EP2606867A1 - Motorisierter Rollstuhl - Google Patents

Motorisierter Rollstuhl Download PDF

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Publication number
EP2606867A1
EP2606867A1 EP12008409.0A EP12008409A EP2606867A1 EP 2606867 A1 EP2606867 A1 EP 2606867A1 EP 12008409 A EP12008409 A EP 12008409A EP 2606867 A1 EP2606867 A1 EP 2606867A1
Authority
EP
European Patent Office
Prior art keywords
foot
wheelchair
cam
displacing
wheelchair according
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.)
Granted
Application number
EP12008409.0A
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English (en)
French (fr)
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EP2606867B1 (de
Inventor
Paolo Badano
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.)
GENNY MOBILITY SA
Original Assignee
Brandale SAGL
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Filing date
Publication date
Application filed by Brandale SAGL filed Critical Brandale SAGL
Publication of EP2606867A1 publication Critical patent/EP2606867A1/de
Application granted granted Critical
Publication of EP2606867B1 publication Critical patent/EP2606867B1/de
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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

Definitions

  • the present invention relates to a self-balancing motorized wheelchair for the transportation of at least one person.
  • motorized wheelchair for the transportation of a sitting person which comprises a base operable by the user for activating said motorized wheelchair, two wheels both disposed at the sides of said base, resting on a slide surface, and a supporting frame integrally constrained to said base and provided with a seat.
  • a typology of motorized wheelchair also comprises means for self-balancing the weight thereof in any working condition, also employed in the device known with the name of SEGWAY® for the transportation of people.
  • Such means for self-equilibrating, or balancing, wheelchair weight are housed inside said base together also with further means for varying the wheelchair forward movement direction.
  • the forward and/ or backward movement is obtained by means of the front and/ or back unbalancing of the user's body.
  • the wheelchair activation is obtained as soon as a person seats on the wheelchair seat and his/ her weight is used to detect the user's presence and activate the wheelchair electrical operation.
  • Such a wheelchair typology has, however, the drawback of being not stable when not operating, that is to say when the inner electrical motor is no longer operative, the wheelchair being provided with only two wheels placed parallel and opposite one to each other. In such regard the wheelchair is, however, provided with means for supporting said wheelchair on the slide surface when in not operative conditions.
  • Such means consist in a stand, disposed in the front, and able to support the wheelchair in equilibrium on the slide surface for the two wheels.
  • Such above described solution is not particularly suited in the case the slide surface is not perfectly horizontal, or has rather pronounced front and back unevenness with respect to the wheelchair or is particularly soft as, for example, in the case the wheelchair rests in not operating conditions on sand.
  • the wheelchair could remain in instable equilibrium then tipping over, or it could not be perfectly horizontally placed, thus making difficult the wheelchair user's him/herself getting in and out.
  • Further object of the present invention is to realize a motorized wheelchair which allows to solve the known art problems without introducing complex electrical control systems, but only through mechanical elements.
  • the present self-balancing motorized wheelchair for the transportation of at least one person, comprising a base operable to activate said motorized wheelchair, two wheels both disposed at the sides of said base resting on a slide surface, a supporting frame integrally constrained to said base and provided with a seat, and means to support said wheelchair on said slide surface at least when in not-operating conditions, characterized in that said supporting means comprise at least one foot restable on the ground, and by comprising means for displacing and blocking said at least one foot between a raised position and a lowered position, and vice versa, said at least one foot being blocked in said lowered position at least when in contact with said slide surface for resting said motorized wheelchair in a substantially horizontal position.
  • the motorized wheelchair when not in operation, stays perfectly in equilibrium, regardless of the condition of the slide surface on which the two wheels rest.
  • said at least one foot is lowered till it reaches the slide surface, even if it is tilted, keeping the wheelchair in stable and horizontal position.
  • the said at least one foot when said at least one foot reaches the slide surface, it remains blocked resting on such slide surface. Therefore, based on the slide surface, the said at least one foot can lower at a higher or lower level, but ensuring resting stability when contacted with the constraint surface.
  • the foot even in case of soft surface such as, for example, in the case of sand, the foot lowers and remains blocked in position only after encountering an actual resistance offered by the more consistent layer of sand.
  • said displacing and blocking means comprise at least one cam rotatably constrained to said supporting frame between a start and limit position, and vice versa, to drive the displacement of said at least one foot between said raised position and said lowered position, and vice versa, wherein said at least one foot is slidingly constrained to said at least one cam between said start and limit positions.
  • said at leas one foot advantageously having an arched shape, encounters the slide surface which exerts a strength opposing to the further lowering of the said at least one foot.
  • the cam continues, however, to rotate with respect to the frame and to slide with respect to the foot till reaching its limit position. In this way, the lowering run of said at least one foot varies based on the type of encountered constraining surface, the constraining surface tilt or present unevenness or the softness of the slide surface itself.
  • said displacing and blocking means comprise, as well, at least one elastic element to retain said at least one foot pressed against said at least one cam between said start and limit positions for said at least one cam.
  • said at least one elastic element has the function of pressing said at least one foot towards the lowered position, keeping it slidingly constrained, at the same time, to said at least one cam.
  • said motorized wheelchair comprises at least one actuator to drive, directly or indirectly, the rotation of said at least one cam between said start and limit position.
  • said displacing and blocking means comprise at least one pawl, disposed integrally with said supporting frame, and at least one toothing integral with said at least one foot, said at least one pawl being movable between an engagement position with said at least one toothing, to prevent the slide of said at least one foot between said lowered position and said raised position, and a disengagement position with said at least one toothing, to allow the slide of said at least one foot between said lowered position and said raised position.
  • said at least one foot remains blocked in its lowered position without the possibility of coming back to the raised position till said at least one pawl is brought in the disengagement position with said at least one toothing.
  • said displacing and blocking means comprise, as well, at least one mechanism to drive the activation of said at least one pawl between said disengagement position and said engagement position, said at least one drive mechanism being synchronized mechanically with said at least one actuator at least during the displacement of said at least one cam between said limit position and said start position.
  • said at least one pawl is mechanically disengaged from said at least one toothing, thus leaving said at least one foot free to come back to the start raised position since dragged by said at least one cam.
  • said wheelchair also comprises auxiliary means to activate said displacing and blocking means of said at least one foot, at least when said at least one wheelchair is still in operating conditions.
  • said activating auxiliary means comprise at least one pressure rod, operable on said base of said motorized wheelchair, and at least one handle rotatably constrained to said seat between a first position, wherein said at least one pressure rod is in contact with said base, to keep said wheelchair in operating conditions, and a second position wherein said at least one pressure rod is far away from said base to deactivate the operation of said motorized wheelchair.
  • auxiliary means allow to stop the wheelchair operation at any time by electrically interrupting the connection between wheelchair power supply and motor.
  • said activating auxiliary means comprise, as well, at least one tappet rod to connect, or disconnect, mechanically said at least one actuator to said at least one cam, at least when said handle is in its first position, or in its second position. In this way any type of mechanical connection between actuator and cams can be eliminated and the unwanted feet rising without the handle being reported in the their first position, which is also the normal operation position, can be avoided.
  • said wheelchair comprises at least one further foot, wherein said at least one foot and said at least one further foot are disposed, respectively, in the front and the back of said wheelchair.
  • said displacing and blocking means also have the function of displacing said at least one further foot between said raised position and said lowered position, and vice versa, said at least one further foot being blocked in said lowered position at least when in contact with said slide surface for resting said motorized wheelchair in substantially horizontal position.
  • said at least one foot and said further foot are displaced in front of and behind said supporting frame of the wheelchair, also at differing heights, till touching the slide surface of the wheelchair. In this way the overall stability of the wheelchair is ensured, both in the back and front, meanwhile the wheelchair remaining in horizontal position.
  • said displacing and blocking means comprise at least one further cam rotatably constrained to said supporting frame between a start and a limit position to drive the displacement of said at least one further foot between said raised position and said lowered position, said at least one cam and said at least one further cam being able to be mutually activated. This allows to synchronize the start of the displacement of said at least one cam and said at least one further cam to each other and, thus, of said at least one foot and said at least one further foot, bringing them almost concurrently in contact with the slide surface.
  • said displacement and blocking means also comprise at least one further elastic element acting on said at least one further foot and/ or at least one further pawl, integrally disposed with said supporting frame, and at least one further toothing, integral with said at least one further foot.
  • Said at least one further pawl is movable between an engagement position with said at least one further toothing, to prevent the slide of said at least one further foot between said lowered position and said raised position, and a disengagement position with said at least one further toothing, to allow the slide of said at least one further food between said lowered position and said raised position.
  • a motorized wheelchair for the transportation of a sitting person has been denoted with 1.
  • Such a wheelchair for the transportation of a person comprises a base 2 operable by the user to activate the motorized wheelchair itself, two wheels 3, 4 both disposed at the sides 2a, 2b of said base 2 resting on a slide surface T, a supporting frame 5 integrally constrained to said base 2, above it, and provided with seat 6, and means 7 to support said wheelchair 1 on said slide surface T at lest when in not-operating condition, i.e. when the electrical motor housed in the above mentioned base 2 is not more powered.
  • a wheelchair 1 which allows the sliding only on two wheels 3 and 4, opposite one to each other, is self-balancing.
  • such a wheelchair employs self-equilibration means (herein not shown) of the wheelchair weight housed inside said base 2 together with further means (herein not shown) to vary the forward movement of the wheelchair.
  • self-equilibration means exploit well known load balancing systems that, for this reason, are not further described hereinafter.
  • the forward and/ or backward movement is obtained by means of the front and/ or back unbalancing of the user's body.
  • the activation of the wheelchair 1 is obtained at the moment a person seats on the seat 6 of the wheelchair 1 such that his/her weight can be used to detect the user's presence and activate the wheelchair electrical operation. This is allowed through two suitable pressure rods 23, as it will be better explained hereinafter, which lower till touching the base 2, at suitable regions 2c, 2d thereof, activating the electrical operation of the wheelchair 1 itself.
  • Said supporting means 7 comprise a foot 8 and a further foot 9, both arched and able to be rested on the ground, respectively, in front of and behind said wheelchair 1.
  • Such feet 8 and 9 are provided with suitable resting elements 70, 71, respectively, placed at an end 8a, 9a of said foot 8 and said further foot 9.
  • said wheelchair 1 also comprises means 10 for displacing and blocking said foot 8 and said further foot 9 between a raised position H (see figures 1 and 5 ), wherein said foot 8 and said further foot 9 do not touch the slide surface T, and a lowered position L (see figures 3a, 3b and 7 ), and vice versa.
  • said foot 8 and said further foot 9 remain blocked in said lowered position when in contact with said slide surface T for resting said motorized wheelchair 1 in substantially horizontal position.
  • a solution providing the employ of only one foot 8 still falls within the protection scope of the present invention.
  • the two feet 8 and 9 are able to adapt and allow the wheelchair 1 to remain in horizontal position.
  • the two feet 8 and 9 are blocked at least when at the resting position T, also at differing heights with respect to the supporting frame 5, as in the case of tilted slide constraint T (see figure 3b ), without causing particular problems for the equilibrium of the motorized wheelchair 1.
  • said displacing means 10 comprise a cam 11 and a further cam 12 rotatably constrained to said supporting frame 5 between a start S and a limit E position to drive, respectively, the displacement of said foot 8 and said further foot 9 between said raised position H and said lowered position L, and vice versa.
  • Figures 5 , 6 and 7 show the cams 11 and 12 between said start position ( figure 5 ), when said feet 8 and 9 are fully raised, and said limit position ( figure 7 ), when said feet 8 and 9 are fully lowered, passing through an intermediate position ( figure 6 ).
  • said foot 8 and said further foot 9 are slidably constrained, respectively, to said cam 11 and to said further cam 12 between said start S and limit E position, and vice versa.
  • the two feet 8 and 9 are controlled by the respective cams 11 and 12, when these latter move between said start S and limit E position, such that they can freely slide on the surface 11a and 12a of the cams 11 and 12 by the employ of suitable little wheels 51 and 52 (not visible) placed, respectively, at the ends 8b and 9b (not visible) of said feet 8 and 9.
  • the lowering of the feet 8 and 9 occurs both by exploiting the weight of each foot 8 and 9 and due to the presence of a first elastic element 13 and a second elastic element 14, of the spring type, for example, to retain said foot 8 and said further foot, respectively, pressed against said cam 11 and said further cam 12 between said start and limit positions for said cam 11 and said further cam 12.
  • each foot 8 and 9 is driven during its own displacement by four bearings 80, arranged two by two at the sides 8c, 8d and 9c, 9d of each foot 8 and 9, to ensure the sliding of the feet 8 and 9 along a predetermined pathway.
  • said cam 11 and said further cam 12 are mutually operable due to the presence of suitable connecting elements 60, herein represented by a rigid lever hinged on the two cams 11 and 12, which allow to synchronously transmit the rotation movement between the two cams 11 and 12.
  • the wheelchair 1 comprises an actuator 15 to drive the rotation of said further cam 12 between said start S and limit E position, and vice versa.
  • the cam 11 is directly moved by the actuator 15 due to its connection with said cam 12.
  • said further cam 12 too is indirectly moved by said actuator 15 since it is connected thereto through a clutch element (herein not shown) which allows, as it will be seen hereinafter, the connection, or the disconnection, of said actuator 15 with said further cam 12 and, thus, said cam 11.
  • a clutch element herein not shown
  • said displacing and blocking means 10 comprise a pawl 17 and a further pawl 18 (herein not shown), integrally disposed with said supporting frame 5, and a toothing 19 and a further toothing 20 integral, respectively, with said foot 8 and said further foot 9.
  • said pawl 17 and said further pawl 18 are rotationally movable between an engagement position, respectively, with said toothing 19 and said further toothing 20, to prevent the slide of said foot 8 and said further foot 9 between said lowered position L and said raised position H, and a disengagement position with said toothing 19 and said further toothing 20, to allow the slide of said foot 8 and said further foot 9 between said lowered position L and said raised position H.
  • said displacing and blocking means 10 comprise a mechanism 21 for rotationally driving, in the specific case, the activation of said pawl 17 and said further pawl 18 between said disengagement position and said engagement position.
  • a control mechanism 21 comprising a plurality of levers, is mechanically synchronized with said actuator 15, at least during the displacement of said cam 11 and said further cam 12 between said limit E position and said start position S. Therefore, each foot 8 and 9 can be released only after the actuator drives the inverse rotation of the two cams 11 and 12.
  • said motorized wheelchair 1 comprises auxiliary means 22 to activate said means 10 for the displacing and blocking of said first foot 8 and said further foot 9, at least when said wheelchair 1 is in operating condition.
  • Such auxiliary activating means 22 comprise two pressure rods 23 (of which one not visible in the attached figures), already above mentioned, operable on said base 2 of said motorized wheelchair 1, at said operation regions 2c and 2d of the wheelchair, and two handles 24 combined with said pressure rods 23 and rotatably constrained to said seat 6 between a first position, wherein said pressure rods 23 are in contact with said base 2, or more conveniently with said activation regions 2c and 2d of the wheelchair 1, to keep said wheelchair 1 in operating conditions, and a second position, wherein said pressure rods 23 are far away from said base 2 to deactivate the operation of said motorized wheelchair 1.
  • the number of pressure rods 23, as well as the number of handles 24 rotatably constrained and combined with said pressure rods, can also vary, for example, there can also be a single pressure rod 23 and a single handle 24 rotatably constrained to said seat, however falling within the protection scope of the present invention.
  • Such a solution allows, almost immediately, to obtain the switching off of the wheelchair 1, for example, when in dangerous circumstances or when in critical operating conditions of the wheelchair 1.
  • the displacing and blocking means 10 intervene by bringing said two feet 8 and 9 from the raised position H to the lowered position S, since their intervention is conditioned by the wheelchair 1 switching off, that is when the wheelchair is in its not-operating condition.
  • said activation auxiliary means 22 comprise, as well, a tappet rod 25 to mechanically connect, or disconnect, said actuator 15 to said further cam 12, at least when said handle 24 is in its first position, or in its second position.
  • the actuator 15 is mechanically disconnected to the said further cam 12 and, thus, both the further cam 12 and the cam 11, due to gravity of the two feet 8 and 9, as well as the force exerted by the respective springs 13 and 14 acting on said feet 8 and 9, rotate freely from the start position to the limit position, thus bringing the feet 8 and 9 from the raised position H to the lowered position L.
  • the intervention of the tappet rod 25 occurs at the said clutch element (herein not shown) that is rotated by said actuator 15 and that, in its turn, rotates said further cam 12.
  • Such a clutch element is coupled to said further cam 12 only when a tooth 90, present in said tappet rod 25, is coupled with a matching seat 91 obtained in said clutch element.
  • the tappet rod 25 is mechanically displaced, with the rotation of the said handle 24 from its first position to its second position, the above mentioned tooth 90 gets out from the seat 91 of the clutch element, thus causing the mechanical disconnection between actuator 15 and cam 12.
  • the handle 24 is returned in its first position, the tooth 90 is re-entered in its seat 91, since the tappet rod 25 is displaced again in its engagement start position.
  • Such operation is done only after the actuator 15 has rotated idly the clutch element till the tooth 90 become aligned with the respective recess 91.
  • said motorized wheelchair 1 comprises a sensor 30 integral with said supporting frame 5 and adapted to detect the rotation of said wheel 3.
  • a sensor 30 allows to detect the possible rotation of the wheel 3 subjected to measuring and, thus, to inform if the wheelchair 1 is moving or not.
  • a signal can be used by a control unit (herein not shown) to control the operation of said actuator 15 based on just the signal coming from said rotation sensor 30.
  • the actuator 15 can be prevented from operating when the displacement of the wheelchair 1 is sensed and, therefore, preventing the lowering of the feet 8 and 9 while running.

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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)
  • Inert Electrodes (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
EP12008409.0A 2011-12-19 2012-12-18 Motorisierter Rollstuhl Active EP2606867B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT002311A ITMI20112311A1 (it) 2011-12-19 2011-12-19 Carrozzella motorizzata

Publications (2)

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EP2606867A1 true EP2606867A1 (de) 2013-06-26
EP2606867B1 EP2606867B1 (de) 2015-11-18

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Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014007657A1 (en) * 2012-02-09 2014-01-09 Kevin Thomas Halsall Powered mobility device
NL1040717A (nl) * 2014-03-10 2015-11-05 Sial B V Zelfbalancerende rolstoel
WO2016001451A1 (fr) * 2014-07-04 2016-01-07 Universite De Versailles Saint-Quentin-En-Yvelines Vehicule comprenant un fauteuil articule comprenant un mecanisme de verticalisation
EP2995540A1 (de) 2014-09-15 2016-03-16 Freee Mobility GmbH Elektronisch selbstbalancierter rollstuhl
CN106041934A (zh) * 2016-06-30 2016-10-26 杭州电子科技大学 一种两轮自平衡机器人滑模自适应控制方法
CN106078744A (zh) * 2016-06-30 2016-11-09 杭州电子科技大学 一种两轮自平衡机器人滑模自适应控制系统
CN106452206A (zh) * 2016-06-30 2017-02-22 杭州电子科技大学 一种内置无刷直流电机电流环控制的两轮自平衡机器人滑模自适应控制器
DE102015217341A1 (de) * 2015-09-10 2017-03-16 Uwe Bernhard Dynamisch balancierendes Fahrzeug
DE102015217342A1 (de) * 2015-09-10 2017-03-16 Uwe Bernhard Dynamisch balancierendes Fahrzeug
WO2018031533A1 (en) * 2016-08-10 2018-02-15 Max Mobility, Llc Self-balancing wheelchair
DE102016116370A1 (de) 2016-09-01 2018-03-01 Fabio Giuseppe Gulino Selbstbalancierende Transportvorrichtung, insbesondere Rollstuhl mit Stützvorrichtung
EP3446669A1 (de) 2017-08-25 2019-02-27 Lukas Rigler Stützsystem für einen elektronisch selbstbalancierten rollstuhl
AT16499U1 (de) * 2015-10-19 2019-11-15 Frankie Gmbh Rollstuhl
CN111361681A (zh) * 2020-03-19 2020-07-03 北京大学 一种可实现自行车自平衡的装置、方法及自行车
FR3106492A1 (fr) * 2020-01-28 2021-07-30 Gyrolift Fauteuil roulant
IT202100006815A1 (it) 2021-03-22 2022-09-22 Biodismed S R L Gruppo di mobilità antiribaltamento per sedie a rotelle e relativa sedia a rotelle elettrica
WO2023135279A1 (en) 2022-01-17 2023-07-20 Genny Factory Sa Parking device for a self-balancing wheelchair

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HK1200641A2 (en) * 2015-03-25 2015-08-07 Single Person Transp Design Sptd Ltd A mobile chassis and a wheelchair using the same

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CN102036874B (zh) * 2008-11-27 2013-09-18 丰田自动车株式会社 移动体及其控制方法
JP5045707B2 (ja) * 2009-05-28 2012-10-10 トヨタ自動車株式会社 走行装置、その制御方法、及び制御プログラム

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US20110204592A1 (en) * 2010-02-17 2011-08-25 Johansen N Layne Mobility and Accessibility Device and Lift

Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014007657A1 (en) * 2012-02-09 2014-01-09 Kevin Thomas Halsall Powered mobility device
EP3178732A1 (de) 2014-03-10 2017-06-14 Sial B.V. Selbstausgleichender rollstuhl
NL1040717A (nl) * 2014-03-10 2015-11-05 Sial B V Zelfbalancerende rolstoel
WO2016001451A1 (fr) * 2014-07-04 2016-01-07 Universite De Versailles Saint-Quentin-En-Yvelines Vehicule comprenant un fauteuil articule comprenant un mecanisme de verticalisation
EP2995540A1 (de) 2014-09-15 2016-03-16 Freee Mobility GmbH Elektronisch selbstbalancierter rollstuhl
DE102014113278A1 (de) 2014-09-15 2016-03-17 Freee Mobility Gmbh Elektronisch selbstbalancierter Rollstuhl
DE102014113278B4 (de) * 2014-09-15 2016-08-25 Freee Mobility Gmbh Stützsystem, elektronisch selbstbalancierter Rollstuhl, Verfahren zum Steuern eines Stützsystems und Umrüstsatz
DE102015217342B4 (de) 2015-09-10 2023-06-29 Uwe Bernhard Dynamisch balancierendes Fahrzeug
DE102015217341A1 (de) * 2015-09-10 2017-03-16 Uwe Bernhard Dynamisch balancierendes Fahrzeug
DE102015217342A1 (de) * 2015-09-10 2017-03-16 Uwe Bernhard Dynamisch balancierendes Fahrzeug
AT16499U1 (de) * 2015-10-19 2019-11-15 Frankie Gmbh Rollstuhl
CN106041934A (zh) * 2016-06-30 2016-10-26 杭州电子科技大学 一种两轮自平衡机器人滑模自适应控制方法
CN106452206A (zh) * 2016-06-30 2017-02-22 杭州电子科技大学 一种内置无刷直流电机电流环控制的两轮自平衡机器人滑模自适应控制器
CN106078744A (zh) * 2016-06-30 2016-11-09 杭州电子科技大学 一种两轮自平衡机器人滑模自适应控制系统
CN106041934B (zh) * 2016-06-30 2018-07-20 杭州电子科技大学 一种两轮自平衡机器人滑模自适应控制方法
CN106078744B (zh) * 2016-06-30 2018-07-20 杭州电子科技大学 一种两轮自平衡机器人滑模自适应控制系统
CN106452206B (zh) * 2016-06-30 2018-09-11 杭州电子科技大学 一种两轮自平衡机器人的滑模自适应控制器
WO2018031533A1 (en) * 2016-08-10 2018-02-15 Max Mobility, Llc Self-balancing wheelchair
US10772774B2 (en) 2016-08-10 2020-09-15 Max Mobility, Llc Self-balancing wheelchair
DE102016116370A1 (de) 2016-09-01 2018-03-01 Fabio Giuseppe Gulino Selbstbalancierende Transportvorrichtung, insbesondere Rollstuhl mit Stützvorrichtung
EP3446669A1 (de) 2017-08-25 2019-02-27 Lukas Rigler Stützsystem für einen elektronisch selbstbalancierten rollstuhl
FR3106492A1 (fr) * 2020-01-28 2021-07-30 Gyrolift Fauteuil roulant
WO2021152228A1 (fr) * 2020-01-28 2021-08-05 Gyrolift Fauteuil roulant
CN111361681A (zh) * 2020-03-19 2020-07-03 北京大学 一种可实现自行车自平衡的装置、方法及自行车
CN111361681B (zh) * 2020-03-19 2021-02-09 北京大学 一种可实现自行车自平衡的装置、方法及自行车
IT202100006815A1 (it) 2021-03-22 2022-09-22 Biodismed S R L Gruppo di mobilità antiribaltamento per sedie a rotelle e relativa sedia a rotelle elettrica
WO2023135279A1 (en) 2022-01-17 2023-07-20 Genny Factory Sa Parking device for a self-balancing wheelchair

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ITMI20112311A1 (it) 2013-06-20

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