EP2649973A1 - Auxiliary drive device for wheelchairs - Google Patents

Auxiliary drive device for wheelchairs Download PDF

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Publication number
EP2649973A1
EP2649973A1 EP13155699.5A EP13155699A EP2649973A1 EP 2649973 A1 EP2649973 A1 EP 2649973A1 EP 13155699 A EP13155699 A EP 13155699A EP 2649973 A1 EP2649973 A1 EP 2649973A1
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EP
European Patent Office
Prior art keywords
wheelchair
auxiliary drive
inclination
drive device
control device
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
EP13155699.5A
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German (de)
French (fr)
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EP2649973B1 (en
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.)
AAT Alber Antriebstechnik GmbH
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AAT Alber Antriebstechnik GmbH
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Publication date
Priority claimed from DE202012101317U external-priority patent/DE202012101317U1/en
Priority claimed from DE102012103136.3A external-priority patent/DE102012103136B4/en
Application filed by AAT Alber Antriebstechnik GmbH filed Critical AAT Alber Antriebstechnik GmbH
Publication of EP2649973A1 publication Critical patent/EP2649973A1/en
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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
    • A61G5/10—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
    • 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
    • A61G5/10—Parts, details or accessories
    • A61G5/1054—Large wheels, e.g. higher than the seat portion
    • 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
    • A61G5/1086—Anti-roll-back devices
    • 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
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/42—General characteristics of devices characterised by sensor means for inclination

Definitions

  • the invention relates to an auxiliary drive device for wheelchairs with two wheels provided with gripping rings, each having a drive device and a sensor device for detecting the muscle force introduced into the gripping ring, and with a control device.
  • Such an auxiliary drive device is for example from the DE 198 57 786 A1 known.
  • the muscle power introduced into the handrims can be proportionally supported.
  • the muscle power is detected by the sensor devices and depending on the drive means controlled by the control device.
  • gearless drive devices the drive devices support the wheelchair user for a short time. After switching off, the wheelchair rolls out, resulting in a driving experience similar to a purely manually operated wheelchair.
  • the gearbox brakes the motor immediately after it has been switched off. Therefore, in auxiliary drive devices with geared motors the motor is energized for a longer time and usually also with a ramped-down current to simulate the natural leakage of a purely manually driven wheelchair as well as possible.
  • auxiliary drive device Depending on the existing muscle power of the wheelchair user can be selected between different driving levels with a different degree of support of the auxiliary drive device. With strong and / or long climbs, however, even the highest level of support can no longer be sufficient to be able to move the wheelchair forward together with the muscular strength of the wheelchair user. Often wheelchair users underestimate the slope and / or overestimate their own muscle power.
  • the present invention has for its object to propose an auxiliary drive device, with the rides in sloping terrain are possible in a similarly comfortable manner as in even terrain.
  • an auxiliary drive device for self-propelled wheelchairs with two wheels provided with gripping rings, each having a drive device and a sensor device for detecting the muscle force introduced into the gripping ring, and with a control device, characterized in that it comprises a tilt sensor device which detects the inclination of the wheelchair relative to the horizontal in the direction of travel of the wheelchair, and that the control device activates the drive means in dependence on the detected inclination for a certain period of time and / or to deliver a certain power.
  • the torque applied by the drive means is thus selected not only as a function of the muscle force introduced into the grip rings, but also as a function of the detected inclination of the wheelchair in the direction of travel and thus of the slope of the terrain.
  • mountain rides can be handled by the wheelchair user without increased muscle use. Often this can also be omitted switching to a driving mode with a higher basic support by the engine.
  • the greater support provided by the drive means causes the wheelchair to travel a sufficient distance to allow the wheelchair user to grasp the gripping rings before the wheelchair comes to a standstill or even rolls back.
  • control device can preferably activate the drive devices for a time duration and / or for delivering a power upon detection of a gradient in the direction of travel of the wheelchair, which are proportional to the detected gradient.
  • control device brakes the drive devices upon detection of a gradient in the direction of travel of the wheelchair. This measure significantly increases the safety of the wheelchair user. Even on steep descents, his muscular strength is sufficiently supported to not let the wheelchair too fast.
  • control device can decelerate the drive devices until a maximum speed of the wheelchair is reached, wherein the maximum speed can also be adjustable. In this way, too fast downhill skiing can be avoided. Since the feeling for speeds is different in different people, a choice of the maximum speed is advantageous.
  • the braking of the wheelchair on a downhill slope also prevents dangers when driving uphill when engine power and muscle strength are insufficient to overcome the slope. If the wheelchair user is no longer able to move or hold his wheelchair, the wheelchair begins to roll backwards, but is slowed down, so that no danger situation for the driver arises.
  • control of the drive means may be different by the control device in dependence on the inclination of the wheelchair when driving forwards and when reversing.
  • a reverse drive should preferably be decelerated more than a forward drive, since the wheelchair user overlooks the area behind him worse than the one in front of him.
  • a rollback on a slope should not be completely prevented in order to continue to turn the wheelchair in a simple way. In this case, an impeller rolls backwards, while the other impeller reinforced by the drive device overcomes the slope.
  • auxiliary drive device may be designed such that upon detection of an inclination of the wheelchair for initiating the wheelchair at a standstill introduced into the handrims muscle force is supported by activation of the drive means by the controller such that even with decreasing muscle strength of the standstill of the wheelchair is maintained. To hold the wheelchair, a muscle force is permanently introduced into the grip rings. If this declines, support is provided by the drive device.
  • the control device processes this as its own control signal. This can be used to control an intended parking situation.
  • the control device can be made to prevent driving or rolling. This can be temporarily used as a replacement for the mechanical parking brake of the wheelchair.

Abstract

The device has two running wheels provided with grip rings, and a sensor device for acquisition of muscle power introduced into the grip rings. A slant sensor device detects slant of a wheelchair against horizontals in a direction of travel of the wheelchair. A control device activates a driving device based on the detected slant for a certain period and/or for delivery of certain power. The control device slows down the driving device with detection of the slant in the direction of driving of the wheelchair.

Description

Die Erfindung betrifft eine Hilfsantriebsvorrichtung für Rollstühle mit zwei mit Greifringen versehenen Laufrädern, die jeweils eine Antriebseinrichtung und eine Sensoreinrichtung zur Erfassung der in den Greifring eingeleiteten Muskelkraft aufweisen, und mit einer Steuereinrichtung.The invention relates to an auxiliary drive device for wheelchairs with two wheels provided with gripping rings, each having a drive device and a sensor device for detecting the muscle force introduced into the gripping ring, and with a control device.

Eine solche Hilfsantriebsvorrichtung ist beispielsweise aus der DE 198 57 786 A1 bekannt. Mit dem Hilfsantrieb kann die in die Greifringe eingeleitete Muskelkraft proportional unterstützt werden. Die Muskelkraft wird durch die Sensoreinrichtungen erfasst und abhängig davon die Antriebseinrichtungen durch die Steuereinrichtung angesteuert. Bei getriebelosen Antriebseinrichtungen unterstützen die Antriebseinrichtungen den Rollstuhlfahrer kurzzeitig. Nach dem Abschalten rollt der Rollstuhl aus, sodass sich ein Fahrgefühl ähnlich einem rein manuell betriebenen Rollstuhl ergibt. Bei Antriebseinrichtungen mit Getriebemotoren bremst das Getriebe den Motor nach dessen Abschaltung sofort ab. Daher wird bei Hilfsantriebsvorrichtungen mit Getriebemotoren der Motor länger bestromt und in der Regel auch mit einem rampenförmig abklingenden Strom, um das natürliche Auslaufen eines rein manuell angetriebenen Rollstuhls möglichst gut zu simulieren.Such an auxiliary drive device is for example from the DE 198 57 786 A1 known. With the auxiliary drive, the muscle power introduced into the handrims can be proportionally supported. The muscle power is detected by the sensor devices and depending on the drive means controlled by the control device. In gearless drive devices, the drive devices support the wheelchair user for a short time. After switching off, the wheelchair rolls out, resulting in a driving experience similar to a purely manually operated wheelchair. In drive systems with geared motors, the gearbox brakes the motor immediately after it has been switched off. Therefore, in auxiliary drive devices with geared motors the motor is energized for a longer time and usually also with a ramped-down current to simulate the natural leakage of a purely manually driven wheelchair as well as possible.

Je nach vorhandener Muskelkraft des Rollstuhlfahrers kann zwischen unterschiedlichen Fahrstufen mit einem unterschiedlich hohen Unterstützungsgrad der Hilfsantriebsvorrichtung gewählt werden. Bei starken und/oder langen Steigungen kann jedoch auch der höchste Unterstützungsgrad nicht mehr ausreichend sein, um den Rollstuhl zusammen mit der Muskelkraft des Rollstuhlfahrers vorwärts bewegen zu können. Häufig unterschätzen Rollstuhlfahrer auch die Steigung und/oder überschätzen ihre eigene Muskelkraft.Depending on the existing muscle power of the wheelchair user can be selected between different driving levels with a different degree of support of the auxiliary drive device. With strong and / or long climbs, however, even the highest level of support can no longer be sufficient to be able to move the wheelchair forward together with the muscular strength of the wheelchair user. Often wheelchair users underestimate the slope and / or overestimate their own muscle power.

Der vorliegenden Erfindung liegt die Aufgabe zugrunde, eine Hilfsantriebsvorrichtung vorzuschlagen, mit der Fahrten in geneigtem Gelände in ähnlich komfortabler Weise möglich sind wie in ebenem Gelände.The present invention has for its object to propose an auxiliary drive device, with the rides in sloping terrain are possible in a similarly comfortable manner as in even terrain.

Die Aufgabe wird gelöst durch eine Hilfsantriebsvorrichtung für Selbstfahrer-Rollstühle mit zwei mit Greifringen versehenen Laufrädern, die jeweils eine Antriebseinrichtung und eine Sensoreinrichtung zur Erfassung der in den Greifring eingeleiteten Muskelkraft aufweisen, und mit einer Steuereinrichtung, dadurch gekennzeichnet, dass sie eine Neigungssensoreinrichtung aufweist, welche die Neigung des Rollstuhls gegenüber der Horizontalen in Fahrtrichtung des Rollstuhls erfasst, und dass die Steuereinrichtung die Antriebseinrichtungen in Abhängigkeit von der detektierten Neigung für eine bestimmte Zeitdauer und/oder zur Abgabe einer bestimmten Leistung aktiviert.The object is achieved by an auxiliary drive device for self-propelled wheelchairs with two wheels provided with gripping rings, each having a drive device and a sensor device for detecting the muscle force introduced into the gripping ring, and with a control device, characterized in that it comprises a tilt sensor device which detects the inclination of the wheelchair relative to the horizontal in the direction of travel of the wheelchair, and that the control device activates the drive means in dependence on the detected inclination for a certain period of time and / or to deliver a certain power.

Das von den Antriebseinrichtungen aufgebrachte Drehmoment wird nun also nicht nur abhängig von der in die Greifringe eingeleiteten Muskelkraft, sondern auch abhängig von der detektierten Neigung des Rollstuhls in Fahrtrichtung und damit von der Steigung des Geländes gewählt. Dadurch lassen sich auch Bergfahrten durch den Rollstuhlfahrer ohne erhöhten Muskeleinsatz bewältigen. Häufig kann dadurch auch ein Schalten in einen Fahrmodus mit einer höheren Grundunterstützung durch den Motor entfallen. Die größere Unterstützung durch die Antriebseinrichtungen bewirkt, dass der Rollstuhl eine ausreichende Wegstrecke zurücklegt, um dem Rollstuhlfahrer ein Umgreifen an den Greifringen zu ermöglichen, bevor der Rollstuhl zum Stillstand kommt oder gar zurückrollt.The torque applied by the drive means is thus selected not only as a function of the muscle force introduced into the grip rings, but also as a function of the detected inclination of the wheelchair in the direction of travel and thus of the slope of the terrain. As a result, mountain rides can be handled by the wheelchair user without increased muscle use. Often this can also be omitted switching to a driving mode with a higher basic support by the engine. The greater support provided by the drive means causes the wheelchair to travel a sufficient distance to allow the wheelchair user to grasp the gripping rings before the wheelchair comes to a standstill or even rolls back.

Vorzugsweise kann dabei die Steuereinrichtung bei Detektion einer Steigung in Fahrtrichtung des Rollstuhls die Antriebseinrichtungen für eine Zeitdauer und/oder zur Abgabe einer Leistung aktivieren, die proportional zur detektierten Steigung sind.In this case, the control device can preferably activate the drive devices for a time duration and / or for delivering a power upon detection of a gradient in the direction of travel of the wheelchair, which are proportional to the detected gradient.

Weitere Vorteile ergeben sich, wenn die Steuereinrichtung bei Detektion eines Gefälles in Fahrtrichtung des Rollstuhls die Antriebseinrichtungen abbremst. Diese Maßnahme erhöht die Sicherheit des Rollstuhlfahrers deutlich. Auch bei steilen Bergabfahrten wird seine Muskelkraft ausreichend unterstützt, um den Rollstuhl nicht zu schnell werden zu lassen. Vorteilhafterweise kann dabei die Steuereinrichtung die Antriebseinrichtungen bis zum Erreichen einer Höchstgeschwindigkeit des Rollstuhls abbremsen, wobei die Höchstgeschwindigkeit auch einstellbar sein kann. Auf diese Weise können zu schnelle Bergabfahrten vermieden werden. Da das Empfinden für Geschwindigkeiten bei unterschiedlichen Personen verschieden ist, ist eine Wahlmöglichkeit der Höchstgeschwindigkeit vorteilhaft.Further advantages are obtained when the control device brakes the drive devices upon detection of a gradient in the direction of travel of the wheelchair. This measure significantly increases the safety of the wheelchair user. Even on steep descents, his muscular strength is sufficiently supported to not let the wheelchair too fast. Advantageously, the control device can decelerate the drive devices until a maximum speed of the wheelchair is reached, wherein the maximum speed can also be adjustable. In this way, too fast downhill skiing can be avoided. Since the feeling for speeds is different in different people, a choice of the maximum speed is advantageous.

Das Abbremsen des Rollstuhls auf einer Gefällstrecke verhindert auch Gefahren beim Bergauffahren, wenn Motorkraft und Muskelkraft nicht ausreichen, die Steigung zu überwinden. Kann der Rollstuhlfahrer seinen Rollstuhl nicht mehr vorwärtsbewegen oder halten, beginnt der Rollstuhl rückwärts zu rollen, wird dabei aber abgebremst, sodass keine Gefahrensituation für den Fahrer entsteht.The braking of the wheelchair on a downhill slope also prevents dangers when driving uphill when engine power and muscle strength are insufficient to overcome the slope. If the wheelchair user is no longer able to move or hold his wheelchair, the wheelchair begins to roll backwards, but is slowed down, so that no danger situation for the driver arises.

Dabei kann die Ansteuerung der Antriebseinrichtungen durch die Steuereinrichtung in Abhängigkeit von der Neigung des Rollstuhls bei Vorwärtsfahrt und bei Rückwärtsfahrt unterschiedlich sein. Eine Rückwärtsfahrt sollte vorzugsweise stärker abgebremst werden als eine Vorwärtsfahrt, da der Rollstuhlfahrer den Bereich hinter ihm schlechter übersieht als den vor ihm liegenden. Andererseits sollte ein Zurückrollen am Hang aber nicht völlig unterbunden werden, um den Rollstuhl weiter auf einfache Weise wenden zu können. Dabei rollt ein Laufrad rückwärts, während das andere Laufrad verstärkt durch die Antriebseinrichtung die Steigung überwindet.In this case, the control of the drive means may be different by the control device in dependence on the inclination of the wheelchair when driving forwards and when reversing. A reverse drive should preferably be decelerated more than a forward drive, since the wheelchair user overlooks the area behind him worse than the one in front of him. On the other hand, a rollback on a slope should not be completely prevented in order to continue to turn the wheelchair in a simple way. In this case, an impeller rolls backwards, while the other impeller reinforced by the drive device overcomes the slope.

Weiter kann die Hilfsantriebseinrichtung derart ausgelegt sein, dass bei Detektion einer Neigung des Rollstuhls die zum Halten des Rollstuhls im Stillstand in die Greifringe eingeleitete Muskelkraft durch Aktivierung der Antriebseinrichtungen durch die Steuereinrichtung derart unterstützbar ist, dass auch bei nachlassender Muskelkraft der Stillstand des Rollstuhl aufrechterhalten wird. Zum Halten des Rollstuhls wird in die Greifringe dauerhaft eine Muskelkraft eingeleitet. Lässt diese nach, erfolgt eine Unterstützung durch die Antriebseinrichtung.Further, the auxiliary drive device may be designed such that upon detection of an inclination of the wheelchair for initiating the wheelchair at a standstill introduced into the handrims muscle force is supported by activation of the drive means by the controller such that even with decreasing muscle strength of the standstill of the wheelchair is maintained. To hold the wheelchair, a muscle force is permanently introduced into the grip rings. If this declines, support is provided by the drive device.

Weitere Vorteile ergeben sich, wenn bei der Detektion einer Neigung des Rollstuhls durch die Neigungssensoreinrichtung und einer Detektion einer schnellen Richtungsumkehr der Einwirkung der Muskelkraft auf einen oder beide Greifringe die Steuereinrichtung dies als eigenes Steuersignal verarbeitet. Das kann genutzt werden, um eine beabsichtigte Parksituation anzusteuern. Durch eine schnelle Richtungsumkehr an den Greifringen kann die Steuereinrichtung dazu veranlasst werden, ein Fahren oder Rollen zu unterbinden. Dies kann vorübergehend als Ersatz für die mechanische Feststellbremse des Rollstuhls genutzt werden.Further advantages are obtained if, when detecting an inclination of the wheelchair by the inclination sensor device and a detection of a rapid reversal of the direction of the action of the muscular force on one or both gripping rings, the control device processes this as its own control signal. This can be used to control an intended parking situation. By a rapid reversal of the direction of the gripping rings, the control device can be made to prevent driving or rolling. This can be temporarily used as a replacement for the mechanical parking brake of the wheelchair.

Claims (8)

Hilfsantriebsvorrichtung für Rollstühle mit zwei mit Greifringen versehenen Laufrädern, die jeweils eine Antriebseinrichtung und eine Sensoreinrichtung zur Erfassung der in den Greifring eingeleiteten Muskelkraft aufweisen, und mit einer Steuereinrichtung, dadurch gekennzeichnet, dass sie eine Neigungssensoreinrichtung aufweist, welche die Neigung des Rollstuhls gegenüber der Horizontalen in Fahrtrichtung des Rollstuhls erfasst, und dass die Steuereinrichtung die Antriebseinrichtungen in Abhängigkeit von der detektierten Neigung für eine bestimmte Zeitdauer und/oder zur Abgabe einer bestimmten Leistung aktiviert.Auxiliary drive device for wheelchairs having two gripping wheels, each having drive means and sensor means for detecting the muscle force introduced into the gripping ring, and a control means, characterized in that it comprises inclination sensor means controlling the inclination of the wheelchair relative to the horizontal Detected driving direction of the wheelchair, and that the control device activates the drive means in dependence on the detected inclination for a certain period of time and / or to deliver a certain power. Hilfsantriebsvorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Steuereinrichtung bei Detektion einer Steigung in Fahrtrichtung des Rollstuhls die Antriebseinrichtungen für eine Zeitdauer und/oder zur Abgabe einer Leistung aktiviert, die proportional zur detektierten Steigung sind.Auxiliary drive device according to claim 1, characterized in that the control device upon detection of a slope in the direction of travel of the wheelchair activates the drive means for a period of time and / or delivery of power, which are proportional to the detected slope. Hilfsantriebsvorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Steuereinrichtung bei Detektion eines Gefälles in Fahrtrichtung des Rollstuhls die Antriebseinrichtungen abbremst.Auxiliary drive device according to claim 1 or 2, characterized in that the control device brakes the drive means upon detection of a gradient in the direction of travel of the wheelchair. Hilfsantriebsvorrichtung nach Anspruch 3, dadurch gekennzeichnet, dass die Steuereinrichtung die Antriebseinrichtungen bis zum Erreichen einer Höchstgeschwindigkeit des Rollstuhls abbremst.Auxiliary drive device according to claim 3, characterized in that the control device brakes the drive means until reaching a maximum speed of the wheelchair. Hilfsantriebsvorrichtung nach Anspruch 4, dadurch gekennzeichnet, dass die Höchstgeschwindigkeit einstellbar ist.Auxiliary drive device according to claim 4, characterized in that the maximum speed is adjustable. Hilfsantriebsvorrichtung nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass die Ansteuerung der Antriebseinrichtungen durch die Steuereinrichtung in Abhängigkeit von der Neigung des Rollstuhls bei Vorwärtsfahrt und bei Rückwärtsfahrt unterschiedlich ist.Auxiliary drive device according to one of claims 1 to 5, characterized in that the control of the drive means by the control device in dependence on the inclination of the wheelchair when driving forward and when reversing is different. Hilfsantriebsvorrichtung nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass bei Detektion einer Neigung des Rollstuhls die zum Halten des Rollstuhls im Stillstand in die Greifringe eingeleitete Muskelkraft durch Aktivierung der Antriebseinrichtungen durch die Steuereinrichtung derart unterstützbar ist, dass auch bei nachlassender Muskelkraft der Stillstand des Rollstuhl aufrechterhalten wird.Auxiliary drive device according to one of claims 1 to 6, characterized in that upon detection of an inclination of the wheelchair for holding the wheelchair at a standstill introduced into the handrims muscle force by activation of the drive means by the controller is supported such that even with decreasing muscle strength of the standstill of Wheelchair is maintained. Hilfsantriebsvorrichtung nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass bei Detektion einer Neigung des Rollstuhls durch die Neigungssensoreinrichtung und einer Detektion einer schnellen Richtungsumkehr der Einwirkung der Muskelkraft auf einen oder beide Greifringe die Steuereinrichtung dies als Steuersignal verarbeitet.Auxiliary drive device according to one of claims 1 to 7, characterized in that upon detection of an inclination of the wheelchair by the inclination sensor device and a detection of a rapid reversal of the action of the muscle force on one or both gripping rings, the control device processes this as a control signal.
EP13155699.5A 2012-04-12 2013-02-19 Auxiliary drive device for wheelchairs Active EP2649973B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202012101317U DE202012101317U1 (en) 2012-04-12 2012-04-12 Auxiliary drive device for wheelchairs
DE102012103136.3A DE102012103136B4 (en) 2012-04-12 2012-04-12 Auxiliary drive device for wheelchairs

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EP2649973A1 true EP2649973A1 (en) 2013-10-16
EP2649973B1 EP2649973B1 (en) 2014-11-19

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014103907A1 (en) 2014-03-21 2015-09-24 Karlsruher Institut für Technologie Passenger vehicle and control of a passenger vehicle and a method for operating the same

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GB2343871A (en) * 1998-11-17 2000-05-24 Saul Manashe An electrically powered wheelchair
EP2151221A2 (en) * 2008-08-08 2010-02-10 Ulrich Alber GmbH Helper drive device for a wheelchair and wheelchair with same
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0945112A1 (en) * 1996-09-27 1999-09-29 Yamaha Hatsudoki Kabushiki Kaisha Power-assisted wheelchair and method of operating same
EP0925771A1 (en) * 1997-05-19 1999-06-30 Yamaha Hatsudoki Kabushiki Kaisha Wheel chair with auxiliary power
DE19857786A1 (en) 1998-03-21 1999-09-30 Alber Ulrich Gmbh & Co Kg Auxiliary drive device for self-drive wheelchairs
GB2343871A (en) * 1998-11-17 2000-05-24 Saul Manashe An electrically powered wheelchair
EP2151221A2 (en) * 2008-08-08 2010-02-10 Ulrich Alber GmbH Helper drive device for a wheelchair and wheelchair with same
EP2269907A2 (en) * 2009-07-02 2011-01-05 Nanocycle Pty Ltd. Power assisted bicycle
DE102010008265A1 (en) * 2010-02-17 2011-08-18 AAT Alber Antriebstechnik GmbH, 72458 Small vehicle, particularly wheelchair, has two detachable propellers and drive unit for propellers, where drive unit has motor, accumulator and control unit

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014103907A1 (en) 2014-03-21 2015-09-24 Karlsruher Institut für Technologie Passenger vehicle and control of a passenger vehicle and a method for operating the same
DE102014103907B4 (en) 2014-03-21 2018-08-30 Karlsruher Institut für Technologie A passenger vehicle and method of operating the same

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