahrzeug, insbesondere Rollstuhl
DE202009009929U1 (de) 2009-07-22 2009-10-15 Aat Alber Antriebstechnik Gmbh Sensoranordnung für ein Rollstuhlrad
DE102011105570B4 (de) * 2011-06-25 2017-06-29 Aat Alber Antriebstechnik Gmbh Sensoranordnung, Rollstuhlrad und Rollstuhl
EP2729108B2 (fr) 2011-07-06 2024-05-29 Max Mobility, LLC Système d'aide motorisé basé sur le mouvement pour fauteuils roulants
US9144525B2 (en) 2013-03-14 2015-09-29 Max Mobility, Llc. Motion assistance system for wheelchairs
US9498395B2 (en) 2014-04-16 2016-11-22 Stephen C. Golden, JR. Joint movement detection device and system for coordinating motor output with manual wheelchair propulsion
DE102014112687B4 (de) 2014-09-03 2017-08-31 Alber Gmbh Handbetätigtes Zugmittel und Fahrzeug mit einem handbetätigten Zugmittel
US9795524B2 (en) 2015-02-24 2017-10-24 Max Mobility, Llc Assistive driving system for a wheelchair
US10167051B1 (en) 2017-12-12 2019-01-01 Max Mobility, Llc Assistive driving system for a wheelchair and method for controlling assistive driving system
TWI676472B (zh) * 2018-10-05 2019-11-11 財團法人工業技術研究院 助力輪

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0832632A2 (fr) 1996-09-30 1998-04-01 Yamaha Hatsudoki Kabushiki Kaisha Fauteuil roulant à entraínement manuel avec moteur auxiliaire

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4050533A (en) * 1976-06-22 1977-09-27 Government Of The United States Of America Rep. Administration Of Veterens Affairs Powered wheel chair
JPH09168567A (ja) * 1995-10-21 1997-06-30 Honda Motor Co Ltd 電動アシスト付車椅子

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0832632A2 (fr) 1996-09-30 1998-04-01 Yamaha Hatsudoki Kabushiki Kaisha Fauteuil roulant à entraínement manuel avec moteur auxiliaire

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005107672A1 (fr) * 2004-05-12 2005-11-17 Revab Ip B.V. Chaise roulante a support d'entrainement et capteur de force a utiliser avec celle-ci
DE202008017258U1 (de) 2008-03-19 2009-03-26 Ulrich Alber Gmbh Hilfsantriebsvorrichtung für einen Rollstuhl und Rollstuhl mit Hilfsantriebsvorrichtung
EP4342439A1 (fr) 2022-09-23 2024-03-27 Motion Advantage Verwaltungs-GmbH Fauteuil roulant entraîné par la force musculaire et procédé de commande d'un entraînement auxiliaire pour un tel fauteuil roulant

Also Published As

Publication number Publication date
EP0995415A3 (fr) 2001-01-10
DE19848530C1 (de) 2000-02-17

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