EP3058922B1 - Auxiliary wheelchair steering device and wheelchair fitted with such device - Google Patents

Description

The present invention relates to a wheelchair combination with a Vorspannlenkvorrichtung for a wheelchair with an electric drive means.

Wheelchairs for people with disabilities usually have two large, arranged in the forward direction rear drive wheels and two small, freely pivotable and forward in the forward direction arranged wheels, which are also called castors. The drive wheels may be electrically driven or driven drive wheels and are then electric drive means of the wheelchair in the context of this invention. In addition, for example, from the DE 198 57 786 A1 , Drive wheels known which are designed as an auxiliary drive device, both an electric drive motor and a gripping ring for manual drive and additionally comprise a sensor which detects a manually introduced into the gripping drive force, and a control device, the electric drive motor as a function of size and Direction of the manually introduced into the grip ring driving force and an adjustable level of support for delivering a corresponding torque drives. Such auxiliary drive devices are also electric drive means of the wheelchair in the sense of this invention, but other drive means are also encompassed by this term.

The freely pivoting castors ensure a high level of maneuverability, which is indispensable especially in so-called indoor operation, ie when the wheelchair is used in closed rooms. In outdoor operation, that is when operating outside of closed rooms and especially on uneven roads, the small castors are disadvantageous and make even with relatively small bumps operation of the wheelchair impossible. For example, small front wheels would dip into depressions from which they could not come out because of their small diameter limited ability to negotiate an obstacle, which then makes driving impossible.

For the so-called outdoor operation, therefore, special small vehicles with electric drive and larger, usually not freely pivotable, but steered front wheels have been developed. Such small vehicles are also referred to as scooters, but are unsuitable for indoor use, in particular because of their lack of maneuverability and therefore come as a second wheelchair for people with disabilities, which rely on a wheelchair, that is in addition to one suitable for indoor operation Wheelchair, considering.

Against this background, attempts have been made for a long time to provide a conventional, suitable for indoor use wheelchair with a removable accessory, which makes it possible to complement the designed for indoor operation wheelchair functionally so and that he for the outdoor operation is suitable.

As early as 1974, the DE 24 46 573 a pulling and guiding device which can be coupled to a wheelchair in such a way that, when coupled, the front small wheels of the wheelchair designed as freely pivotable castors are raised. This known pulling and guiding device has a motor-driven wheel which can be steered via a steering rod. The vehicle formed from such a coupled guide and the wheelchair is called a wheelchair team.

The technical concept outlined above has been used in practice for more than four decades and has been further developed to this day. Comparable traction devices for wheelchairs and corresponding unicycle wheelchair compartment are for example from the GB 2 124 985 A from 1982, the DE 200 07 793 U1 from the year 2000 and the DE 10 2007 015 851 A1 known from 2007. A disadvantage of this technical concept is that the wheel load and thus the contact pressure of the drive wheel of the traction device compared to the total operating mass of the unicycle wheelchair combination are low, since the majority of this total operating mass is introduced by the person sitting in the wheelchair whose focus in operation much closer to the rear large wheels is as the driven front Zugrad. As a result, only a small drive torque can be transmitted via the traction wheel and the traction wheel is already spinning at moderate inclines and moderate acceleration.

This problem also exists in those traction devices in which the steerable wheel is driven by means of a hand crank assembly. Such a traction means for a wheelchair is for example from the DE 93 03 981.6 U1 known.

The DE 10 2012 109833 A1 shows a Vorspannlenkvorrichtung with pedal crank assembly and power assistance for a wheelchair.

The invention has for its object to provide an improved wheelchair combination with a Vorspannlenkvorrichtung, in particular to solve the technical problem set out above.

To achieve this object, a wheelchair combination is provided with a Vorspannlenkvorrichtung according to claim 1 according to the invention.

The biasing steering device according to the invention is designed so that the drive of the wheelchair combination according to the invention formed from the invention Vorspannlenkvorrichtung and a commercial wheelchair coupled thereto with at least one, preferably two electrically driven drive wheels, not only on the manually crankable by hand crank arrangement or driven steerable wheel of the biasing steering device takes place, but also via the electrically driven or driven drive wheels of the wheelchair, which are usually the large rear wheels of the wheelchair. The biasing steering device according to the invention has for this purpose a Vorspannlenkvorrichtung control device which is adapted to an attached to the wheelchair electric drive means, that is, an electric drive means, for example electrically driven or driven rear wheels of the wheelchair to drive according to an introduced into the hand crank assembly force.

There are thus the electric drive wheels of the wheelchair, that is, when the biasing steering device according to the invention is coupled to a wheelchair, which is formed from the Vorspannlenkvorrichtung and the coupled wheelchair wheelchair combination, depending on the amount and direction of the introduced into the hand crank assembly mechanical force is controlled and additionally driven by the rotation of the hand crank assembly, the steerable wheel of the biasing steering device. A wheelchair combination formed from the Vorspannlenkvorrichtung and a wheelchair with two electrically driven wheels thus has three drive wheels. The proportion with which the two driven wheels of the wheelchair participate in the overall propulsion of the wheelchair combination, that is, the degree of support of the electric drive, can be variable and adjustable by the person sitting in the wheelchair person.

The biasing steering device according to the invention has a hand crank assembly, which preferably also fulfills the function of a steering device, as is known from the DE 93 03 981.6 U1 is known, and uses an introduced in this crank assembly human force in connection with the control of the electric drive device of the wheelchair. The introduced into the hand crank assembly human force leads to a certain speed of the hand crank assembly. This rotational speed and the direction of rotation of the hand crank arrangement, but also a torque or a torque characteristic variable, for example the deformation of a component, can be control variables in the control of the electric drive device of the wheelchair or serve to form control variables and / or contribute.

Thus, according to the invention, a wheelchair team can be formed from a commercially available indoor wheelchair and the preload steering device according to the invention, which has excellent driving characteristics. This wheelchair combination gives the indoor wheelchair outdoor properties, makes the purchase of a separate outdoor wheelchair unnecessary, compared to the state of the art a much better Traction of the drive wheels and thus allows significantly better handling even on unpaved roads. The steerable and driven by the hand crank assembly wheel can be made so large that it ensures the desired off-road capability, not already sinking into smaller wells so that from these can not be driven out, and even larger bumps such as coarse rubble or curbs can be overcome , In addition, the operation ensures, since only relatively large wheels, especially not the small castors, have ground contact, a good ride comfort. At the same time the drive provided by the electrically driven wheels of the wheelchair, especially when the electrically driven wheels are the rear wheels, ensures excellent traction, since the weight on the rear wheels portion of the total operating mass of the wheelchair combination consisting of the wheelchair, the Vorspannlenkvorrichtung and in person sitting in the wheelchair, is considerably larger than the proportion of the total operating mass of the wheelchair combination, which rests on the steerable and over the hand crank assembly drivable wheel of the biasing steering device.

The hand crank assembly provides the opportunity to maintain the valuable aspect of physical training while riding the wheelchair team by operating the hand crank assembly. However, the propulsion of the wheelchair combination according to the invention, consisting of a commercially available wheelchair and the preload steering device according to the invention, is supplemented by the additional contribution of the electrically driven rear wheels of the wheelchair.

As already stated, this contribution can be variable, wherein the support of the propulsion of a wheelchair combination according to the invention, consisting of a commercially available wheelchair and the Vorspannlenkvorrichtung invention, by the electric drive of the wheelchair, in particular by the electrically driven rear wheels of the wheelchair, can be adjustable. Optionally, the support can also take the form of an auxiliary drive device, as this example in the DE 198 57 786 A1 is described. While in the auxiliary drive devices according to the DE 198 57 786 A1 The human force of the person sitting in the wheelchair by hand in gripping rings of the rear drive wheels of the Wheelchair introduced and the hub motors of the drive wheels in response to this force, detected by respective sensors, are controlled by a control device so that a manually initiated direction of rotation supporting torque is generated, the human force in such an embodiment of the present invention of the in The person sitting in the wheelchair team initiated into the hand crank assembly. There, that is in the range of the hand crank assembly, in the region of a power transmission device, with which the rotation of the hand crank assembly can be transferred to the steerable wheel, or in the region of the steerable wheel corresponding parameters are determined by suitable sensors. All of these sensors, which are required to detect the human force introduced into the hand crank assembly, are collectively referred to herein as hand crank assembly sensors, no matter where exactly they are located in one embodiment of the invention. The signals of the hand crank locating sensors are fed to the biasing steering apparatus controller, processed there, and corresponding control signals are given to the electric drive means of the wheelchair, for example electrically driven or powered rear wheels of the wheelchair.

It will be appreciated that the biasing steering device control means may cause activation of the electric drive devices mounted on the wheelchair both directly and independently depending on the embodiment, as well as in cooperation with corresponding motor control devices of the wheelchair.

The electric drive device of the wheelchair can be provided in a variety of ways. A wheelchair, which can be connected to the biasing steering device according to the invention for providing the wheelchair combination according to the invention, for example, both be designed as an electric wheelchair from the concept wheelchair as well as a manual in principle, the Does not mean electric motor driven wheelchair, which is only by replacing the purely manually driven wheels with such wheels, which are provided with an electric hub motor, to an electric motor driven wheelchair. Such an electric motor driven drive wheel with a hub motor, which can be mounted not only on a rigid running, but also on a folding wheelchair, is for example in the DE 41 27 257 A1 disclosed. Another such electric motor driven drive wheel with a hub motor is for example in the DE 199 49 405 C1 disclosed. All such drive wheels with hub motor including those as in the above DE 198 57 786 A1 described auxiliary drive device are drive wheels that make a wheelchair to an electric motor driven wheelchair in the context of the present invention, that is to a wheelchair with an electric drive device, which can be made by coupling the biasing steering device according to the invention to a wheelchair combination according to the invention.

It will be understood by those skilled in the art that the types of drive enumerated by way of example are not exhaustive and that the bi-directional steering apparatus of the present invention may be used with and coupled to wheelchairs for forming a wheelchair combination of the invention having other types of electric drive.

In electrically powered wheelchairs are often used drive wheels with hub motors, for example, as disclosed in the above-mentioned documents. An electronic control device for controlling the hub motors therefore has to cause an activation of both motors in the case of two drive wheels and thus two hub motors. The Vorspannlenkvorrichtung control device of the biasing steering device according to the invention communicates in such a case with two engine control devices, namely each of a motor control device for a hub motor.

With regard to the control or control of such electric drive wheels of a wheelchair, in particular two types of control are known, namely a so-called torque control and a so-called speed control.

In the usual constellation with two rear wheels of a wheelchair each driven via hub motors, a torque control causes both motors to output the same drive torque. Such a torque control is widespread especially in so-called brush motors. It has the consequence that both drive wheels, namely a left and a right drive wheel, build the same torque. However, if a one-sided disturbance occurs in such a torque control, in particular in the form of a one-sided obstacle, which is the case, for example, when one of the drive wheels travels over a rock or if it is driven on a transverse slope, then the same torque results on both sides the one-sided disturbance variable to a different speed. The wheelchair would thus not go straight, but drive on a curve. Correction must be made by a modified move command.

In contrast, a speed controller presets a specific setpoint speed, which follows the wheel rotation frequency. Disturbance variables of the type described above are thus already compensated in the way of this control. A corresponding controller increases the torque of the affected engine so that the target speed is maintained when a one-way obstacle occurs.

In the preload steering apparatus of the present invention, the manner of controlling the electric motors of the wheelchair with which the pretensioner steering apparatus can be connected to provide the wheelchair combination of the present invention can be accommodated.

A speed control has, when the Vorspannlenkvorrichtung is coupled, with the consequence that the wheelchair combination tends to go straight regardless of the steering operation, since the drive wheels rotate on both sides with the same Raddrehfrequenz while cornering the outer wheel opposite The inside wheel must have a greater wheel rotation frequency if slip is to be avoided. Such a tendency to understeer the Wheelchair team can be countered by the fact that when coupling the Vorspannlenkvorrichtung to a wheelchair and this takes place the Vorspannlenkvorrichtung control device of the biasing steering device to a motor control device of the wheelchair, the operating mode of the motor control device of the wheelchair is changed from a speed control mode in a torque control mode Control of the drive wheels of the wheelchair thus no longer takes place as a speed control, but as torque control. This can be realized, for example, in that the motor control device of the wheelchair recognizes this as a new participant of the system when connecting the Vorspannlenkvorrichtung, for example via an RS-485 bus, and switches to the torque control mode. The torque control then acts like an electric differential and allows without slip the speed differences arising during cornering between the inside of the curve and the outside of the curve.

On the other hand, if the wheelchair has a torque control, then this control can basically be maintained.

In certain embodiments of the invention Vorspannlenkvorrichtung and the wheelchair combination, however, may be provided in the coupled state of the Vorspannlenkvorrichtung on the wheelchair for the control of the drive wheels of the wheelchair speed control. Such a speed mode of the controller may be selected, for example, when the preload steering apparatus is provided with a steering angle sensor that detects a steering angle and transmits corresponding signals to the preload steering apparatus controller such that, optionally in cooperation with one or more corresponding motor controls of the wheelchair , when cornering, the outside drive wheel is driven so that it rotates at a specifically higher rotational speed than the inside of the drive wheel. This allows a particularly good driving stability can be achieved.

In all embodiments, an active engine brake may be provided, optionally in addition to one or more brakes acting externally on the wheels.

In addition, an operating device can be provided with one or more additional operating elements, which can be attached to the pretensioning steering device itself or, for example, laterally on the wheelchair. The operating device may include a display device that displays information about speed, operating mode, state of charge of the batteries and the like, and it may include switches and controls, such as ON / OFF switch, operation mode switch, a stepless or stepped switch for setting a Degree of support and the like. In this case, variable or permanently preprogrammed degrees of support can be provided.

The variability of the degree of support can for example be used so that at the beginning of a ride, when the person sitting in the wheelchair team person is still fresh and rested, and / or if the low traction of the steerable and can be driven by the hand crank wheel of the biasing steering device unproblematic is, only a small, possibly reduced to zero degree of suppression by the electric drive wheels of the wheelchair is selected. The capacity of the battery can be spared. If, after a certain travel time and distance, the forces of the person sitting in the wheelchair wear off, or if good traction of the driving wheels becomes more important, the degree of support can be increased. This allows you to continue driving even when tired.

There is also the possibility that the steerable wheel of the biasing steering device, which is mechanically driven via the hand crank assembly, having an electric drive motor, preferably as a hub motor, as an auxiliary drive device according to that of DE 198 57 786 A1 known principle is configured. This electric drive motor of the steerable wheel of the biasing steering device can then also, optionally with variable degree of support, depending on the introduced into the hand crank assembly force of the person sitting in the wheelchair driven. It is thus provided by a hand crank arrangement operated wheelchair combination comprising three electrically driven wheels, wherein one of the wheels, namely the steerable wheel the Vorspannlenkvorrichtung, as large-sized wheel good outdoor properties ensures, and the other two drive wheels are located relatively close to the center of gravity of the overall operating mass of the wheelchair combination and have correspondingly good traction, and that due to known quick coupling devices by decoupling the Vorspannlenkvorrichtung also easily in one for the Indoor use suitable wheelchair can be converted back.

The electrical connection between the Vorspannlenkvorrichtung and its components on the one hand and the wheelchair and its components, in particular the electric motor drive and the related motor control devices of the wheelchair, on the other hand, depending on the embodiment wirelessly, for example via Bluetooth, or via cable, for example with magnetic plugs or other Plug types, done.

Mechanically, the coupling between a biasing frame of the Vorspannlenkvorrichtung and the wheelchair preferably via a quick coupling.

The invention will be further elucidated on the basis of embodiments with reference to the drawings.

• Fig. 1 eine perspektivische Darstellung einer Ausführungsform eines erfindungsgemäßen Rollstuhlgespanns, zusammengestellt durch einen Rollstuhl mit elektrisch angetriebenen Hinterrädern und eine angekoppelte Ausführungsform einer erfindungsgemäßen Vorspannlenkvorrichtung mit einer Handkurbelanordnung,
• Fig. 2 eine vergrößerte Teilansicht der Ausführungsform der Vorspannlenkvorrichtung mit Handkurbelanordnung gemäß Fig. 1 von vorne,
• Fig. 3 eine vergrößerte Teilansicht der Ausführungsform der Vorspannlenkvorrichtung mit Handkurbelanordnung gemäß Fig. 1 von der Seite und
• Fig. 4 ein schematisches Funktionsschaltbild einer Ausführungsform eines erfindungsgemäßen Rollstuhlgespanns.

In the drawings is

• Fig. 1 3 is a perspective view of an embodiment of a wheelchair combination according to the invention, assembled by a wheelchair with electrically driven rear wheels and a coupled embodiment of a pretensioning steering device according to the invention with a hand crank arrangement,
• Fig. 2 an enlarged partial view of the embodiment of the biasing steering device with hand crank assembly according to Fig. 1 from the front,
• Fig. 3 an enlarged partial view of the embodiment of the biasing steering device with hand crank assembly according to Fig. 1 from the side and
• Fig. 4 a schematic functional diagram of an embodiment of a wheelchair combination according to the invention.

This in Fig. 1 The wheelchair 100 has a seat 101, a backrest 102, a wheelchair frame 103, two large, in the forward direction rear drive wheels 104 and two small, freely pivoting and forward in the forward direction arranged impellers 105, which are also called castors, on. The drive wheels 104 are each provided with an electric motor drive device 106L, 106R designed as a hub motor. The drive wheels 104 are detachably attached to the wheelchair frame via thru axles and torque supports (not shown). Seen in the forward direction of travel, the wheelchair 100 thus has a left drive means 106L and a right drive means 106R. In the illustrated embodiment, the left driving device 106L and the right driving device 106R each have an electric motor (not shown), accumulator means (not shown) and motor control means 120L, 120R, these components being combined in the respective hub units.

It will be understood that those skilled in the art can choose numerous other engine configurations and engine arrangements.

When the wheelchair 100 is operated alone, that is, without a coupled biasing steering device, it can be steered by controlling the electric motor of the left driving device 106L and the electric motor of the right driving device 106R so that the respective driving wheels 104 rotate at different rotational speeds. The castors 105 contacting the ground in this operating state follow the drive due to their free pivotability. Corresponding movement commands can give the person sitting in the wheelchair person a wheelchair operating element 140. The wheelchair control element 140 may, optionally, have a joystick 141, the pivoting of which from a central zero position out through the respective direction and the amount of pivoting results in the wheelchair traveling in the appropriate direction and speed, as well as various other switches and buttons for Other conceivable functions such as operating modes and the like. Information regarding operating modes and operating data such as travel speed, state of charge of the accumulator devices, and the like can be displayed via a wheelchair display element 150.

The biasing steering apparatus 10 includes a biasing frame 13, a forked wheel 14 steerable about a steering axis, a hand crank assembly 60, and a bias steering apparatus controller 30. In this embodiment, the biasing steering device controller 30 is disposed in the hand crank assembly 60. It is understood that this structural unit is not mandatory and that the biasing steering device control device 30 may alternatively be arranged separately and elsewhere.

The hand crank assembly 60 has handles 61, crank arms 62 and a pulley 63 which increases in size FIGS. 2 and 3 is shown and via the means of a belt 64, a rotation of the steerable wheel 14 can be effected. The pulley 63 and the belt 64 are components of a power transmission device with which the rotation of the hand crank assembly 60 can be transmitted to the steerable wheel 14. It is understood that the person skilled in the art can also choose other power transmission devices for this purpose.

The functions of the wheelchair display element 150 and the wheelchair control element 140 may be entirely or partially, alternatively or additionally, by a biasing steering device display / control element 25 (in FIG Fig. 1 not shown).

Depending on the embodiment of the biasing steering device 10 may also be provided a steering angle sensor 40. The steering angle sensor 40 detects a steering angle, for example in the region of the steering axis, and is connected to the biasing steering device control device 30.

The rotational speed and / or the direction of rotation of the hand crank assembly 60 and / or the power transmission arrangement, in particular the pulley 63, and / or the steerable wheel 14 and / or in the hand crank assembly 60 and / or the power transmission arrangement, in particular the pulley 63, and / or the steerable wheel 14 are introduced by one or more hand crank sensors 69 (in FIG Fig. 1 not shown) and signals to the biasing steering device control means 30 which, in response to these signals, drive the motor control means 120L, 120R of the left drive means 106L and the right drive means 106R of the rear wheels 104.

The hand crank assembly 60 thus has the functionality of an operating device, since by turning a control and thus operation of the electric drive means 106L, 106R can be effected, and at the same time the functionality of a steering device, since the steerable wheel 14 can be steered while a wheelchair in the wheelchair 1 seated person with their hands on the handles 61, the pulley 63 rotates about the crank arms 62.

The propulsion of the wheelchair combination 1 can be effected according to an embodiment, not shown here, by the rotation of the steerable wheel 14 due to the mechanical transmission of the pulley 63 via the belt 64 and, as a result of the drive by the Vorspannlenkvorrichtung-control device 30, on the other by the rotation of the rear wheels 104 due to the assistance of the left drive means 106L and the right drive means 106R in response to the rotation of the steerable wheel 14 and the force introduced into the hand crank assembly 60, respectively.

In the in Fig. 1 illustrated embodiment, the steerable wheel 14 in addition to an electric drive motor 70, which is designed in this embodiment as a hub motor 70 and designed as an auxiliary drive device, as in principle from the DE 198 57 786 A1 is known. In this embodiment, the propulsion of the wheelchair combination 1 is caused by the rotation of the steerable wheel 14 due to both the mechanical transmission of the pulley 63 via the belt 64 and the additional assistance of the hub drive 70 as an auxiliary drive device and rotation of the rear wheels 104 the assistance of the left drive means 106L and the right Drive device 106R in response to the rotation of the steerable wheel 14 and the force introduced into the hand crank assembly 60 force.

The biasing steering device 10 is coupled to the wheelchair 100. For this purpose, corresponding compatible elements of a coupling device (not shown) are provided on the pretensioning frame 13 and on the wheelchair frame 103.

If, as in Fig. 1 shown, the Vorspannlenkvorrichtung 10 is coupled to the wheelchair 100, the originally touching the ground Castoren 105 are lifted from the ground. The wheelchair combination 1 rests and thus travels only on the drive wheels 104 of the wheelchair 100 and the wheel 14 of the biasing steering device 10. A steering of the wheelchair combination 1 is thus possible via the wheel 14.

In this state is, as in Fig. 4 shown, the Vorspannlenkvorrichtung controller 30 with the motor controllers 120L, 120R connected. The connection can be realized via a cable or wirelessly, for example via Bluetooth.

An indication of the operating data may be via a biasing steering device display / control 25 (shown in FIG Fig. 1 not shown) and / or over both display elements, that is, the wheelchair display element 150 and the biasing steering device display / control element 25. In addition, operating commands can be input via the biasing steering device display / control element 25 and / or the wheelchair control element 140.

When the preload steering apparatus 10 is coupled to the wheelchair 100, the actuators 106L and 106R are driven via or in conjunction with the biasing steering apparatus controller 30. Various configurations and configurations are possible. In particular, the activation can take place with a variable degree of support.

Since the wheel 14 is steered in the coupled state via the hand crank assembly 60, the drive means 106 L, 106 R are preferably in the torque mode, that is, the operating mode of the torque control, operated as this acts like a differential and allows a predetermined by the wheel 14 cornering without slippage. When the motor controllers 120L, 120R have been set so that the driving devices 106L, 106R operate in the speed mode, that is, the speed control operating mode, before the coupling of the bias steering apparatus 10, the biasing steering device controller 30 detects this upon coupling and causes it to turn on the torque mode is switched.

Alternatively, there is a possibility that the speed mode is maintained. In such a case, by means of the steering angle sensor 40, the steering angle of the wheel 14 can be detected and, based on this, the drive of the drive devices 106L, 106R be made so that when cornering the speed difference between the inside and the outside wheel is taken into account.

The biasing steering device controller 30 is typically composed of a semiconductor integrated circuit including, for example, a central processing unit (CPU), a ROM storing one or more programs, and a RAM serving as a desktop. However, certain programs or even physical elements may already be provided on the wheelchair 100, but are only activated when the biasing steering device 10 is coupled to the wheelchair 100 to form the wheelchair combination 1.

It is understood that suitable transmission means for the transmission of power and control signals are available to the person skilled in the art, in particular wirelessly, for example via Bluetooth, or via cables and suitable plug connections.

It is also understood that the type and number of the electric drive means of the wheelchair, in particular the number of driven wheels of the wheelchair and thus the wheelchair combination and the number of steered wheels of the biasing steering device not on the in Fig. 1 embodiment shown are limited.

Claims (3)

1. Wheel chair combination (1), characterized by a wheel chair (100) comprising two electrically driven drive wheels (104) each being driven by electric drive means (106L, 106R), and a leading steering device (10) with a leading frame (13) which is configured to be coupled to the wheel chair (100), a wheel (14) steerable by means of steering means (60), and a crank handle arrangement (60) by means of which the steerable wheel (14) is drivable via power transmission means (63, 64), as well as leading steering device control means (30) configured to control the electric drive means (106L, 106R) attached to the wheel chair corresponding to a force introduced into the crank handle arrangement (60).
2. Wheel chair combination (1) according to claim 1, characterized in that a steering angle sensor (40) transmits signals corresponding to the steering angle of the steerable wheel (14) to the leading steering device control means (30), so that during cornering, the electric drive means (106L, 106R) are controlled such that a drive wheel (104) of the wheel chair (100) that is located at the outer side of the curve rotates at a selectively higher rotational speed than a drive wheel (104) of the wheel chair (100) that is located at the inner side of the curve.
3. Wheel chair combination (1) according to one of the preceding claims, characterized in that it comprises a wheel chair operating element (140) and/or a wheel chair display element (150) and/or a leading steering device display / operating element (25).

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