EP3585346A1 - Rollstuhl zur gehunterstützung - Google Patents

Rollstuhl zur gehunterstützung

Info

Publication number
EP3585346A1
EP3585346A1 EP18709680.5A EP18709680A EP3585346A1 EP 3585346 A1 EP3585346 A1 EP 3585346A1 EP 18709680 A EP18709680 A EP 18709680A EP 3585346 A1 EP3585346 A1 EP 3585346A1
Authority
EP
European Patent Office
Prior art keywords
base
wheelchair
arm
user
frame
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP18709680.5A
Other languages
English (en)
French (fr)
Other versions
EP3585346B1 (de
Inventor
Marc BARDGETT
Damien ROCHE
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.)
Lifebloom
Original Assignee
Lifebloom
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 Lifebloom filed Critical Lifebloom
Publication of EP3585346A1 publication Critical patent/EP3585346A1/de
Application granted granted Critical
Publication of EP3585346B1 publication Critical patent/EP3585346B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • 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
    • 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
    • A61G5/02—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person
    • 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
    • A61G5/1059—Arrangements for adjusting the seat adjusting the height of 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
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/124—Rests specially adapted therefor, e.g. for the head or the feet for pelvis or buttocks
    • 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
    • A61G5/14—Standing-up or sitting-down aids
    • 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
    • A61G2200/00—Information related to the kind of patient or his position
    • A61G2200/50—Information related to the kind of patient or his position the patient is supported by a specific part of the body
    • A61G2200/58—Thigh
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1238—Driving means with hydraulic or pneumatic drive
    • A61H2201/1246—Driving means with hydraulic or pneumatic drive by piston-cylinder systems
    • 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
    • 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
    • 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
    • A61H2201/164—Feet or leg, e.g. pedal
    • 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
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • 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
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting

Definitions

  • the invention relates to devices for assisting walking and wheelchairs, particularly for persons with reduced mobility.
  • Wheelchairs helping to get up and movable walkers are for example known documents US 2007/0278761 and WO 2016/010863.
  • Some of these chairs include a frame, a movable seat, and a seat lift system.
  • the movable seat is particularly moved relative to the frame between a high position and a low seat position, under the effect of at least one jack. In the high position, the mobile seat is behind the user.
  • the displacement of the seat between its low position and its high position is effected with a rather counter-intuitive and unnatural movement of the user's lifting, the elevation seat is essentially vertical with a slight recoil and a slight advance relative to the chassis.
  • Some of these walking aids have a very small walking area. On the other hand, some of these wheelchairs or mobile walkers do not prevent a person with reduced mobility from falling.
  • the invention aims to at least partially solve the problems encountered in the solutions of the prior art.
  • the invention relates to a wheelchair for walking assistance.
  • the chair for walking assistance comprises a frame, a movable base and a device for changing the position of the base.
  • the mobile base is movable relative to the frame between a low seat position in which a user can sit on it, and a high position in which it is intended to be in contact with the user and at least partially behind the user.
  • the position change device of the base is configured to move the base between its high position and its low position.
  • the position change device comprises at least a first arm and a linear actuator.
  • the first arm extends between the frame and the base.
  • the linear actuator is connected by a lower mechanical connection to the chassis and by a mechanical link greater than the first arm.
  • the linear actuator is configured to bias the mobile base to the high position through the first arm.
  • the arm is connected at its lower end by a lower hinge to the frame and at its upper end by a hinge greater than the movable base, the upper hinge being located at the rear of the lower hinge on the entire stroke of the mobile base when the mobile base moves from the low position to the high position.
  • the arm forms an inter-engine type lever.
  • the wheelchair user can move from the low seat position to the high position of walking, with a risk of falling out of the chair which is reduced or even eliminated. Furthermore, the displacement of the mobile base when moving from the low seat position to the high position of operation is made with a movement relative to the frame which is upwards and forwards and which respects better the natural movement of a user to get up.
  • the wheelchair requires a moderate effort on the part of the user to get up and walk. In particular, it is adapted to re-educate the user when walking or to keep him walking, especially alone and safely.
  • the position change device advances the frame relative to the base, when the user wants to sit or when the user tends to fall either backwards or substantially vertically.
  • the actuator helps the user to get up. It allows in particular the position change device to at least partially support the weight of the user during the transition from the low position to the high position, while allowing the passage from the high position to the low position using the weight of the user exerted on the mobile base.
  • the wheelchair has a dynamic seating, the position of the mobile base relative to the frame being variable depending on the weight exerted by the user on the mobile base, especially when walking.
  • the inter-motor lever Due in particular to the inter-motor lever, the inclination of the first arm and possibly the inclination of the actuator of the first arm, the bulk of the elevating device is reduced. The user thus enjoys a relatively large walking area.
  • the chair is a wheelchair for walking assistance, in that it allows the user, for example a person with reduced mobility, to walk more normally, especially with the feet in contact with the ground.
  • the wheelchair accompanies the user in his movement when he walks.
  • the upper end of the arm is configured to form a maximum angle with the horizontal in the direction of the trigonometric circle by ensuring that for this angle the absolute value of the moment normal to the arm exerted by the actuator is strictly less than the value.
  • the invention may optionally include one or more of the following features combined with one another or not.
  • each linear actuator comprises an elastic return means configured to elastically bias the movable base towards the high position via the first arm.
  • the mobile base then partially supports the weight of the user during lifting, during sitting, and during walking.
  • the position of the mobile base relative to the chassis depends more on the weight exerted by the user on the mobile base. In other words, the wheelchair is more dynamic.
  • each linear actuator is passive.
  • each actuator is non-motorized.
  • the chair is then lightened and the size of the chair is reduced compared to a motorized chair, for example by an electric motor. In addition, it requires less maintenance than a motorized chair.
  • each linear actuator comprises a jack.
  • each linear actuator comprises a gas spring type cylinder.
  • the gas spring type linear actuator only partially assists the user in getting up, standing and sitting.
  • the intensity of the lifting force of the mobile base exerted by the actuator tends to vary less during the stroke of the actuator.
  • the actuator assists the user in getting up and sitting, while being particularly adapted to the rehabilitation of walking / maintaining the user's ability to walk.
  • the wheelchair for walking assistance comprises at least two first arms each extending between the frame and the base, and two linear actuators which are each connected by a lower mechanical connection to the frame and by a mechanical connection superior to one of the arms.
  • the linear actuators are configured to bias the mobile base towards the high position via the first arms.
  • the first arms each form an inter-engine type lever.
  • each first arm is connected at its lower end by a lower hinge to the frame and at its upper end by a hinge greater than the movable base.
  • the upper articulation is located at the rear of the lower articulation over the entire travel of the mobile base when the mobile base moves from the low position to the high position.
  • the upper mechanical connection of each linear actuator of one of the first arms is located at the rear of the lower mechanical link of this linear actuator, at least when the mobile base is in the high position.
  • the wheelchair for walking assistance comprises at least a second arm which extends between the frame and the mobile base.
  • a wheelchair for walking assistance comprises at least two second arms which each extend between the frame and the mobile base.
  • each second arm is a follower arm which is driven relative to the chassis by the at least one first arm.
  • the wheelchair further comprises a linear actuator by second arm, which is connected by a lower mechanical connection to the frame and a mechanical link greater than the second arm.
  • This linear actuator is configured to urge the mobile base to the high position via the second arm.
  • the arms are substantially parallel to each other.
  • the segments formed by the centers of the joints of each arm are parallel to each other.
  • the arms are connected laterally to the mobile base, the position change device is designed so that the user is between the arms, at least when the mobile base is in the top position.
  • the arms, the mobile base and the frame have a generally deformable parallelogram shape between the high position and the low position.
  • the position change device is configured to move the mobile base relative to the frame in a circumferential translational movement between the high position and the low seat position.
  • each first arm and / or each second arm is connected at its lower end by a pivot connection to the frame and at its upper end by a pivot connection to the mobile base.
  • the mobile base tends to be better guided and to be more stable relative to the chassis.
  • the user can interact more easily with his environment, especially towards the front. He can get in and out of his chair more easily.
  • each first arm is configured to form an angle of between 50 ° and 90 ° with the horizontal in the direction of the trigonometric circle, preferably at most 76 ° when the mobile base is in the top position.
  • the lower mechanical link and the upper mechanical link are pivot links.
  • the upper mechanical connection of each linear actuator is located at the rear of the lower mechanical link of the linear actuator, when the mobile base is in at least one position between the high position and the low position. , especially at least when the mobile base is in the high position.
  • each actuator upwards towards the rear tends, for example, to bring the wheelchair further closer to the user when lowering the mobile base, and to reduce the weight to be exerted on the mobile base to move it. towards the lower seat position, with respect to an actuator that would be tilted upwards forwards.
  • the absolute value of the angle between each linear actuator and the normal to the corresponding arm in the low position is less than the value absolute of the angle between this linear actuator and the normal to the corresponding arm in the high position.
  • the movable base comprises two lateral support elements and an intermediate support element located laterally between the two lateral support elements, each of the lateral support elements forms with the intermediate support element a housing for a lower limbs of the user in the up position.
  • the mobile base comprises a saddle.
  • the movable base comprises a saddle base to which the saddle is configured to be detachably connected.
  • the saddle has a laterally adjustable position relative to the frame.
  • the wheelchair comprises a lower support member configured to be a rear support for a lower limb portion of the user at least in the lower seat position.
  • the lower support member is located in front of the saddle and is at least partially adjustable laterally relative to the frame.
  • the lower support member comprises a liner which is laterally adjustable relative to the frame.
  • the movable base comprises a frame to which the seat is connected by being tilting at least in the direction of the height.
  • the chassis comprises at least two elongated uprights and a fixed base.
  • the slender uprights extend at least partially from front to back.
  • the arms and arms and the linear actuators are connected to the slender uprights.
  • the fixed base extends between the two elongated uprights in a transverse direction of the wheelchair, mechanically connecting the elongated amounts between them.
  • the mobile base is configured to rest on the fixed base in the low seat position.
  • the elongated amounts are rectilinear.
  • each of the slender uprights comprises at least one bar.
  • the frame comprises a backrest which is rigidly secured to the fixed base and which extends upwards from the fixed base.
  • the wheelchair comprises a backrest which is rigidly secured to the movable base.
  • the wheelchair for walking assistance comprises a front retention member configured to retain the user to go forward with respect to the frame.
  • the front retention member comprises a front support element configured to bear on the pelvis of the user in the high position.
  • the front support element is an iliac support configured to rest on the anterior superior iliac spine of the user.
  • the front retention member is configured to guide the wheelchair, at least when the mobile base is in the up position.
  • the front retention member comprises the front support member and a base.
  • the front support element is in particular configured to pivot relative to the base between an upper position and a lower position.
  • the front support member is configured to pivot relative to the base between an upper position when the movable base is in the down position, and a lower position when the movable base is in the up position.
  • the front retention member comprises a support arm to which the front support member is connected by a hinge.
  • the front support element is movable laterally between an open position in which the front support member allows the user to sit on the mobile base and a closed position in which it retains the user to the front relative to the mobile base.
  • the wheelchair for walking assistance comprises a rear thrust member which is movably connected to the movable base.
  • the rear thrust member comprises at least one rear support member for bearing against the rear of one of the lower limbs of the user in the up position, and the rear thrust member comprises a return means configured to bias the rear support element forward.
  • the rear support element is pivotable relative to the mobile base.
  • the rear support element is configured to have an oscillating movement with respect to the mobile base accompanying the lower limb during walking.
  • the rear thrust member is configured to be opposite one of the housing of the mobile base in the up position.
  • the rear thrust member is configured to at least partially close the housing in the low seat position.
  • the rear thrust member is configured to be in front of the saddle, bearing against the rear of one of the lower limbs of the user in the low seat position.
  • the wheelchair for walking assistance comprises a locking member of the movable base in the lower seat position and / or in the upper operating position.
  • the locking member comprises at least one locking bar pivotably connected to the frame and at least one locking pin which is integral with the movable base.
  • the lock bar engages the lock pin in the lock position.
  • the locking member comprises two locking bars each pivotably connected to the frame and two locking pins which are each secured to the mobile base. Each locking bar engages one of the locking pins in the locking position.
  • Figure 1 is a partial schematic perspective view of a wheelchair for walking assistance, according to a first embodiment of the invention, wherein the movable base is in the lower seat position;
  • FIG. 2 is a partial schematic perspective view of the wheelchair for walking assistance, in which the base is in the top position;
  • Figure 3 is a partial schematic representation in perspective of the movable base and the position change device of the wheelchair when the base is in the lower seat position;
  • Figure 4 is a partial schematic representation in perspective of the mobile base and the position change device of the wheelchair when the base is in the top position;
  • Figure 5 is a partial schematic perspective view of a rear wheel push member of the wheelchair
  • FIG. 6 is a partial diagrammatic representation in perspective of a front retention member of the wheelchair, in a low seat position
  • FIG. 7 is a partial schematic representation in perspective of a front retention member of the wheelchair, in position; high of walking;
  • Figure 8 is a partial schematic perspective view of the wheelchair assistance walking, wherein the base is in an intermediate position between the low position and the high position;
  • Figure 9 is a partial schematic representation in rear view of the wheelchair for walking, in which the base is in the intermediate position;
  • Figure 10 is a partial schematic perspective view of a wheelchair for walking assistance, according to a second embodiment of the invention, wherein the movable base is in the lower seat position;
  • Figure 11 a partial schematic perspective view of the wheelchair for walking, in which the base is in the top position;
  • FIG. 12 is a partial diagrammatic representation in perspective of the mobile base and of the position change device of the wheelchair when the base is in the low seat position;
  • Figure 13 is a partial schematic representation in perspective of the movable base and the position change device of the wheelchair when the base is in the up position;
  • Figure 14 is a partial schematic perspective view of a rear wheel push member of the wheelchair
  • Figure 15 and Figure 16 are partial schematic representations in perspective of a front retention member of the wheelchair, in two closed position which are distinct by their inclination;
  • Figure 17 is a partial schematic representation in perspective of a front retention member of the wheelchair in the open position
  • Figure 18 and Figure 19 are partial schematic representations in plan view of the adjustable seat of the wheelchair for walking assistance, in two positions which are distinct by the lateral position of the saddle and lower supports;
  • FIG. 20 and FIG. 21 are partial diagrammatic views from below of the adjustable seat of the wheelchair for walking assistance, in two distinct positions by the lateral position of the saddle and the lower supports;
  • Figure 22 is a partial schematic perspective view of the wheelchair for walking assistance, in which the locking member is in the locking position;
  • Figure 23 is a partial schematic perspective view of the wheelchair assistance, in which the locking member is in the unlocked position
  • Figure 24 is a partial schematic perspective view of the wheelchair for walking assistance, wherein the base is in an intermediate position between the low position and the high position;
  • Figure 25 is a partial schematic representation in rear view of the wheelchair for walking assistance, wherein the base is in an intermediate position between the low position and the high position.
  • FIG. 1 to 9 shows a wheelchair 1 for walking aid according to a first embodiment.
  • the wheelchair 1 for walking assistance comprises a seat 2 which has a movable base 60.
  • the wheelchair 1 also comprises a frame 3, two rear wheels 5 RG and 5 RD , two front wheels 5 F G and 5 F D , and a position change device 4 of the base.
  • the chair 1 extends in a longitudinal front-rear direction X-X.
  • the front of the chair corresponding to the front of the user in Figure 1.
  • the back of the chair corresponding to the back of the user U when sitting in the chair 1.
  • the chair 1 also extends in a left-right transverse direction YY.
  • the left and right directions respectively correspond to the left and right of the user U when seated in the chair 1.
  • the chair 1 also extends in a direction of height ZZ.
  • the up and down directions respectively correspond to those for the user U when seated in the chair 1.
  • the seat 2 comprises a backrest 20 which is fixed to the frame 3, and a mobile seat assembly 6 of which the mobile base 60 is part.
  • the movable seat assembly 6 is movable relative to the frame 3 and will be described in FIG. detail below.
  • the mobile base 60 is movable relative to the frame 3 between a low seat position which is shown in FIG. 1 and a high operating position which is shown in FIG. 2. In the low seat position, a user U can sit on the mobile base 60. In the high operating position, the mobile base 60 is in contact with the user U and mostly behind the user U.
  • the rear wheels left 5 RG and right 5 RD are large wheels, classic for a wheelchair 1.
  • the front wheels left 5 F G and right 5 F D are smaller. They serve among other things to direct the wheelchair 1. They can in particular pivot relative to the frame 3, to allow the user U to steer the wheelchair 1 more easily.
  • the wheelchair 1 is a wheelchair for walking assistance in that it is intended to help a person with reduced mobility to get up and walk as normally as possible.
  • the frame 3 comprises at least two elongated uprights 32, 34, front wheel supports 38 G , 38 D , rear wheel supports 39 G , 39 D and a fixed base 36.
  • the slender uprights 32, 34 are rectilinear and they each extend in the longitudinal direction XX from front to rear, being spaced apart from each other in the transverse direction YY and being substantially parallel to each other. one to another.
  • One of the uprights 32, 34 is a left upright 32.
  • the other of the uprights 32, 34 is a right upright 34.
  • Each of the elongated uprights 32, 34 comprises an upper support bar 32a, 34a and a lower support bar 32b, 34b.
  • the lower bar 32b, 34b is parallel to the upper bar 32a, 34a corresponding and above it.
  • the lower bar 32b, 34b is mechanically connected to the upper bar 32a, 34a corresponding by two parallel bars 33F front and rear 33R.
  • These parallel bars 33F front and rear 33R each extend vertically in the direction of height Z-Z and they are located substantially each at one of the longitudinal ends of the upper bar 32a, 34a.
  • the 38G, 38D front wheel mounts are attached to the front bars.
  • Rear wheel mounts 39G, 39D are attached to the rear bars.
  • the fixed base 36 extends between the two elongated amounts 32, 34 in a transverse direction Y-Y of the wheelchair 1, mechanically connecting the two elongate amounts 32, 34 between them.
  • the folder 20 is not shown in Figure 9 for more readability.
  • the fixed base 36 has a general shape of plate whose upper surface S3 is facing the lower surface S2 of the mobile base 60. It comprises two left and right housing edges 37G, 37D which are intended to house forward thrust 8 forming part of the movable seating assembly 6.
  • the fixed base 36 serves as a base for the mobile seat assembly 6, in particular for the base 60 in its low seat position.
  • the backrest 20 is rigidly secured to the fixed base 36 and extends upwardly from the fixed base 36.
  • the position change device 4 comprises two first left arm 41 G , and right 41 D , two left linear actuators 44 G and right 44 D , two second left arm 42 G and right 42 D , and a set of joints 9.
  • the arms 41 G , 41 D , 42 G , 42 D , the mobile base 60 and the frame 3 together form a deformable parallelogram which is deformed, because of the set of joints 9, between the high position and the low sitting position.
  • the lower end and the upper end of each first arm 41G, 41D and each second arm 42G, 42D is configured to form an angle of between 50 ° and 90 ° with the horizontal in the direction of the trigonometric circle.
  • the lower end and the upper end of each first arm 41 G , 41 D and each second arm 42 G , 42 D is in particular configured to form an angle of at most 76 ° with the horizontal in the up position. .
  • the lower end and the upper end of each first arm 41 G , 41 D and each second arm 42 G , 42 D forms an angle of about 67.5 ° with the horizontal.
  • the position change device 4 is configured to move the base 60 relative to the frame 3 between the up position and the low seat position. It moves the mobile base 60 relative to the frame 3 in a circumferential translational movement between the high position and the low seat position.
  • the first arms 41 G , 41 D each extend between the frame 3 and the base 60.
  • Each first arm 41 G , 41 D is connected at its lower end by a lower hinge 92 to one of the upper bars 32a, 34a. It is connected at its upper end by an upper articulation 94 to the movable base 60, for example under the base 60.
  • the first arms 41 G , 41 D are parallel to each other.
  • Each of the first arms 41 G , 41 D form an inter-motor type lever which is actuated by one of the linear actuators 44 G , 44 D.
  • the second arms 42 G , 42 D each extend between the frame 3 and the mobile base 60.
  • Each second arm 42 G , 42 D is connected at its lower end by a lower hinge 96 to one of the upper bars 32a, 34a .
  • Each second arm 42 G , 42 D is connected at its upper end by an upper articulation 98 to the mobile base 60, for example under the base 60.
  • the second arms 42 G , 42 D are located at the rear of the first arms 41 G , 41 D , being substantially parallel to the first arms 41 G , 41 D. More specifically, the axis of the joints 92, 94 of the second arms are parallel to the axes of the joints 96, 98 of the first arms.
  • the second arms 42 G , 42 D are parallel to each other.
  • Each second arm 42 G , 42 D is a follower arm which is driven in displacement relative to the frame 3 by one of the first arms 41 G , 41 D.
  • the linear actuators 44 G , 44 D are each linear actuators 44 G , 44 D passive, that is to say non-motorized linear actuators.
  • motor is meant a system that controllably transforms non-mechanical energy such as electrical energy into mechanical or work energy.
  • Each of the linear actuators 44 G , 44 D comprises a jack.
  • the linear actuators 44 G, 44 D are each connected by a mechanical linkage 91 to a bottom of the lower links 32b, 34b and an upper mechanical linkage 93 to a first arm 41 G, 41 D.
  • the upper mechanical connection 93 is located substantially towards the middle of the first arm 41 G , 41 D corresponding.
  • Each of the linear actuators 44 G , 44 D is configured to bias the movable base 60 towards the high operating position via one of the first arms 41 G , 41 D. They allow the position change device 4 to partially support the weight of the user U when moving from the low position to the high position, while allowing the passage from the high position to the low position using the weight of the user U.
  • the set of joints 9 comprises the lower mechanical connection 91, the upper mechanical connection 93, the lower joints 92 of the first arms, the lower articulations 96 of the second arms, the upper articulations 94 of the first arms, the upper articulations 98 of the second arms. arms.
  • the lower hinges 92 of the first arms and the upper hinges 94 of the first arms are pivotal links.
  • the lower hinges 92 of the first arms are in front of the upper hinges 94 of the first arms, whatever the position of the mobile base 60 relative to the chassis 3.
  • the first arms 41 G , 41 D are inclined upwards towards the rear.
  • the displacement of the mobile base 60 during the passage from the low seat position to the high position of operation is effected with a movement relative to the frame 3 which is upwards and forwards, to better reproduce the natural movement of a U user to get up.
  • the distance ratio between the advance of the basin of the user U and the increase in the height of the pelvis of the user U when he accompanies the mobile base 60 in its displacement between its position low seat and its high walking position is about 4/5.
  • the mobile base 60 will tend to move backwards relative to the chassis 3 when it lowers under the effect of the weight of the user U which is exerted on it.
  • the inclination of the first arms 41G, 41D tends to advance the frame 3 towards the user when the mobile base 60 moves from its high position to walk to its lower seat position.
  • each first linear actuator 44 G , 44 D and the upper mechanical link 93 of each first linear actuator 44 G , 44 D are pivotal links.
  • Each first linear actuator 44 G , 44 D has a smaller angle relative to the normal to the first arm 41 G , 41 D to which it is connected by the upper mechanical link 93, close to the upper mechanical link 93, when the mobile base 60 is close to its lower seat position than when the movable base 60 is close to its high position.
  • each first linear actuator 44 G , 44 D tends to exert a greater thrust force on the first arm 41 G , 41 D , when the movable base 60 is close to its lower seat position than when the mobile base 60 is close to its high position.
  • the weight that the user U exerts on the movable base 60 to seat remains thus moderate relative to the effort of biasing the base 60 upwards by each first linear actuator 44 G , 44 D.
  • This upward biasing of each actuator 44 G , 44 D does not block the user in the high position.
  • the user U can then lower under the effect of its weight without risk of rearward recoil, when it tends to sit in the chair 1 or to fall vertically or backwards.
  • each first linear actuator 44 G , 44 D is located at the rear of the lower mechanical link 91 of each first linear actuator 44 G , 44 D , on at least a majority of the race of the base mobile 60 when it moves relative to the frame 3 between the high position and the low sitting position.
  • the inclination of each first linear actuator 44 G , 44 D is determined in particular for design reasons.
  • the lever arm exerted by each linear actuator 44 G , 44 D on the first arm 41 G , 41 D is then satisfactory.
  • the lower articulation 91 of each actuator 44 G , 44 D is not too low relative to the chassis 3.
  • the lower hinges 96 of the second arms and the upper hinges 98 of the second arms are pivot links.
  • the lower hinges 96 of the second arms are in front of the upper hinges 98 of the second arms, whatever the position of the mobile base 60 relative to the chassis.
  • the second arms 42 G , 42 D are inclined upwards and backwards.
  • the displacement of the mobile base 60 during the passage from the low seat position to the high position of operation is effected with a movement relative to the frame 3 which is upwards and forwards, to better reproduce the natural movement of a user U to get up.
  • the mobile base 60 will tend to move backwards relative to the chassis 3 when it lowers under the effect of the weight of the user U which is exerted on it.
  • the inclination of the second arms 42 G , 42 D tends to advance the frame 3 towards the user when the mobile base 60 moves from its high position to walk to its lower seat position .
  • the lower hinges 96 of the second arms are behind corresponding lower hinges 92 of the first arms.
  • the lower hinges 96 of the second arms are in front of the corresponding upper hinges 94 of the first arms, when the mobile base 60 is in the lower seat position.
  • the upper joints 98 of the second arms are behind the upper joints 94 of the first arms.
  • the movable seat assembly 6 comprises the movable base 60, two left front retention members 7 G and right 7 D , and two rear thrust members left 8 G and right 8 D.
  • the front retention members 7 G , 7 D and the rear thrust members 8 G , 8 D are each mechanically connected in a movable manner relative to the base mobile 60 that accompany in its displacement relative to the frame 3 between its low sitting position and its high position of march.
  • the movable base 60 comprises an upper surface Si and a lower surface S 2 which is opposite to the upper surface Si.
  • the lower surface S 2 abuts on the upper surface S 3 of the fixed base, in the lower seat position. . It is facing the upper surface S 3 of the fixed base, in the high position.
  • the mobile base 60 comprises two left and right lateral support elements 61, an intermediate support element 62 and a rear support element 64.
  • the mobile base 60 is movable in circumferential translation with respect to the chassis 3 between the low position. sitting and the top position.
  • the left lateral support element 61 forms with the intermediate support element 62 a housing 65 G for the lower left limb U
  • This housing 65 G is at least partially closed in the low seat position.
  • the right lateral support element 63 forms with the intermediate support element 62 a housing 65 D for the right lower limb U
  • This housing 65 D is at least partially closed in the low seat position.
  • the intermediate support element 62 is located laterally between the two lateral support elements 61, 63. It is substantially in the center of the mobile base 60 in the transverse direction Y-Y and in particular has a saddle function.
  • the rear support member 64 serves to support the buttocks of the user U in the low seat position. It is located behind the user U in the top position, delineating the back of each of the housing 65 G , 65 D.
  • each front retention member 7 G , 7 D comprises a base 70, a movable mount 71, a front support member 72, an arm 78, a hinge 73, an adjustment member 74 and a stop 75.
  • the front retention members 7 G , 7 D are each configured to hold the user U forward with respect to the frame 3. They also allow the user U to drive the wheelchair 1.
  • the base 70 is intended to be fixedly connected to the mobile base 60, in particular at one of the lateral support members 61, 63 on which it bears. It is preferably mechanically connected detachably to the mobile base 60, which makes the retention member 7 G , 7 D removable. It serves as support for the front support element 72.
  • the arm 78 connects the front support member 72 to the movable mount 71.
  • the movable mount 71 connects the arm 78 to the hinge 73.
  • the front support element 72 is an iliac support. It is configured to rest on the upper anterior iliac spine of the user U, in the top position. It allows the user U to drive the wheelchair 1, without the need for his hands. It is also configured to be close to the upper anterior iliac spine of the user U, in the low seat position to hold it in the chair 1.
  • Each front support member 72 is configured to move relative to the base 70 between a rear position when the base is in the lower seat position, and a forward position when the movable base 60 is in the up position. .
  • the hinge 73 comprises a rod and a torsion spring which urges the front support element 72 towards its rear position. It forms a pivot link. It is configured to pivot the front support member 72 relative to the base 70 between the rear and top position, which is shown in Fig. 6 and the front and bottom position shown in Fig. 7.
  • the adjustment member 74 is adjustable in height, in depth and laterally. It is configured to adjust the position of the front support member 72 relative to the base 70, so that the front support member 72 bears against the user's upper anterior iliac spine. U in the top position.
  • the stop 75 is a rear stop. It limits the pivoting amplitude of the front support element 72 when it is moved backwards relative to the base 70.
  • each rear thrust member 8 comprises a rear support element 80, a support arm 86, a return means 82, a support 84 and a link member 85.
  • Each rear thrust member 8 is configured to face one of the housings 65 G , 65 D of the mobile base 60 in the up position.
  • Each rear thrust member 8 is configured to at least partially close the housing 65 G , 65 D in the low seat position.
  • the rear thrust members 8 G , 8 D are each configured to urge one of the lower limbs U
  • the rear support member 80 has a concave shape which is intended to conform to the shape of the lower limb U
  • the rear support element 80 rises in the housing 65 G , 65 D in the lower seat position, to seal at least partially and being in its housing 37 of the fixed base 36.
  • the seat formed by the rear support elements 80 and the mobile base 60 is then more comfortable in the low seat position.
  • the rear support element 80 is pivotable relative to the mobile base 60, being configured to have an oscillating movement in the longitudinal direction XX relative to the mobile base 60, accompanying the lower limb U
  • the return means 82 takes the form of a spring, for example a helical spring. It is configured to urge the rear support element 80 forward, which facilitates the operation of the user U.
  • the user U against the restoring force of each return means 82 in particular due to its weight when the lower limb which is placed on the ground recedes when walking relative to the other of the lower limbs.
  • the support 84 is fixed to the lower surface S3 of the movable base 60.
  • the connecting member 85 comprises a rod. It is a pivot link configured to pivot the rear support member 80 forwardly relative to the movable base 60.
  • the support arm 86 connects the rear support member 80 to the support 84. It is configured to pivot about the connecting member 85. The transition from the low seat position to the high operating position is described below with reference to FIGS. 1, 8 and 2 in succession.
  • the user U is getting up from the wheelchair 1, the movable base 60 is raised between the low seat position and the walking position, accompanying the movement of the wheelchair.
  • the position change device 4 is in an intermediate position between its folded position which is shown in Figure 3 and its extended position which is shown in Figure 4.
  • the linear actuators 44 D , 44 G solicit the base mobile 60 to its high position.
  • the biasing thrust of the linear actuators 44 D , 44 G is the strongest in the low seat position, it gradually decreases as the angle to the normal arm of each actuator 44 D , 44 G increases during the lifting of the mobile base.
  • the arms 41 D , 41 G , 42 D , 42 G support a tangential effort of the weight of the user more and more important as the mobile base 60 rises to the top position.
  • the position change device 4 partially takes the weight of the user U over the entire lift stroke of the mobile base 60. I thus helps the user U to stand up and stand up.
  • the front retention elements 7 prevent the user U from falling forward.
  • the user U is standing.
  • the weight of the user is partially supported by the position change device 4 which helps the user U to stand in a standing position. Its lower limbs right U
  • the mobile base 60 is in the top position.
  • the position change device 4 is in its deployed position which is shown in FIG. 4.
  • the front retention elements 7 prevent the user U from falling forward. With reference to FIG. 2, the front retention elements 7 prevent the user U from falling forward. They also allow him to walk by training the wheelchair 1 with him, keeping his hands free.
  • the wheelchair 1 for walking assistance according to the second embodiment is shown with reference to Figures 10 to 25.
  • the wheelchair 1 for walking assistance according to the second embodiment differs mainly from that according to the first embodiment by the structure of its mobile base 60 and by that of its lifting device 4.
  • the wheelchair 1 for walking assistance further comprises a central rear wheel RC which is visible in FIGS. 24 and 25, left foot supports 10G and right 10D , support members 130 which are for example visible in Figures 19 to 21, and a locking member 200 of the movable base which is for example shown in Figures 22 and 23.
  • the walking assistance wheelchair 1 according to the second embodiment also comprises a chassis 3, front retention members 7 and rear thrust members 8 which are of a structure distinct respectively from that of the chassis 3, front retention 7 and back pushing members 8 of the walking aid wheelchair 1 according to the first embodiment.
  • the backrest 20 is rigidly secured to the mobile base em 60 instead of being integral with the frame 3. It is for example fixed to a rear support element 640 forming part of the frame 600 of the mobile base 60.
  • the center rear center wheel 5 RC is a wheel of smaller size than the rear wheels left 5 RG and right 5 RD . It is similar in size to the left front wheels 5 F G and right. 5 D F It can pivot in particular ment ra pport to the chassis 3, to direct the wheelchair 1 more easily.
  • Each footrest 10G ⁇ 10D is pivotably connected to the frame 3 between a raised position which is shown in Figure 11 and a lowered position.
  • each footrest 10 G ⁇ 10 D bears against the front post 32, 34 to which it is connected, so as not to hinder the user's progress U.
  • the footrests are oriented towards each other in the transverse direction YY of the wheelchair 1, so that the user U can rest his feet there.
  • the frame 3 of the chair according to the second embodiment differs from that according to the first embodiment in that it comprises an upper rear support bar 35 H and a bar lower support 35 L , instead of the plate 36 of the chair according to the first embodiment.
  • the upper rear support bar 35 H and the lower rear support bar 35 L extend between the two upright legs 32, 34 in a transverse direction YY of the wheelchair 1, mechanically connecting the two upright legs 32, 34 between them. They each have a general shape of curved tube.
  • the upper rear support bar 35 H is located in the extension of the upper support bars 32a left and right 34a.
  • the 35 H upper rear support bar is located above the lower rear support bar 35 L.
  • the upper rear support bar 35 H forms a fixed base of the frame 3 with another parallel transverse support bar which serves as a base for the mobile seat assembly 6, in particular for the base 60 in its low position seat.
  • the lower rear support bar 35 L is located in the extension of the lower support bars 32b left and right 34b.
  • the position change device With reference to FIGS. 10 to 13, the position change device
  • the arms 41 G , 41 D , 42 G , 42 D , the movable base 60 and the frame 3 have a generally deformable parallelogram shape that deforms, because of the set of joints 9, between the upper position of walking and sitting low position.
  • the position change device 4 is configured to move the base 60 relative to the frame 3 between the up position and the low seat position. It moves the mobile base 60 relatively to the chassis 3 according to a circumferential translational movement between the up and down position.
  • the first arms 41 G , 41 D each extend between the frame 3 and the base 60.
  • Each first arm 41 G , 41 D is connected at its lower end by a lower hinge 92 to one of the upper bars 32a, 34a. It is connected at its upper end by an upper articulation 94 to the mobile base 60.
  • the first arms 41 G , 41 D are parallel to each other. They have a curved shape downward near the lower hinge 92 relative to the first arms 41 G , 41 D of the chair according to the first embodiment.
  • Each of the first arms 41 G , 41 D forms an inter-motor type lever which is actuated by one of the first linear actuators 44 G , 44 D.
  • the second arms 42 G , 42 D each extend between the frame 3 and the mobile base 60.
  • Each second arm 42 G , 42 D is connected at its lower end by a lower hinge 96 to one of the upper bars 32a, 34a .
  • Each second arm 42 G , 42 D is connected at its upper end by an upper articulation 98 to the mobile base 60.
  • the second arms 42 G , 42 D are located at the rear of the first arms 41 G , 41 D , being substantially parallel to the first arms 41 G , 41 D. More specifically, the axis of the joints 92, 94 of the second arms are parallel to the axes of the joints 96, 98 of the first arms.
  • the second arms 42 G , 42 D are parallel to each other.
  • the second arms 42 G , 42 D are parallel to each other. They have a curved shape downward near the lower hinge 96 relative to the second arm 42 G , 42 D of the chair according to the first embodiment.
  • Each second arm 42 G , 42 D forms an inter-motor type lever which is actuated by one of the second linear actuators 46 G , 46 D.
  • the linear actuators 44 G , 44 D , 46 G , 46 D are each linear actuators 44 G , 44 D 46 G , 46 D passive, that is to say non-motorized linear actuators.
  • Each linear actuator 44 G , 44 D , 46 G , 46 D comprises an elastic return means which is configured to elastically urge the mobile base 60 towards the high position through one of the arms 41 G , 41 D , 42 G , 42 D.
  • Each of the linear actuators 44 G , 44 D , 46 G , 46 D comprises a jack. More specifically, each linear actuator 46 G , 46 D comprises a gas spring type cylinder.
  • the first linear actuators 44 G, 44 D are connected each pa r a mechanical connection 91 to a bottom of the lower links 32b, 34b of the frame 3 and an upper mechanical linkage 93 to a first arm 41 G, 41 D.
  • the upper mechanical connection 93 is located substantially towards the middle of the first arm 41 G , 41p corresponding.
  • Each of the first linear actuators 44 G, 44 D is configured to bias the movable base 60 towards the position ha ute walk through one of the first arm 41 G, 41 D. They allow the position change device 4 to partially support the weight of the user U when moving from the low position to the high position, while allowing the passage from the high position to the low position using the weight of the user U exerted on the mobile base 60.
  • Each of the second linear actuators 46 G, 46 D is connected by a lower mechanical connection 95 to one of the lower links 32b, 34b of the frame 3 and an upper mechanical connection 97 to a second arm 42 G, 42 D.
  • the upper mechanical link 97 is located substantially towards the middle of the second arm 42 G , 42 D corresponding.
  • Each of the second linear actuators 46 G, 46 D is configured to bias the movable base 60 towards the position ha ute walk through the second arm 42 G, 42 D corresponding. They allow the position change device 4 to partially support the weight of the user U when moving from the low position to the high position, while allowing the passage from the high position to the low position using the weight of the user U.
  • the set of joints 9 comprises the lower joints 92 of the first arms, the upper articulations 94 of the first arms, the lower articulations 96 of the second arms, the upper articulations 98 of the second arms, the lower mechanical connection 91 of each first linear actuator. 44 G , 44 D , the upper mechanical link 93 of each first linear actuator 44 G , 44 D , the link lower mechanical mechanism 95 of each second linear actuator 46 G , 46 D , the upper mechanical link 97 of each second linear actuator 46 G , 46 D.
  • the lower hinges 92 of the first arms and the upper hinges 94 of the first arms are pivotal links.
  • the lower hinges 92 of the first arms are in front of the upper hinges 94 of the first arms, whatever the position of the mobile base 60 relative to the chassis 3.
  • the first arms 41 G , 41 D are inclined upwards towards the rear.
  • the displacement of the mobile base 60 during the passage from the low seat position to the high position of operation is effected with a movement relative to the frame 3 which is upwards and forwards, to better reproduce the natural movement of a user U to get up.
  • the distance ratio between the advance of the basin of the user U and the increase in the height of the pelvis of the user U when he accompanies the mobile base 60 in its displacement between its position low seat and its high walking position is about 4/5.
  • the mobile base 60 will tend to move backwards relative to the chassis 3 when it lowers under the effect of the weight of the user U which is exerted on it.
  • the inclination of the first arms 41 G , 41 D advances the frame 3 relative to the user when the movable base 60 moves from its high position to walk to its lower seat position.
  • the lower hinges 96 of the second arms and the upper hinges 98 of the second arms are pivot links.
  • the lower hinges 96 of the second arms are in front of the upper hinges 98 of the second arms, whatever the position of the mobile base 60 relative to the chassis.
  • the second arms 42 G , 42 D are inclined upwards and backwards.
  • the displacement of the mobile base 60 during the passage from the low seat position to the high position of operation is effected with a movement relative to the frame 3 which is upwards and forwards, to better reproduce the natural movement of a user U to get up.
  • the mobile base 60 will tend to move backwards relative to the chassis 3 when it lowers under the effect of the weight of the user U which is exerted on it.
  • the inclination of the second arm 42 G , 42 D advances the chassis 3 relative to the user when the mobile base 60 moves from its high position to walk to its lower seat position.
  • the lower hinges 96 of the second arms are behind the corresponding lower hinges 92 of the first arms regardless of the position of the mobile base 60 relative to the chassis 3.
  • the lower hinges 96 of the second arms are in front of the corresponding upper hinges 94 of the first arms, when the mobile base 60 is in the lower seat position.
  • the upper hinges 98 of the second arms are behind the upper hinges 94 of the first arms regardless of the position of the mobile base 60 relative to the chassis 3.
  • each first linear actuator 44 G , 44 D and the upper mechanical link 93 of each first linear actuator 44 G , 44 D are pivotal links.
  • Each first linear actuator 44 G , 44 D has a smaller angle relative to the normal to the first arm 41 G , 41 D to which it is connected by the upper mechanical link 93, close to the upper mechanical link 93, when the mobile base 60 is close to its lower seat position than when the movable base 60 is close to its high position.
  • each first linear actuator 44 G , 44 D tends to exert a greater thrust force on the first arm 41 G , 41 D , when the movable base 60 is close to its lower seat position than when the mobile base 60 is close to its high position.
  • the weight that the user U exerts on the movable base 60 to seat remains thus moderate relative to the effort of biasing the base 60 upwards by each first linear actuator 44 G , 44 D.
  • This upward biasing of each actuator 44 G , 44 D does not block the user in the high position.
  • the user U can then lower under the effect of its weight without risk of rearward recoil, when it tends to sit in the chair 1 or to fall vertically or backwards.
  • each first linear actuator 44 G , 44 D is located at the rear of the lower mechanical link 91 of each first linear actuator 44 G , 44 D , on at least a majority of the stroke of the mobile base 60 when it moves relative to the frame 3 between the high position and the low seat position.
  • the inclination of each first linear actuator 44 G , 44 D is determined in particular for design reasons.
  • the lever arm exerted by each linear actuator 44 G , 44 D on the first arm 41 G , 41 D is then satisfactory.
  • the lower articulation 91 of each actuator 44 G , 44 D is not too low relative to the chassis 3.
  • each first linear actuator 44 G , 44 D and the upper mechanical link 93 of each first linear actuator 44 G , 44 D are pivotal links.
  • Each first linear actuator 44 G , 44 D has a smaller angle relative to the normal to the first arm 41 G , 41 D to which it is connected by the upper mechanical link 93, close to the upper mechanical link 93, when the mobile base 60 is close to its lower seat position than when the movable base 60 is close to its high position.
  • each first linear actuator 44 G , 44 D tends to exert a greater thrust force on the first arm 41 G , 41 D , when the movable base 60 is close to its lower seat position than when the mobile base 60 is close to its high position.
  • the weight that the user U exerts on the movable base 60 to seat remains thus moderate relative to the effort of biasing the base 60 upwards by each first linear actuator 44 G , 44 D.
  • This upward biasing of each actuator 44 G , 44 D does not block the user in the high position.
  • the user U can then lower under the effect of its weight without risk of rearward recoil, when it tends to sit in the chair 1 or to fall vertically or backwards.
  • each second linear actuator 46 G , 46 D is located at the rear of the lower mechanical link 95 of each second linear actuator 46 G , 46 D , on at least a majority of the race of the base mobile 60 when it moves relative to the frame 3 between the high position and the low seat position.
  • the inclination of each second linear actuator 46 G , 46 D is determined in particular for design reasons.
  • the arm of lever exerted by each second linear actuator 46 G , 46 D on the second arm 42 G , 42 D is then satisfactory.
  • the lower hinge 95 of each second linear actuator 46 G , 46 D is not too low relative to the frame 3.
  • the movable seat assembly 6 includes two lower left and right lower support members 130.
  • Each lower support member 130 is configured to be a rear support for a portion of the lower limb U
  • Each lower support member 130 is also called back support in the following description.
  • Each lower support member 130 comprises a lining 131 and a lining support 132 which is covered by the lining 131.
  • Each lining 131 is connected to its lining support 132 by a guiding pin 133 and a groove 135 which are visible. Figures 20 and 21.
  • Each lower support member 130 is connected by a fastener 136 to the frame 3.
  • the left pad 131 G is intended to be in contact with a part of the lower left limb U
  • the left pad 131 G is of a shape distinct from that of the right pad 131 D. Its internal lateral surface is intended to be of substantially complementary shape to the external lateral surface of the left portion 111 of saddle.
  • the right liner 131 D is intended to be in contact with a portion of the lower right limb U
  • the inner side surface of the straight liner 131 D is intended to be of substantially complementary shape to the outer lateral surface of the right portion 112 of the seat.
  • the support 132 of the lining of each lower support member 130 is intended to be rigidly secured to the frame. In the embodiment shown, the support 132 of each lower support member 130 is threadedly connected to a transverse support bar of the frame 3 which is situated in front of the upper rear support bar 35 H of the frame 3.
  • the packing support 132 comprises the groove 135 in its central part.
  • each lining 131 G ⁇ 131 D is at least partially adjustable laterally relative to the frame 3.
  • the movable base 60 of the chair according to the second embodiment differs from that of the chair according to the first embodiment in that it comprises a seat 110, the backrest 20, a frame 600 and armrests 660.
  • the saddle 110 comprises a left portion 111 of saddle, a right portion 112 of a saddle, a central articulation 123 and a saddle base 120.
  • Each left portion 111 or right portion 112 of the saddle is connected by a groove 145 and a guide pin 143 to the saddle base 120.
  • the saddle base 120 is connected to the frame 600.
  • the left portion of saddle 111 is intended to be in contact with a portion of the lower left limb U
  • the left portion of saddle 111 is of a shape distinct from that of the right portion of saddle 112.
  • the internal lateral surface of the left saddle portion 111 is intended to be of a shape substantially complementary to that of the internal lateral surface of the straight portion 112. saddle.
  • the right portion of saddle 112 is intended to be in contact with a portion of the lower right limb U
  • the central hinge 123 connects the front end of the left seat portion 111 to the saddle base 120, in a laterally movable pivot connection.
  • the central hinge 123 connects the front end of the right seat portion 112 to the saddle base 120 in a laterally movable pivot connection.
  • the saddle base 120 is intended to be connected by the central hinge 123 to the attachment 650 of the frame 600, being vertically inclined relative to the attachment 650.
  • the saddle base 120 comprises a groove 145 for each portion of the seat. saddle 111, 112. These grooves 145 are located on either side of the central part of the saddle base 120.
  • Each guide pin 143 and the corresponding groove 145 together form a lateral adjustment means 142 of one of the saddle portions 111, 112 relative to the saddle base 120. Because of this lateral adjustment means 142, each portion of the saddle 111, 112 is at least partially adjustable laterally relative to the frame 600.
  • the frame 600 of the movable base 60 comprises a left support member 610, a right support member 630, a front transverse support member 620, a rear transverse support member 640 and a 650 attachment for saddle.
  • the frame 600 serves as support for the seat 110.
  • the frame 600 and the seat 110 replace the lateral support elements 61, 63 and the intermediate support member 62 of the mobile base 60 of the wheelchair 1 according to the first embodiment of the invention. production.
  • the first left arm 41 G and the second left arm 42 G are mechanically connected by the upper joints 94, 98 to the left support member 610.
  • the first right arm 41 D and the second right arm 42 D are mechanically connected by the upper joints 94, 98 to the right support member 630.
  • the front transverse support member 620 extends in the transverse direction YY of the wheelchair from the left support member 610 to the right support member 630, near a middle portion of the left support members 610 and right 630 in their longitudinal direction.
  • the front transverse support element 620 is generally U-shaped.
  • the seat attachment 650 is rigidly secured to the front transverse support element 620. It is in particular integral with the transverse support element 620.
  • the rear transverse support member 640 extends in the transverse direction YY of the wheelchair from the left support member 610 to the right support member 630, near the upper joints 98 of the second left arm 42 G and right 42 D.
  • the attachment 650 for the saddle 110 includes a stop 651 that protrudes vertically downward and a connecting port 652 for the saddle 110.
  • the connecting port 652 serves to connect the saddle 110 to the front support member 620. by a pivot connection about the transverse direction YY, so that the saddle 110 is tilting in the direction of the height ZZ relative to the frame 600.
  • the stop 651 serves as a stop saddle 110 downwards relative to the frame 600.
  • the wheelchair 1 comprises two armrests 660 which are rigidly secured to each of one of the left support members 610 and 630 of the frame.
  • Each armrest 660 comprises a support arm 662 and an upper lining 661.
  • the armrests 660 can be used by the user U in the high operating position and also in the low seat position.
  • the support arm 662 has a stem shape. Each support arm 662 is connected to the support member left 610 or right 630 corresponding, near the upper joint 98 of the second arms 42 G, 42 D. The upper surface of each support arm 662 is covered by one of the upper packings 661. Each support arm 662 also serves to connect one of the front retention members 7 to the mobile base 60, serving as a base for the retention before 7 corresponding.
  • each upper liner 661 takes for example the shape of an oblong cushion.
  • each front retention member 7 G , 7 D comprises a first articulation 75, an arm 78, a second articulation 77 and the front support element 72.
  • the first hinge 75 connects the arm 78 of the front retention member to one of the armrest support arms 662, pivotally about the Y-Y transverse direction.
  • the second hinge 77 laterally pivots the front support member 72 to the arm 78 of the front retention member.
  • the front support element 72 is movable laterally around the second articulation 77 between an open position which is shown in FIG. 17 and at least one closed position such as those shown in FIG. 15 and FIG.
  • the front support member 72 In the open position, the front support member 72 allows the user U to sit on the mobile base 60. In the closed position, the front support element 72 holds the user U forward relative to to the frame 600 of the mobile base 60.
  • the front support member 72 In the closed position, the front support member 72 is configured to pivot freely relative to the support arm 662 between an upper position and a lower position.
  • the front support element 72 is shown in the lower position and closed in FIG. 15. It is shown in the upper position and closed in FIG.
  • each rear thrust member 8 comprises a rear support member 80, a support arm 86, a return means 83, a support 84 and a link member 85.
  • Each rear thrust member 8 is configured to be in front of the saddle 110 and the lower bearing members 130 of the movable base 60 in the lower seat position and in the high operating position.
  • the rear thrust members 8 G , 8 D are each configured to urge one of the lower limbs U
  • Each rear support member 80 has a concave shape which is intended to conform to the shape of the lower limb U
  • the return means 83 takes the form of a spring, for example a torsion spring. It is configured to urge the rear support element 80 forward, which facilitates the operation of the user U.
  • the user U against the restoring force of each return means 83 in particular due to its weight when the lower limb which is placed on the ground recedes when walking relative to the other of the lower limbs.
  • Each of the supports 84 is attached to one of the left and right support members 610 and 630.
  • the link member 85 comprises a rod. It is a pivot link configured to pivot the rear support member 80 forwardly relative to the movable base 60.
  • the support arm 86 connects the rear support member 80 to the support 84. It is configured to pivot about the connecting member 85. It is located laterally outwardly of the rear support member 80 which it connects to the support 84.
  • the wheelchair 1 for walking assistance comprises a locking member 200 of the mobile base 60 in the low seat position.
  • the locking member 200 comprises a locking bar 202, an articulation 203 of the locking bar, a locking pin 206 and a retaining member 208 on the left side of the wheelchair 1 for walking assistance.
  • the locking member 200 comprises a locking bar 202, an articulation 203 of the locking bar, a locking pin 206 and a retaining member 208 on the right side of the wheelchair 1 for walking assistance.
  • Each locking bar 202 is pivotably connected relative to the frame 3 by the hinge 203 of the locking bar. It comprises a locking arm which forms the body of the locking bar 202, a first notch 205 for housing the locking pin 206, and a second notch 207 for accommodating the retaining member 208.
  • the locking arm is designed to be easily accessible by hand by the user and to be movable by hand by the user U when in the wheelchair 1 for walking assistance.
  • the second notch 207 is located behind the first notch 205.
  • Each hinge 203 of the lock bar is a pivot link. It connects one of the locking bars 202 to the upper left support bar 32a of the frame 3. It is located near the lower longitudinal end of the locking bar 202.
  • Each locking pin 206 is rigidly secured to the movable base 60. It is in particular firmly fixed to the left or right support element 610 630, which it projects laterally to the outside of the wheelchair 1. I la for example a rounded contour.
  • Each retaining member 208 is secured to the second left arm 42 G or right 42 D which it projects laterally to the outside of the wheelchair 1.
  • I la for example a rounded contour. It serves both as a complementary locking latch to one of the locking pins 206, and to guide the movement of the corresponding locking bar 202 between its unlocking high position and its locking low position.
  • the locking member 200 is movable between a locking position in which the movable base 60 is in the lower seat position and an unlocking position in which the em mobile base is in the up position.
  • each locking bar 202 In the locked position, each locking bar 202 is in the low position and it runs along the left upper support bar 32a or right 34a of the frame.
  • Each locking pin 206 is engaged in the first notch 205 of one of the locking bars 202.
  • Each retaining member 208 is engaged in the second notch 207 of one of the locking bars 202.
  • each locking bar 202 In the unlocked position, each locking bar 202 is in the up position and is inclined towards the height relative to the upper left support bar 32a of the frame and to the hinge 203.
  • Each locking pin 206 is above and forward of the corresponding first notch 205.
  • Each organ of Retention 208 is above and in front of the corresponding second notch 207.
  • Each locking bar rests on one of the retainers 208.
  • the movable base 60 rises between the low seat position and the high operating position, accompanying the movement of the user U.
  • the position change device 4 is in an intermediate position between its folded position which is shown in Figure 12 and its deployed position which is shown in Figure 13.
  • the linear actuators 44 D , 44 G , 46 D , 46 G urge the movable base 60 to its high operating position.
  • the biasing thrust linear actuators 44 D, 44 G ⁇ 46 D, 46 G is highest in the low position seat, it gradually decreases as the angle to the normal to the arm of each actuator 44 D, 44 G , 46 D , 46 G increases during lifting of the mobile base.
  • the arms 41 D , 41 G , 42 D , 42 G support a tangential effort of the weight of the user more and more important as the mobile base 60 rises to the top position.
  • the position change device 4 partially takes the weight of the user U over the entire lift stroke of the mobile base 60. It thus helps the user U to stand up and stand up.
  • the front retention elements 7 prevent the user U from falling forward.
  • the user U is standing.
  • the weight of the user U is partially supported by the position change device 4 which helps the user U to stand upright.
  • G are biased forwardly by the right 8 D and 8 G left rear thrust members.
  • the mobile base 60 is in the top position.
  • the position change device 4 is in its deployed position which is shown in Figure 13.
  • the front retention elements 7 prevent the user U from falling forward.
  • the front retention elements 7 prevent the user U from falling forward. They also allow him to walk by training the wheelchair 1 with him, with his hands free.
  • the user U can use the wheelchair 1 walking aid alone and safely.
  • the position change device 4 tends to limit the speed of its downward movement and to bring the mobile base 60 towards its position. low sitting position so that it is sitting on it, in the position shown in Figure 1 or Figure 10.
  • the position change device 4 can move the movable base 60 relative to the chassis 3 from the low sitting position to the high operating position, with a risk of falling out of the wheelchair 1 which is reduced.
  • the position change device 4 advances the frame 3 relative to the mobile base 60, when the user U wishes to sit or when the user U tends to fall backwards or vertically.
  • the displacement of the mobile base 60 during the passage from the low seat position to the high position of operation is effected with a movement relative to the frame 3 which is upwards and forwards and which reproduces the natural movement of a user U to get up.
  • the position change device 4 partially supports the weight of the user U during the transition from the low position to the high position, while allowing the passage from the high position to the low position using the weight of the user U.
  • the wheelchair 1 has a dynamic seat, in that the position of the mobile base 60 relative to the frame 3 is variable depending on the weight exerted by the user U on the mobile base 60, including when walking .
  • the wheelchair 1 requires a moderate effort on the part of the user U to get up, walk and sit. In particular, it is adapted to re-educate the user U when walking or to keep him able to walk.
  • the assistance provided to the user U by the actuators 44 G , 44 D , 46 G , 46 D can be modified to better adapt to the needs of the user U.
  • the guiding movement of the mobile base 60 and the stability of the mobile base 60 relative to the frame 3 are particularly satisfactory thanks to the elevating device 4 and in particular the plurality of arms 44 G , 44 D , 46 G , 46 D.
  • each actuator 44 G , 44 D , 46 G , 46 D of gas spring type varies relatively little compared to a motorized cylinder during the stroke of each actuator 44 G , 44 D , 46 G , 46 D while at the same time making the mobile base 60 only partially support the weight of the user U.
  • the mass of the wheelchair 1 is lightened compared to a wheelchair for walking assistance with motorized actuators.
  • the maintenance operations of the elevating device 4 are less heavy than in the case of an elevating device 4 with motorized actuators.
  • the size of the elevating device 4 is reduced.
  • the user U also has a relatively large walking area. He can easily get in and out of his chair 1.
  • the number of wheels 5 RG , 5 RD , 5 FG and 5 F D is variable.
  • the wheelchair 1 may comprise a single wheel before or a single rear wheel.
  • the structure and shape of the frame 3 may vary. According to an alternative embodiment (not shown) for example, at least one of the elongate amounts 32, 34 takes the form of a plate instead of the lower bars 32b, 34b and upper bars 32a, 34a.
  • the lower bars 32b, 34b and the upper bars 32a, 34a can be mechanically connected to each other at the front and / or rear only by the wheel supports 38 G , 38 D , 39 G , 39 D .
  • the elongate amounts 32, 34 are non-rectilinear, extend for example in the longitudinal direction X-X being curved.
  • the number of arms 41 G , 41 D , 42 G , 42 D and linear actuators 44 G , 44 D is variable.
  • the wheelchair 1 comprises at least a first arm 41 G , 41 D and at least one linear actuator 44 G , 44 D which is mechanically connected to the first arm 41 G , 41 D.
  • linear actuators 44 G, 44 D, 46 G, 46 D comprise a spring or other elastic biasing means configured to bias the base towards its high position of travel.
  • the linear actuators 44 G , 44 D , 46 G , 46 D are motorized.
  • the linear actuators 44 G , 44 D , 46 G , 46 D for example are controlled by the user to facilitate the lifting of the mobile base 60 and / or the descent of the mobile base 60.
  • the wheelchair 1 comprises for example a pressure sensor and a calculation unit, to determine a pressure representative of the weight exerted by the user U on the mobile base 60 and to vary the power supplied by each linear actuator 44 G , 44 D , 46 G , 46 D accordingly.
  • each actuator 44 G , 44 D , 46 G , 46 D may be different from that provided by at least one of the actuators 44 G , 44 D , 46 G , 46 D , especially if the user U requires a greater assistance of actuators 44 G , 44 D , 46 G , 46 D for one of its lower limbs U
  • the linear actuators 44 G , 44 D , 46 G , 46 D can be mechanically connected by other types of connection than by pivot connections to the arms 41 G , 41 D , 42 G , 42 D and to the frame 3, for example by ball joints.
  • each front retention member 7 G , 7 D comprises for example a seat belt.
  • the wheelchair 1 for walking assistance comprises a locking member 200 of the movable base 60 in the up position.
  • the lock member 200 includes a single lock bar 202 that is configured to engage a single lock pin 206 in the lock position.
  • the lock bar 202 is then located on the left or right side of the wheelchair 1.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Rehabilitation Tools (AREA)
EP18709680.5A 2017-02-21 2018-02-21 Rollstuhl zur gehunterstützung Active EP3585346B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1751377A FR3063008B1 (fr) 2017-02-21 2017-02-21 Fauteuil roulant d'aide a la marche
PCT/FR2018/050406 WO2018154234A1 (fr) 2017-02-21 2018-02-21 Fauteuil roulant d'aide à la marche

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EP3585346A1 true EP3585346A1 (de) 2020-01-01
EP3585346B1 EP3585346B1 (de) 2021-04-21

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US (1) US11471361B2 (de)
EP (1) EP3585346B1 (de)
JP (1) JP7015849B2 (de)
CN (1) CN110461294B (de)
CA (1) CA3053622A1 (de)
ES (1) ES2881264T3 (de)
FR (1) FR3063008B1 (de)
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WO (1) WO2018154234A1 (de)

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US11471361B2 (en) 2022-10-18
CN110461294A (zh) 2019-11-15
WO2018154234A1 (fr) 2018-08-30
CA3053622A1 (en) 2018-08-30
JP7015849B2 (ja) 2022-02-03
FR3063008B1 (fr) 2022-03-18
SG11201907620WA (en) 2019-09-27
ES2881264T3 (es) 2021-11-29
US20200237602A1 (en) 2020-07-30
EP3585346B1 (de) 2021-04-21
CN110461294B (zh) 2021-07-16
JP2020508826A (ja) 2020-03-26
FR3063008A1 (fr) 2018-08-24

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