EP3072489A1 - Multifunctional transport and rehabilitation robot - Google Patents

Multifunctional transport and rehabilitation robot Download PDF

Info

Publication number
EP3072489A1
EP3072489A1 EP15466006.2A EP15466006A EP3072489A1 EP 3072489 A1 EP3072489 A1 EP 3072489A1 EP 15466006 A EP15466006 A EP 15466006A EP 3072489 A1 EP3072489 A1 EP 3072489A1
Authority
EP
European Patent Office
Prior art keywords
backrest
seat
frame
flange
headrest
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.)
Withdrawn
Application number
EP15466006.2A
Other languages
German (de)
English (en)
French (fr)
Inventor
Petra Haladová
Pavel Halada
Daniel Polák
Pavel Mruzek
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.)
Robotsystem SRO
Original Assignee
Robotsystem SRO
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
Application filed by Robotsystem SRO filed Critical Robotsystem SRO
Publication of EP3072489A1 publication Critical patent/EP3072489A1/en
Withdrawn legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0266—Foot
    • 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
    • A61G5/1056—Arrangements for adjusting the seat
    • 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
    • A61G5/1056—Arrangements for adjusting the seat
    • A61G5/1067—Arrangements for adjusting the seat adjusting the backrest relative to 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
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/121—Rests specially adapted therefor, e.g. for the head or the feet for head or neck
    • 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
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/125—Rests specially adapted therefor, e.g. for the head or the feet for arms
    • 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
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/128—Rests specially adapted therefor, e.g. for the head or the feet for feet
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0192—Specific means for adjusting dimensions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1623—Back
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1628—Pelvis
    • A61H2201/1633—Seat

Definitions

  • the invention relates to a robotic device designed for transport and rehabilitation of physically handicapped persons, combining the option of walking with support, riding in a standing position, and riding in a sitting position.
  • the apparatus comprises a base with omnidirectional wheels and a harness which provides stability of the rehabilitated person in the upright position and generates the characteristic movements of walking.
  • the disadvantage of the Powered mobile lifting, gait training and omnidirectional rolling apparatus is particularly its single-purpose while it allows only a standing position. In terms of functionality provided, it allows only assisted entrance, walk with support of powered mechanisms and exit. It does not use any mechanisms that allows transport of users in sitting or standing position or mechanisms that allow sitting on the device.
  • transport devices in various modifications that typically increase the mobility of disabled people and are thus complementary devices to conventional non-powered, but also to some motorized wheelchairs.
  • TEK RMD http://www.matiarobotics.com/index.html
  • An important disadvantage of the device of the second and third group is the fact that they allow the users only passive motion. User can be vertically placed to the standing position but he/she cannot perform any physical activity of lower limbs. The user can be only carried. They are means of transportation, which the user can use within normal daily activities, but not for rehabilitation.
  • the Multifunctional transport and rehabilitation robot which vertically adjustable U-frame is placed retractably in the sides and the U-frame actuator is placed in the frames of the sides, while in vertically adjustable U-frame through synchronization double-lever and axial seat composition a seat is placed, which consists of a seat pad, a backrest and a headrest, while the seat pad and backrest are mutually connected through an axial composition of the seat, where the headrest is pivotally mounted against the backrest through axial headrest composition, while the seat is equipped with a seat parallelogram, while in the longitudinal arms of the vertically adjustable U-frame the height adjustable armrests are mounted, which are part of the armrests' parallelogram, while the wheels and footrests are placed in the sides.
  • the vertically adjustable U-frame is mounted in sides by rolling rollers, wherein the sides are fitted with the side frame and side cover.
  • the axial composition of the seat comprises of the linear actuator of a seat pad axially mounted in the central part of the seat pad, attached by a pin in a pin with a flange, while its flange part is used for firm connection with the seat pad, while in the opposite part of the seat pad there is grooving with slotted screw connected by a pin to the sliding part of the linear actuator of the seat, while its helix extends into the eye of the backrest, where the motion nut with a flange is placed, which is firmly fixed in the backrest through a pin, while a pin with a flange mounted in the housing with a flange, firmly imbedded in the eye of the backrest extends to the opposite eye of the backrest.
  • the axial composition of the headrest is formed by axially mounted linear actuator of the headrest in the middle part of the headrest, when the body of the linear actuator of the headrest is mounted through a pin in a pin with a flange, while it is rigidly connected to the headrest through this pin with a flange, and with the retractable side of the linear actuator, through a pin a slotted screw is connected which is stored in the grooving of the headrest, where the motion nut with a flange is mounted, which is through flange firmly imbedded in the backrest, while a pin with a flange expands to the opposite eye of the backrest, pivotally mounted in the housing with a flange, firmly imbedded in the eye of the backrest.
  • the height adjustable armrests are part of the armrest parallelogram formed by handles connected with the armrest, wherein each of the handles is connected to the retractable part of the linear armrest actuator and its opposite part is through a pin connected to the vertically adjustable U-frame. Furthermore, it is advantageous when there are two omnidirectional wheels placed in each side through solid connection, while each wheel is fitted with an electric motor in its interior.
  • the footrests are mounted replaceably and rotatably in the sides, while their part is a motion screw through a motion nut of the footrest at both ends rotatably mounted in the radiaxial bearings firmly attached to the side frame, when there is a bumper firmly connected with each side frame in the rear part, while a part of each footrest are support rollers leaning on the area of a guiding rail, while in the rear part of the motion screw in the vicinity of the radiaxial bearing there is a countershaft transmission which includes an output shaft of the rotary actuator.
  • the armrest actuator, U-frame actuator, headrest actuator, backrest actuator, double-lever actuator and seat pad actuator are rotary actuators with transmission.
  • a significant advantage of the proposed device is that it combines the function of a means for rehabilitation of lower limbs through walk with support, while offering the option of electronically controlled omnidirectional movement and height adjustable armrests, function of transport electric platform with electronically controlled transport of the patient in standing position, and function of mobile powered chair with omnidirectional movement.
  • the system also allows the complete positioning including comfortable seat headrests.
  • the figure for annotation shows the axonometric views of two basic user positions of device at the top; position for walking is depicted in the upper left corner; position intended for sitting is depicted in the upper right corner. Rectangular view of the device from the side is depicted at the bottom.
  • Multifunctional transport and rehabilitation robot 1 includes the vertically adjustable U- frame 2 which is through roller pulleys 14 telescopically mounted in two sides 3 with omnidirectional wheels 16, where pins of roller pulleys 14 are stored directly in the sides 3 with omnidirectional wheels 16, and guiding surfaces of roller pulleys 14 are part of the vertically adjustable U-frame 2, while the roller pulleys 14 are connected with the frame 17 of the sides that are fitted with retractable guiding surfaces of the vertically adjustable U-frame 2, while in each frame 17 of the sides, a linear actuator 15 of the U-frame is placed, which is mounted at the bottom of the side 3 with omnidirectional wheels 16, and in the guide part of the vertically adjustable U-frame 2 at the opposite end; while in the vertically adjustable U-frame 2 through the synchronization double-lever 26 and axial composition of the seat 5 a seat 4 is mounted pivotally, which comprises a seat pad 6 and a backrest 7 interconnected with the axial composition of the seat 5 and a headrest 8 which is mounted pivotally to the backrest
  • Multifunctional transport and rehabilitation robot 1 is designed as a support device for the physically limited users, allowing entrance without the assistance of another person a combining the functions of walking with support and transport with the possibility of driving in standing and sitting positions, all with the possibility of omnidirectional movement.
  • the basic part is a vertically adjustable U-frame 2, placed in the two sides 3, while ejection of the vertically adjustable U-frame 2, as a user-customizable dimension, is enabled by guiding with four pulleys 14 firmly connected with the side frame 17 while the retractable guiding surfaces of the vertically adjustable U-frame 2 fit into the sides.
  • Ejection movement of the vertically adjustable U-frame is implemented by a linear actuator 15 of the U-frame which is mounted in each side frame 17 , while it is mounted in the bottom part in the side 3, and at the opposite end in the guiding part of the vertically adjustable U-frame 2.
  • a headrest 8 is in the highest part of the seat 4 , while its swivel motion is allowed by the axial composition 9 of the headrest, where the linear actuator 20 of the headrest is placed in the pivot axis of the headrest 8, which is mounted in a pin 21 with a flange and its flange part is used for a fixed connection with the headrest 8, while on the sliding side of the linear actuator 20 of the headrest there is a slotted screw 22 placed, which is placed in the groovingof the headrest 8, while its part with helix expands to the area of the moving nut 23 with a flange placed firmly in the eye of the backrest 7 .
  • a housing 24 with a flange is mounted, in which a pin 21 with a flange is pivotally mounted.
  • the axial composition of the seat 5 allows movement of the seat pad 6 against the backrest 7 , while it is the supporting part of the seat 4, while it consists of the same parts as the axial composition 9 of the headrest, with the only difference that the linear actuator causes movement of the seat pad 30 and the housing with a flange 24 and moving nut 23 with a flange are extended so they expand into the area of eyes of the synchronization double-lever 26 , allowing necessary swivel movement, thereby forming a main structural member of the seat 4.
  • height adjustable armrests 10 mounted through parallelogram 11 of the armrests, comprising of two handles 12 connected by an armrest 10, while one of them is controlled by a linear actuator 13 of armrests.
  • Each of the sides 3 has two omnidirectional wheels 16, which are placed through firm shape connection, each of which is driven by an electric motor 18 mounted in the wheel, while cover 19 of the side is placed on the side 3, while a bumper 37 is in the rear part firmly connected with each side frame 17 .
  • each footrest 31 Part of each footrest 31 are support rollers 35 leaning on the inner part of the U-hollow of the guide rail 36, which lower support surface is in the rear portion is cut so as to allow lifting of each of the pair of footrests 31 by its twisting by about 90 degrees at the end of backward movement when it abuts the bumper 37 .
  • the actuator of the motion screw 32 is implemented through the countershaft transfer 38 , driven by a rotary drive 39 firmly interconnected with the side frame 17 .
  • the footrest 31 If there is exclusion of the footrest 31 from the space of use needed, it moves with the motion screw 32 to the rear part of the side 3, where it reaches the bumper 37, and if the gradient of the helix of the motion screw 32 is large and oriented accordingly, the footrest 31 turns up in the final phase of the movement, where it stops due to rotary drive 39 firmly positioned in the side frame 17 .
  • the torque from the rotary drive 39 is transferred to motion screw 32 through countershaft transfer 38 .
  • For motion screw 32 of the second of footrests pair 31 is valid that it has the same pitch but opposite helix orientation.
  • Multifunctional transport and rehabilitation robot is a device which allows the physically limited users to enter without the assistance of another person, and it combines the functions of walking with support used for rehabilitation purposes, and transport with the possibility of riding in standing and sitting positions whith a high maneuverability, which is given by the omnidirectional movement.
  • the multifunctional transport and rehabilitation robot is a novel robotic technology, associating diametrically different functions - thus as indicated above, there are features for the gait rehabilitation, person transport in standing position, person transport in sitting position, as well as entering and exiting of the user into a sitting position and back to a standing position; all without an assistant.
  • the universality of the robot is also built on the possibility of its use not only for physically handicapped persons who require controlled gait rehabilitation and simultaneously transport in different positions, but even for users with less physical fund requiring a combination of walking with support and riding in the sitting and standing positions.
  • the proposed system is therefore useful, for example, for the elderly, physically disabled persons, persons undergoing treatment and rehabilitation processes, etc.

Landscapes

  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Otolaryngology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)
EP15466006.2A 2015-03-27 2015-05-15 Multifunctional transport and rehabilitation robot Withdrawn EP3072489A1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CZ2015-217A CZ307797B6 (cs) 2015-03-27 2015-03-27 Multifunkční transportní a rehabilitační robot

Publications (1)

Publication Number Publication Date
EP3072489A1 true EP3072489A1 (en) 2016-09-28

Family

ID=53498940

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15466006.2A Withdrawn EP3072489A1 (en) 2015-03-27 2015-05-15 Multifunctional transport and rehabilitation robot

Country Status (2)

Country Link
EP (1) EP3072489A1 (cs)
CZ (1) CZ307797B6 (cs)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107647986A (zh) * 2017-10-31 2018-02-02 依纳博（天津）智能科技发展有限公司 一种带有自动升降脚踏的电动轮椅
CN107693232A (zh) * 2017-10-31 2018-02-16 依纳博（天津）智能科技发展有限公司 一种带有自动遮挡板的电动轮椅
EP3395313A1 (en) * 2017-04-24 2018-10-31 Robotsystem, s.r.o. Cognitive robot for rehabilitation and transport
CN110524520A (zh) * 2019-09-03 2019-12-03 安徽理工大学 一种多功能助力机械
RU196942U1 (ru) * 2019-09-17 2020-03-23 Федеральное государственное казенное военное образовательное учреждение высшего образования "Военная академия материально-технического обеспечения имени генерала армии А.В. Хрулёва" Роботизированная транспортная платформа
CN112494229A (zh) * 2020-12-08 2021-03-16 星际控股集团有限公司 一种警用软带离多功能车
US20210267825A1 (en) * 2018-06-27 2021-09-02 Guangzhou Shiyuan Electronics Co., Ltd. Wheelchair structure

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998020827A1 (en) * 1996-11-12 1998-05-22 Scicare Systems International, Incorporated Multipurpose integrated activity and exercise system and methods for physically challenged persons
US7938756B2 (en) 2007-02-10 2011-05-10 Roy Rodetsky Powered mobile lifting, gait training and omnidirectional rolling apparatus and method
WO2012101574A2 (en) * 2011-01-24 2012-08-02 Walk-Care Ltd Mobilization and exercise device
US8459610B2 (en) 2010-08-09 2013-06-11 Fong-Chin Su Assistance mechanism for assisting patients to stand up
US20140265497A1 (en) * 2013-03-15 2014-09-18 Stryker Corporation Medical support apparatus

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998020827A1 (en) * 1996-11-12 1998-05-22 Scicare Systems International, Incorporated Multipurpose integrated activity and exercise system and methods for physically challenged persons
US7938756B2 (en) 2007-02-10 2011-05-10 Roy Rodetsky Powered mobile lifting, gait training and omnidirectional rolling apparatus and method
US8459610B2 (en) 2010-08-09 2013-06-11 Fong-Chin Su Assistance mechanism for assisting patients to stand up
WO2012101574A2 (en) * 2011-01-24 2012-08-02 Walk-Care Ltd Mobilization and exercise device
US20140265497A1 (en) * 2013-03-15 2014-09-18 Stryker Corporation Medical support apparatus

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3395313A1 (en) * 2017-04-24 2018-10-31 Robotsystem, s.r.o. Cognitive robot for rehabilitation and transport
CZ308446B6 (cs) * 2017-04-24 2020-08-26 Robotsystem, S.R.O. Kognitivní robot pro rehabilitaci a transport
CN107647986A (zh) * 2017-10-31 2018-02-02 依纳博（天津）智能科技发展有限公司 一种带有自动升降脚踏的电动轮椅
CN107693232A (zh) * 2017-10-31 2018-02-16 依纳博（天津）智能科技发展有限公司 一种带有自动遮挡板的电动轮椅
US20210267825A1 (en) * 2018-06-27 2021-09-02 Guangzhou Shiyuan Electronics Co., Ltd. Wheelchair structure
US11883339B2 (en) * 2018-06-27 2024-01-30 Guangzhou Shiyuan Electronics Co., Ltd. Wheelchair structure
CN110524520A (zh) * 2019-09-03 2019-12-03 安徽理工大学 一种多功能助力机械
RU196942U1 (ru) * 2019-09-17 2020-03-23 Федеральное государственное казенное военное образовательное учреждение высшего образования "Военная академия материально-технического обеспечения имени генерала армии А.В. Хрулёва" Роботизированная транспортная платформа
CN112494229A (zh) * 2020-12-08 2021-03-16 星际控股集团有限公司 一种警用软带离多功能车

Also Published As

Publication number Publication date
CZ307797B6 (cs) 2019-05-15
CZ2015217A3 (cs) 2016-10-05

Similar Documents

Publication Publication Date Title
EP3072489A1 (en) Multifunctional transport and rehabilitation robot
US11058593B2 (en) Mobility device for physically disabled people
US10842706B2 (en) Elevating walker chair
US7758063B2 (en) Stabilized mobile unit or wheelchair
US7827630B2 (en) Home lift position and rehabilitation (HLPR) apparatus
US7921954B2 (en) Stabilized mobile unit or wheelchair
CN107296693A (zh) 一种多控制模式电动轮椅
JP2011504112A (ja) バランス及び身体の向きの支援装置
KR20160149679A (ko) 상하지 재활운동 기능을 갖는 전동 휠체어
US5853015A (en) Lightweight easily transportable personal lifting devices
TWI589287B (zh) Moving car
EP3373878B1 (en) Robotic mobile and modifiable bed with verticalization
Kouzelis et al. Wheelchair design for patients with spinal cord injuries
EP4225245B1 (en) Static-dynamic stabiliser
CZ29945U1 (cs) Multifunkční transportní a rehabilitační robot
KR20140109721A (ko) 이동 보조 시스템
JPH0512940B2 (cs)
CN113576779B (zh) 一种具有高舒适性的多功能手动轮椅
Ko et al. Design of Manual Wheelchair with a Function of Bed Transfer
TWI602559B (zh) 行動輔具之拐杖限位裝置
CN109044648A (zh) 一种方便调节座椅宽度的医疗康复轮椅
JP2003265545A (ja) 身障者用ベット
TWM519508U (zh) 行動輔具之拐杖限位裝置

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20170329