EP2649973B1 - Auxiliary drive device for wheelchairs - Google Patents
Auxiliary drive device for wheelchairs Download PDFInfo
- Publication number
- EP2649973B1 EP2649973B1 EP13155699.5A EP13155699A EP2649973B1 EP 2649973 B1 EP2649973 B1 EP 2649973B1 EP 13155699 A EP13155699 A EP 13155699A EP 2649973 B1 EP2649973 B1 EP 2649973B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- wheelchair
- inclination
- control means
- detected
- derive
- 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.)
- Active
Links
- 210000003205 muscle Anatomy 0.000 claims description 16
- 230000004913 activation Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 claims description 2
- 241001481828 Glyptocephalus cynoglossus Species 0.000 claims 1
- 230000003213 activating effect Effects 0.000 claims 1
- 238000001514 detection method Methods 0.000 description 4
- 230000003387 muscular Effects 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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
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)
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
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. 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.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. 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.
Die Steuereinrichtung bremst bei Detektion eines Gefälles in Fahrtrichtung des Rollstuhls die Antriebseinrichtungen ab . 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.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.
Die Ansteuerung der Antriebseinrichtungen ist durch die Steuereinrichtung in Abhängigkeit von der Neigung des Rollstuhls bei Vorwärtsfahrt und bei Rückwärtsfahrt unterschiedlich. 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.The control of the drive means is 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 by activation of the drive means by the controller is supported such that even with decreasing muscle power of the wheelchair standstill 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 (6)
- Auxiliary derive arrangement for wheelchairs having two travel wheels provided witch push rims, which travel wheels each have a drive system and also a sensor means for sensing the muscle power applied to the push rim, and having a control means and an inclination-sensor means which senses the inclination of the wheelchair to the horizontal in the wheelchair's direction of travel, the control means activating the derive systems, as a function of the inclination detected, for a certain length of time and/or to deliver a certain power, characterised in that, if a gradient is detected in the wheelchair's direction of travel, the control means brakes the derive systems and the actuation of the drive systems by the control means as a function of the inclination of the wheelchair is different in backward and forward travel.
- Auxiliary derive arrangement according to claim 1, characterised in that, if an upward gradient is detected in the wheelchair's direction of travel, the control means activates the drive systems for a length of time and/or to deliver a power which are proportional to the upward gradient detected.
- Auxiliary derive arrangement according to claim 1 or 2, characterised in that the control means brakes the derive systems until a maximum speed for the wheelchair is reached.
- Auxiliary derive arrangement according to claim 3, characterised in that the maximum speed is able to be set.
- Auxiliary drive arrangement according to one of claims 1 to 4, characterized in that, if an inclination of the wheelchair is detected, the muscle power applied to the push rims to hold the wheelchair stationary can be assisted by the activation of the drive systems by the control means in such a way that even if the muscle power diminishes the stationary state of the wheelchair is still maintained.
- Auxiliary drive arrangement according to one of claims 1 to 5, characterised in that if an inclination of the wheelchair is detected by the inclination-sensor means and if a sudden reversal is detected of the direction in which the muscle power is acting on one or both push rims, the control means processes this as a control signal.
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 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2649973A1 EP2649973A1 (en) | 2013-10-16 |
EP2649973B1 true EP2649973B1 (en) | 2014-11-19 |
Family
ID=47722134
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP13155699.5A Active EP2649973B1 (en) | 2012-04-12 | 2013-02-19 | Auxiliary drive device for wheelchairs |
Country Status (1)
Country | Link |
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EP (1) | EP2649973B1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014103907B4 (en) | 2014-03-21 | 2018-08-30 | Karlsruher Institut für Technologie | A passenger vehicle and method of operating the same |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1099379A (en) * | 1996-09-27 | 1998-04-21 | Yamaha Motor Co Ltd | Wheelchair with auxiliary driving power |
JPH10314232A (en) * | 1997-05-19 | 1998-12-02 | Yamaha Motor Co Ltd | Power assisted wheelchair |
DE19861127C2 (en) | 1998-03-21 | 2001-02-22 | Alber Ulrich Gmbh & Co Kg | Auxiliary drive device for self-drive wheelchairs |
GB9825171D0 (en) * | 1998-11-17 | 1999-01-13 | Manashe Saul | Wheelchairs |
DE102008002993B3 (en) * | 2008-08-08 | 2009-11-05 | Ulrich Alber Gmbh | Auxiliary drive device for wheelchair, has drive motor, carrying wheels and sensor device which is designed to detect drive force induced manually in carrying wheels |
AU2009100700B4 (en) * | 2009-07-02 | 2009-11-12 | Nanocycle Pty Ltd | Improvements to power assisted vehicles |
DE102010008265B4 (en) * | 2010-02-17 | 2013-05-02 | Aat Alber Antriebstechnik Gmbh | minicar |
-
2013
- 2013-02-19 EP EP13155699.5A patent/EP2649973B1/en active Active
Also Published As
Publication number | Publication date |
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EP2649973A1 (en) | 2013-10-16 |
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