EP2649973B1 - Dispositif d'entraînement auxiliaire pour fauteuils roulants - Google Patents

Dispositif d'entraînement auxiliaire pour fauteuils roulants Download PDF

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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
Application number
EP13155699.5A
Other languages
German (de)
English (en)
Other versions
EP2649973A1 (fr
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
Original Assignee
AAT Alber Antriebstechnik 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
Priority claimed from DE202012101317U external-priority patent/DE202012101317U1/de
Priority claimed from DE102012103136.3A external-priority patent/DE102012103136B4/de
Application filed by AAT Alber Antriebstechnik GmbH filed Critical AAT Alber Antriebstechnik GmbH
Publication of EP2649973A1 publication Critical patent/EP2649973A1/fr
Application granted granted Critical
Publication of EP2649973B1 publication Critical patent/EP2649973B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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 . DE 10 2010 008 265 A1 . GB 2 343 871 A . EP 0 945 112 A1 and EP 0 925 771 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 are 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

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)

Claims (6)

  1. Dispositif d'entraînement auxiliaire pour fauteuils roulants avec deux roues de roulement munies de mains courantes, qui présentent chacune un dispositif d'entraînement et un dispositif de capteur destiné à détecter la force musculaire introduite dans la main courante, et avec un dispositif de commande ainsi qu'un dispositif de capteur d'inclinaison qui détecte l'inclinaison du fauteuil roulant par rapport à l'horizontale dans la direction de déplacement du fauteuil roulant, le dispositif de commande activant les dispositifs d'entraînement en fonction de l'inclinaison détectée pendant une durée de temps définie et/ou en vue de la fourniture d'une puissance définie, caractérisé en ce que le dispositif de commande freine les dispositifs d'entraînement lors de la détection d'une déclivité dans la direction de déplacement du fauteuil roulant, et en ce que le pilotage des dispositifs d'entraînement par le dispositif de commande en fonction de l'inclinaison du fauteuil roulant est différent lors de la marche avant et lors de la marche arrière.
  2. Dispositif d'entraînement auxiliaire selon la revendication 1, caractérisé en ce que le dispositif de commande, lors de la détection d'une pente dans la direction de déplacement du fauteuil roulant, active les dispositifs d'entraînement pendant une durée de temps et/ou pour la fourniture d'une puissance qui sont proportionnelles à la pente détectée.
  3. Dispositif d'entraînement auxiliaire selon la revendication 1 ou 2, caractérisé en ce que le dispositif de commande freine les dispositifs d'entraînement jusqu'à l'obtention d'une vitesse maximale du fauteuil roulant.
  4. Dispositif d'entraînement auxiliaire selon la revendication 3, caractérisé en ce que la vitesse maximale est réglable.
  5. Dispositif d'entraînement auxiliaire selon l'une des revendications 1 à 4, caractérisé en ce que, lors de la détection d'une inclinaison du fauteuil roulant, la force musculaire introduite dans les mains courantes pour maintenir le fauteuil roulant à l'arrêt peut être assistée par l'activation des dispositifs d'entraînement par le dispositif de commande de telle sorte que l'arrêt du fauteuil roulant est maintenu même en cas de diminution de la force musculaire.
  6. Dispositif d'entraînement auxiliaire selon l'une des revendications 1 à 5, caractérisé en ce que, lors de la détection d'une inclinaison du fauteuil roulant par le dispositif de capteur d'inclinaison et d'une détection d'une inversion rapide de direction de l'action de la force musculaire sur une main courante ou sur les deux, le dispositif de commande traite celles-ci comme un signal de commande.
EP13155699.5A 2012-04-12 2013-02-19 Dispositif d'entraînement auxiliaire pour fauteuils roulants Active EP2649973B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202012101317U DE202012101317U1 (de) 2012-04-12 2012-04-12 Hilfsantriebsvorrichtung für Rollstühle
DE102012103136.3A DE102012103136B4 (de) 2012-04-12 2012-04-12 Hilfsantriebsvorrichtung für Rollstühle

Publications (2)

Publication Number Publication Date
EP2649973A1 EP2649973A1 (fr) 2013-10-16
EP2649973B1 true EP2649973B1 (fr) 2014-11-19

Family

ID=47722134

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13155699.5A Active EP2649973B1 (fr) 2012-04-12 2013-02-19 Dispositif d'entraînement auxiliaire pour fauteuils roulants

Country Status (1)

Country Link
EP (1) EP2649973B1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014103907B4 (de) 2014-03-21 2018-08-30 Karlsruher Institut für Technologie Personenfahrzeug und Verfahren zum Betreiben desselben

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1099379A (ja) * 1996-09-27 1998-04-21 Yamaha Motor Co Ltd 補助動力付き車椅子
JPH10314232A (ja) * 1997-05-19 1998-12-02 Yamaha Motor Co Ltd 補助動力式車椅子
DE19857786C2 (de) 1998-03-21 2000-05-31 Alber Ulrich Gmbh & Co Kg Hilfsantriebsvorrichtung für Selbstfahrer-Rollstühle
GB9825171D0 (en) * 1998-11-17 1999-01-13 Manashe Saul Wheelchairs
DE102008002993B3 (de) * 2008-08-08 2009-11-05 Ulrich Alber Gmbh Hilfsantriebsvorrichtung für einen Rollstuhl und Rollstuhl mit Hilfsantriebsvorrichtung
AU2009100700B4 (en) * 2009-07-02 2009-11-12 Nanocycle Pty Ltd Improvements to power assisted vehicles
DE102010008265B4 (de) * 2010-02-17 2013-05-02 Aat Alber Antriebstechnik Gmbh Kleinfahrzeug

Also Published As

Publication number Publication date
EP2649973A1 (fr) 2013-10-16

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