EP3585346B1 - Fauteuil roulant d'aide à la marche - Google Patents

Fauteuil roulant d'aide à la marche Download PDF

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Publication number
EP3585346B1
EP3585346B1 EP18709680.5A EP18709680A EP3585346B1 EP 3585346 B1 EP3585346 B1 EP 3585346B1 EP 18709680 A EP18709680 A EP 18709680A EP 3585346 B1 EP3585346 B1 EP 3585346B1
Authority
EP
European Patent Office
Prior art keywords
movable base
base plate
user
arm
wheelchair
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP18709680.5A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3585346A1 (fr
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
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Publication date
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Publication of EP3585346A1 publication Critical patent/EP3585346A1/fr
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Publication of EP3585346B1 publication Critical patent/EP3585346B1/fr
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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, in particular for people with reduced mobility.
  • Some of these chairs include a frame, a movable seat, and a seat elevation system.
  • the movable seat is in particular 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.
  • Some of these walking assist wheelchairs have very little walking space. In addition, some of these movable seat wheelchairs or walkers do not prevent a person with reduced mobility from falling.
  • the invention aims to at least partially resolve the problems encountered in the solutions of the prior art.
  • the invention as defined in claim 1, relates to a wheelchair for assisting with walking.
  • the walking aid chair 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 sitting position in which a user can sit on it, and a high walking position in which it is intended to be in contact with the user and at least partially behind the user.
  • the base position change device is configured to move the base between its high position and its low position.
  • the position changing device includes 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 link to the frame and by an upper mechanical link to the first arm.
  • the linear actuator is configured to urge the movable base towards the high position by means of the first arm.
  • the arm is connected at its lower end by a lower articulation to the frame and at its upper end by an upper articulation to the movable base, the upper articulation being located at the rear of the lower articulation on the entire travel of the movable base when the movable base moves from the low position to the high position.
  • the arm forms an inter-motor type lever.
  • the user of the chair can move from the low seat position to the high walking position, with a risk of falling out of the chair which is reduced, or even eliminated. Furthermore, the movement of the mobile base during the passage from the low seat position to the high walking position is carried out with a movement relative to the frame which is upwards and forwards and which better respects the natural movement of a user to stand up.
  • the wheelchair requires moderate effort on the part of the user to get up and walk. In particular, it is suitable for re-educating the user for walking or for keeping him able to walk, in particular alone and in safety.
  • the position changing device advances the frame relative to the base, when the user wishes to sit down or when the user tends to fall either towards the rear or substantially vertically.
  • the actuator helps the user to stand up.
  • it allows the position changing device to at least partially support the weight of the user during the passage 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 seat, the position of the mobile base relative to the frame being variable according to the weight exerted by the user on the mobile base, in particular 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 size of the lifting device is reduced. The user thus benefits from a relatively large walking space.
  • the chair is a walking aid wheelchair, in the sense that it allows the user, for example a person with reduced mobility, to walk more normally, in particular 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, 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 absolute moment normal to the arm exerted by the user when he applies the majority of his weight, preferably all his weight on the mobile base.
  • the increase in the angle of the actuator with the normal to the arm with the elevation makes it possible to exert a greater pushing force in the low seat position than in the high running position.
  • the weight that the user exerts on the movable base to sit down thus remains moderate relative to the force for urging the base upwards by the actuator.
  • This upward bias on the actuator therefore does not block the user in the high position. He can then lower himself under the effect of his weight without risk of rearward recoil when he tends to sit in the chair or to fall vertically or backwards.
  • the invention may optionally include one or more of the following features combined or not.
  • each linear actuator comprises an elastic return means configured to elastically urge the movable base towards the high position by means of the first arm.
  • the mobile base then partially supports the weight of the user when lifting, when sitting down, and when walking.
  • the position of the movable base relative to the frame depends more on the weight exerted by the user on the movable base. In other words, the wheelchair sits more dynamically.
  • 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 cylinder of the gas spring type.
  • the gas spring type linear actuator only partially assists the user in getting up, standing and sitting down.
  • the intensity of the lifting force of the movable base exerted by the actuator tends to vary less during the stroke of the actuator.
  • the actuator helps the user to stand up and sit down, while being particularly suitable for gait rehabilitation / maintenance of the user's ability to walk.
  • the walking aid wheelchair 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 link to the frame and by a mechanical link superior to one of the arms.
  • Linear actuators are configured to bias the movable base towards the position high through the first arms.
  • the first arms each form an inter-motor type lever.
  • each first arm is connected at its lower end by a lower articulation to the frame and at its upper end by an upper articulation to the movable base.
  • the upper joint is located behind the lower joint over the entire travel of the movable base when the movable base moves from the low position to the high position.
  • the upper mechanical link 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 movable base is in the high position.
  • the walking aid wheelchair comprises at least one second arm which extends between the frame and the mobile base.
  • the walking aid wheelchair 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 in movement relative to the frame by the at least one first arm.
  • the wheelchair further comprises one linear actuator per second arm, which is connected by a lower mechanical link to the frame and by an upper mechanical link to this second arm.
  • This linear actuator is configured to urge the movable base towards the high position by means of 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 changing device is designed so that the user is between the arms, at least when the mobile base is in the high running position.
  • the arms, the movable base and the frame have the general shape of a deformable parallelogram between the high position and the low position.
  • the position changing device is configured to move the movable base relative to the frame according to a circumferential translational movement between the high running position and the low sitting 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 movable base tends to be better guided and to be more stable relative to the frame.
  • the user can interact more easily with his environment, especially towards the front. He can get in and / or 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 The mobile base is in the high running position.
  • the lower mechanical link and the upper mechanical link are pivot links.
  • the upper mechanical link 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. , in particular at least when the movable base is in the high position.
  • each actuator upwards towards the rear tends, for example, to bring the chair 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 low seat position, relative to an actuator which would be tilted upward 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 high 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 an adjustable position laterally relative to the frame.
  • the wheelchair comprises a lower support member configured to be a rear support for a part of the lower limb of the user at least in the low sitting position.
  • the lower support member is located in front of the saddle and it is at least partly adjustable laterally with respect to the frame.
  • the lower support member comprises a lining which is adjustable laterally with respect to the frame.
  • the movable base comprises a frame to which the saddle is connected while being tiltable at least in the direction of the height.
  • the frame comprises at least two elongated uprights and a fixed base.
  • the elongated uprights extend at least partially from the front to the rear.
  • the arms and arms and the linear actuators are connected to the elongated uprights.
  • the fixed base extends between the two elongated uprights in a transverse direction of the wheelchair, by mechanically connecting the elongated uprights to each other.
  • the mobile base is configured to rest on the fixed base in the low seat position.
  • the elongated uprights are rectilinear.
  • each of the elongated uprights comprises at least one bar.
  • the frame comprises a backrest which is rigidly integral with the fixed base and which extends upwards from the fixed base.
  • the wheelchair comprises a backrest which is rigidly secured to the mobile base.
  • the walking aid wheelchair comprises a front retention member configured to retain the user from going forward with respect to the frame.
  • the front retention member comprises a front support element configured to bear on the user's pelvis in the high position.
  • the front support element is an iliac support configured to rest on the anterosuperior iliac spine of the user.
  • the front retention member is configured to guide the wheelchair, at least when the mobile base is in the high running position.
  • the front retention member comprises the front support member and a base.
  • the front support element is in particular configured to be able to pivot relative to the base between an upper position and a lower position.
  • the front support element is configured to pivot relative to the base between an upper position when the movable base is in the low position, and a lower position when the movable base is in the high 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 element allows the user to sit on the mobile base and a closed position in which it retains the user towards the front relative to the mobile base.
  • the walking aid wheelchair comprises a rear thrust member which is movably connected to the movable base.
  • the rear thrust member comprises at least one rear support element to bear against the rear of one of the lower limbs of the user in the high position, and the rear thrust member comprises a return means configured to urge the rear support element forward.
  • the rear support element is pivotable relative to the movable base.
  • the rear support element is configured to have an oscillating movement relative to the movable base while accompanying the lower limb during walking.
  • the rear thrust member is configured to be opposite one of the housings of the movable base in the high running 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, resting against the rear of one of the lower limbs of the user in the low sitting position.
  • the walking aid wheelchair comprises a member for locking the movable base in the low sitting position and / or in the high walking position.
  • the locking member comprises at least one locking bar pivotably connected with respect to the frame and at least one locking pin which is integral with the movable base.
  • the locking bar engages the locking pin in the locked position.
  • the locking member comprises two locking bars each pivotably connected relative to the frame and two pins. locking which are each integral with the mobile base. Each locking bar engages one of the locking pins in the locking position.
  • the figures 1 to 9 shows a walking aid wheelchair 1 according to a first embodiment.
  • the walking aid wheelchair 1 comprises a seat 2 which comprises a movable base 60.
  • the wheelchair 1 also comprises a frame 3, two rear wheels 5 RG and 5 RD , two front wheels 5 FG and 5 FD , and a device for changing the position 4 of the base.
  • the chair 1 extends in a front-rear longitudinal direction XX.
  • the front of the chair corresponding to the front of the user at the figure 1 .
  • the rear of the wheelchair corresponding to the rear of the user U when seated in the wheelchair 1.
  • the chair 1 also extends in a left-right transverse direction YY.
  • the left and right directions correspond respectively to the left and right of user U when seated in chair 1.
  • the chair 1 also extends in a direction of the height Z-Z.
  • the up and down directions correspond respectively to those for user U when seated in chair 1.
  • the seat 2 comprises a backrest 20 which is fixed to the frame 3, and a movable seat assembly 6 of which the movable base 60 is a part.
  • the movable seat assembly 6 is movable relative to the chassis 3 and will be described in detail below.
  • the movable base 60 is movable relative to the frame 3 between a low seat position which is shown on figure 1 and a high walking position which is shown in figure 2 .
  • a low seat position a user U can sit on the mobile base 60.
  • the high running position the mobile base 60 is in contact with the user U and mainly behind the user U.
  • the rear left 5 RG and right 5 RD wheels are large, standard wheels for a wheelchair 1.
  • the front left 5 FG and right 5 FD wheels are smaller in size. They serve among other things to steer 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 walking aid wheelchair insofar as 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 elongated uprights 32, 34 are rectilinear and they each extend in the longitudinal direction XX from the front to the rear, being spaced from one another in the transverse direction YY and being substantially parallel to the to one 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 includes an upper support bar 32a, 34a and a lower support bar 32b, 34b.
  • the lower bar 32b, 34b is parallel to and above the corresponding upper bar 32a, 34a.
  • the lower bar 32b, 34b is mechanically connected to the corresponding upper bar 32a, 34a by two parallel bars, front 33F and rear 33R.
  • These front 33F and rear 33R parallel bars each extend vertically in the direction of the height Z-Z and they are each located substantially at one of the longitudinal ends of the upper bar 32a, 34a.
  • Front wheel brackets 38G, 38D are attached to the front bars.
  • the rear wheel supports 39G, 39D are attached to the rear bars.
  • the fixed base 36 extends between the two elongated uprights 32, 34 in a transverse direction YY of the wheelchair 1, by mechanically connecting the two elongated uprights 32, 34 between them.
  • the fixed base 36 has the general shape of a plate, the upper surface S3 of which is opposite the lower surface S2 of the movable base 60. It comprises two left and right housing flanges 37G, 37D which are intended to house control members. front push 8 which are part of the movable seat assembly 6.
  • the fixed base 36 serves as a base for the movable 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 it extends upwards from the fixed base 36.
  • the position change device 4 comprises two first left arms 41 G , and right 41 D , two left 44 G and right 44 D linear actuators, two second left 42 G and right 42 D arms, and a set of joints 9 .
  • the arms 41 G , 41 D , 42 G , 42 D , the movable base 60 and the frame 3 together form a deformable parallelogram which deforms, due to the set of joints 9, between the high running position and the low sitting position.
  • each first arm 41G, 41D and each second arm 42G, 42D is configured to form an angle 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 of each second arm 42 G , 42 D is in particular configured to form an angle of at most 76 ° with the horizontal in the high running position.
  • the lower end and the upper end of each first arm 41 G , 41 D and of each second arm 42 G , 42 D form an angle of approximately 67.5 ° with the horizontal.
  • the position changing device 4 is configured to move the base 60 relative to the frame 3 between the high running position and the low sitting position. It moves the movable base 60 relative to the frame 3 in a circumferential translational movement between the high running position and the low sitting 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 articulation 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 mutually parallel.
  • Each of the first arms 41 G , 41 D forms 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 movable base 60.
  • Each second arm 42 G , 42 D is connected at its lower end by a lower articulation 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 movable base 60, for example under the base 60.
  • the second arms 42 G , 42 D are located behind the first arms 41 G , 41 D , being substantially parallel to the first arms 41 G , 41 D. More precisely, 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 mutually parallel.
  • Each second arm 42 G , 42 D is a follower arm which is driven in movement relative to the frame 3 by one of the first arms 41 G , 41 D.
  • the linear actuators 44 G , 44 D are each passive linear actuators 44 G , 44 D , that is to say non-motorized linear actuators.
  • motor is meant a system transforming in a controlled manner a non-mechanical energy such as an electrical energy into a mechanical energy or work.
  • Each of the linear actuators 44 G , 44 D comprises a cylinder.
  • the linear actuators 44 G , 44 D are each connected by a lower mechanical link 91 to one of the lower bars 32b, 34b and by an upper mechanical link 93 to one of the first arms 41 G , 41 D.
  • the upper mechanical link 93 is located substantially towards the middle of the corresponding first arm 41 G , 41 D.
  • Each of the linear actuators 44 G , 44 D is configured to urge the mobile base 60 towards the high running position by means of one of the first arms 41 G , 41 D. They allow the position changing device 4 to partially support the weight of the user U during the passage from the low position to the high position, while allowing the passage from the high position to the low position using the weight of user U.
  • the joint assembly 9 includes the lower mechanical link 91, the upper mechanical link 93, the lower joints 92 of the first arms, the lower joints 96 of the second arms, the upper joints 94 of the first arms, the upper joints 98 of the second arms. arms.
  • the lower joints 92 of the first arms and the upper joints 94 of the first arms are pivot links.
  • the lower articulations 92 of the first arms are in front of the upper articulations 94 of the first arms, regardless of the position of the movable base 60 relative to the frame 3.
  • the first arms 41 G , 41 D are inclined upwards towards the rear.
  • the movement of the mobile base 60 during the passage from the low seat position to the high walking position is effected with a movement relative to the frame 3 which is upward and forward, to better reproduce the natural movement of a user U to stand up.
  • the distance ratio between the advancement of the pelvis of the user U and the increase in the height of the pelvis of the user U when it 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 rearwardly relative to the frame 3 when it is lowered 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 relative to the user when the mobile base 60 moves from its high walking position to its low sitting 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 pivot links.
  • Each first linear actuator 44 G , 44 D has a smaller angle with respect 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 movable base 60 is close to its lower seat position only when the movable base 60 is close to its high running 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 movable base 60 is close to its high operating position.
  • the weight that the user U exerts on the movable base 60 in order to sit down thus remains moderate relative to the stressing force of the base 60 upwards by each first linear actuator 44 G , 44 D.
  • This upward bias on each actuator 44 G , 44 D therefore does not block the user in the high position.
  • the user U can then lower himself under the effect of his weight without risk of rearward recoil, when he tends to sit down in the chair 1 or to fall vertically or backwards.
  • each first linear actuator 44 G , 44 D is located behind the lower mechanical link 91 of each first linear actuator 44 G , 44 D , over at least a majority of the stroke of the base movable 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 sizing 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 frame 3.
  • the lower joints 96 of the second arms and the upper joints 98 of the second arms are pivot links.
  • Lower joints 96 second arms are in front of the upper articulations 98 of the second arms, regardless of the position of the movable base 60 relative to the frame.
  • the second arms 42 G , 42 D are inclined upwards and backwards.
  • the movement of the mobile base 60 during the passage from the low seat position to the high walking position is effected with a movement relative to the frame 3 which is upward and forward, to better reproduce the natural movement of a user U to stand up.
  • the mobile base 60 will tend to move rearwardly relative to the frame 3 when it is lowered 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 walking position to its low sitting position. .
  • the lower joints 96 of the second arms are behind the corresponding lower joints 92 of the first arms.
  • the lower articulations 96 of the second arms are in front of the corresponding upper articulations 94 of the first arms, when the movable base 60 is in the low sitting position.
  • the upper joints 98 of the second arms are posterior to the upper joints 94 of the first arms.
  • the movable seat assembly 6 comprises the movable base 60, two front left 7 G and right 7 D retention members, and two rear left 8 G and right 8 D thrust members.
  • the front retention members 7 G , 7 D and the rear thrust members 8 G , 8 D are each connected mechanically in a movable manner relative to the movable base 60 which they accompany in its movement relative to the frame 3 between its position. low seat and high walking position.
  • the mobile base 60 comprises an upper surface S 1 and a lower surface S 2 which is opposite the upper surface S 1 .
  • the lower surface S 2 bears on the upper surface S 3 of the fixed base, in the low sitting position. It is opposite the upper surface S 3 of the fixed base, in the high running position.
  • the movable base 60 comprises two lateral support elements left 61 and right 63, an intermediate support element 62 and a rear support element 64.
  • the movable base 60 is movable in circumferential translation with respect to the frame 3 between the low position. seat and high walking position.
  • the left lateral support element 61 forms with the intermediate support element 62 a housing 65 G for the left lower limb U IG of the user in the high position.
  • 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 ID of the user in the high position.
  • 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 movable base 60 in the transverse direction Y-Y and in particular has a saddle function.
  • the rear support element 64 serves to support the buttocks of the user U in the low sitting position. It is located behind the user U in the high running position, delimiting the rear of each of the housings 65 G , 65 D.
  • each front retention member 7 G , 7 D comprises a base 70, a movable frame 71, a front support element 72, an arm 78, an articulation 73, an adjustment member 74 and a stop 75.
  • the front retention members 7 G , 7 D are each configured to retain the user U forwards relative to the frame 3. They also allow the user U to drive the wheelchair 1.
  • the base 70 is intended to be fixedly assembled to the movable base 60, in particular at the level of one of the lateral support elements 61, 63 on which it rests. It is preferably detachably mechanically connected to the movable base 60, which makes the retention member 7 G , 7 D removable. It serves as a support for the front support element 72.
  • the arm 78 connects the front support element 72 to the movable frame 71.
  • the movable frame 71 connects the arm 78 to the articulation 73.
  • the front support element 72 is an iliac support. It is configured to rest on the antero superior iliac spine of the user U, in the high walking position. It allows the user U to drive the wheelchair 1 without needing his hands. It is also configured to be close to the anterosuperior iliac spine of user U, in a low sitting position to retain it in chair 1.
  • Each front support element 72 is configured to move relative to the base 70 between a rear position when the base is in the low seat position, and a forward position when the movable base 60 is in the high running position. .
  • the articulation 73 comprises a rod and a torsion spring which biases 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 upper position, which is shown at figure 6 and the front and bottom position which is shown in figure 7 .
  • the adjustment member 74 is adjustable in height, depth and sideways. It is configured to adjust the position of the front support element 72 relative to the base 70, so that the front support element 72 rests on the user's superior antero iliac spine. U in the high running position.
  • the stop 75 is a rear stop. It limits the pivoting amplitude of the front support element 72, when it is moved rearwardly relative to the base 70.
  • each rear thrust member 8 comprises a rear support member 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 be facing one of the housings 65 G , 65 D of the movable base 60 in the high running 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 ID , U IG of the user U forwards during walking. As a result, the walking of the user U is made easier, which is all the more interesting in view of the size and the mass of the wheelchair 1.
  • the rear support element 80 has a concave shape which is intended to match the shape of the lower limb U ID , U IG of the user, in particular of the thigh of the user U against which the rear support element 80 is supported in the high position and in the low position.
  • the rear support element 80 rises in the housing 65 G , 65 D in the low seat position, to close it at least partially and while being in its housing 37 of the fixed base 36.
  • the seat formed by the rear support elements 80 and the movable 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 member U ID , U IG during the walk.
  • 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 walking of the user U.
  • the user U against the return force of each return means 82 in particular thanks to its weight. , when the lower limb which is placed on the ground moves back during walking relative to the other of the lower limbs.
  • the support 84 is fixed to the lower surface S 3 of the movable base 60.
  • the connecting member 85 comprises a rod. This is a pivot link configured to pivot the rear support element 80 forward 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 link member 85.
  • the mobile base 60 is in the low sitting position.
  • the position changing device 4 is in its folded position which is shown in figure 3 .
  • Folder 20 prevents user U to fall backwards.
  • the front retention elements 7 prevent the user U from falling forward.
  • the control device change of position 4 is in an intermediate position between its folded position which is shown in figure 3 and its deployed position which is shown in figure 4 .
  • the linear actuators 44 D , 44 G urge the movable base 60 towards its upper running position.
  • the urging thrust of the linear actuators 44 D , 44 G is greatest in the low seating position, it gradually decreases as the angle to the normal to the 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 force of the user's weight which increases as the mobile base 60 rises to the high running position.
  • the position changing device 4 partially takes up the weight of the user U over the entire lifting stroke of the movable base 60. It thus helps the user U to get up and stay upright.
  • the front retention elements 7 prevent the user U from falling forward.
  • FIG 2 To the figure 2 , user U is standing. The user's weight is partially supported by the position changing device 4 which helps the user U to maintain an upright position. His right U ID and left U IG lower limbs are located in the corresponding housings 65 D , 65 G. The mobile base 60 is in the high running position. The position changing device 4 is in its deployed position which is shown in figure 4 . 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 pulling wheelchair 1 with him, with his hands free.
  • the walking aid wheelchair 1 according to the second embodiment is shown with reference to figures 10 to 25 .
  • the walking aid wheelchair 1 according to the second embodiment is mainly distinguished from that according to the first embodiment by the structure of its movable base 60 and by that of its lifting device 4.
  • the walking aid wheelchair 1 further comprises a central rear wheel 5 RC which is visible to the eyes.
  • figures 24 and 25 left 10 G and right 10 D footrests, lower support members 130 which are for example visible to figures 19 to 21 , as well as a locking member 200 of the mobile base which is for example shown in figures 22 and 23 .
  • the walking aid wheelchair 1 according to the second embodiment also comprises a frame 3, front retention members 7 and rear thrust members 8 which are of separate structure respectively from that of the frame 3, front retention 7 and rear thrust members 8 of the walking aid wheelchair 1 according to the first embodiment.
  • the backrest 20 is rigidly secured to the movable base 60 instead of being secured to the frame 3. It is for example fixed to a rear support element 640 forming part of the frame 600 of the movable base 60.
  • the 5 RC center rear center wheel is a smaller size wheel than the left 5 RG and right 5 RD rear wheels. It is similar in size to the 5 FG left and right front wheels. 5 FD . It can in particular pivot relative to the frame 3, to steer the wheelchair 1 more easily.
  • Each footrest 10 G , 10 D is pivotably connected with respect to the frame 3 between a raised position which is shown on figure 11 and a lowered position.
  • each footrest 10 G , 10 D bears against the front upright 32, 34 to which it is connected, so as not to interfere with the walking of the user U.
  • the footrests are oriented l ' 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 elongated uprights 32, 34 in a transverse direction YY of the wheelchair 1, by mechanically connecting the two elongated uprights 32, 34 between them. They each have the general shape of a curved tube.
  • the upper rear support bar 35 H is located in the extension of the upper support bars left 32a and right 34a.
  • the 35 H upper rear grab bar is located above the 35 L lower rear grab bar.
  • 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 movable seat assembly 6, in particular for the base 60 in its lower position. seat.
  • the lower rear support bar 35 L is located in the extension of the lower left and right support bars 32b 34b.
  • the position change device 4 comprises the first two left arms 41 G , and right 41 D , the first two linear actuators left 44 G and right 44 D of the first left 41 G and right 41 D arms, the two second left arms 42 G and right 42 D , a set of joints 9, as well as two second linear actuators 46 G , 46 D for the second arms 42 G , 42 D.
  • the arms 41 G , 41 D , 42 G , 42 D , the mobile base 60 and the frame 3 have the general shape of a deformable parallelogram which is deformed, due to the set of joints 9, between the high position of walking and the low sitting position.
  • the position changing device 4 is configured to move the base 60 relative to the frame 3 between the high running position and the low sitting position. It moves the movable base 60 relative to the frame 3 in a circumferential translational movement between the high running position and the low sitting 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 articulation 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 downwardly curved shape near the lower articulation 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 movable base 60.
  • Each second arm 42 G , 42 D is connected at its lower end by a lower articulation 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 movable base 60.
  • the second arms 42 G , 42 D are located behind the first arms 41 G , 41 D , being substantially parallel to the first arms 41 G , 41 D. More precisely, 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 mutually parallel.
  • the second arms 42 G , 42 D are mutually parallel. They have a downwardly curved shape near the lower articulation 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.
  • Linear actuators 44 G , 44 D , 46 G , 46 D are each passive linear actuators 44 G , 44 D 46 G , 46 D , 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 movable base 60 towards the high position by means of 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 includes a cylinder. More precisely, each linear actuator 46 G , 46 D comprises a gas spring type cylinder.
  • the first linear actuators 44 G , 44 D are each connected by a lower mechanical link 91 to one of the lower bars 32b, 34b of the frame 3 and by an upper mechanical link 93 to one of the first arms 41 G , 41 D.
  • Mechanical connection upper 93 is located substantially towards the middle of the first arm 41 G , 41 D corresponding.
  • Each of the first linear actuators 44 G , 44 D is configured to urge the movable base 60 towards the high running position by means of one of the first arms 41 G , 41 D. They allow the position changing device 4 to partially support the weight of the user U during the passage 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 link 95 to one of the lower bars 32b, 34b of the frame 3 and by an upper mechanical link 97 to one of the second arms 42 G , 42 D.
  • the upper mechanical link 97 is located substantially towards the middle of the corresponding second arm 42 G , 42 D.
  • Each of the second linear actuators 46 G , 46 D is configured to urge the movable base 60 towards the high running position by means of the corresponding second arm 42 G , 42 D. They allow the position changing device 4 to partially support the weight of the user U during the passage from the low position to the high position, while allowing the passage from the high position to the low position using the weight of user U.
  • the joint assembly 9 comprises the lower joints 92 of the first arms, the upper joints 94 of the first arms, the lower joints 96 of the second arms, the upper joints 98 of the second arms, the lower mechanical linkage 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 lower mechanical link 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 joints 92 of the first arms and the upper joints 94 of the first arms are pivot links.
  • the lower articulations 92 of the first arms are in front of the upper articulations 94 of the first arms, regardless of the position of the movable base 60 relative to the frame 3.
  • the first arms 41 G , 41 D are inclined upwards towards the rear.
  • the movement of the mobile base 60 during the passage from the low seat position to the high walking position is effected with a movement relative to the frame 3 which is upward and forward, to better reproduce the natural movement of a user U to stand up.
  • the distance ratio between the advancement of the pelvis of the user U and the increase in the height of the pelvis of the user U when it 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 rearwardly relative to the frame 3 when it is lowered 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 walking position to its low sitting position.
  • the lower joints 96 of the second arms and the upper joints 98 of the second arms are pivot links.
  • the lower articulations 96 of the second arms are in front of the upper articulations 98 of the second arms, regardless of the position of the movable base 60 relative to the frame.
  • the second arms 42 G , 42 D are inclined upwards and backwards.
  • the movement of the mobile base 60 during the passage from the low seat position to the high walking position is effected with a movement relative to the frame 3 which is upward and forward, to better reproduce the natural movement of a user U to stand up.
  • the mobile base 60 will tend to move rearwardly relative to the frame 3 when it is lowered 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 advances the frame 3 relative to the user when the movable base 60 moves from its high walking position to its low sitting position.
  • the lower articulations 96 of the second arms are behind the corresponding lower articulations 92 of the first arms regardless of the position of the movable base 60 relative to the frame 3.
  • the lower articulations 96 of the second arms are in front of the corresponding upper articulations 94 of the first arms, when the movable base 60 is in the low sitting position.
  • the upper articulations 98 of the second arms are behind the upper articulations 94 of the first arms regardless of the position of the movable base 60 relative to the frame 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 pivot links.
  • Each first linear actuator 44 G , 44 D has a smaller angle with respect 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 movable base 60 is close to its lower seat position only when the movable base 60 is close to its high running 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 movable base 60 is close to its high operating position.
  • the weight that the user U exerts on the movable base 60 in order to sit down thus remains moderate relative to the stressing force of the base 60 upwards by each first linear actuator 44 G , 44 D.
  • This upward bias on each actuator 44 G , 44 D therefore does not block the user in the high position.
  • the user U can then lower himself under the effect of his weight without risk of rearward recoil, when he tends to sit down in the chair 1 or to fall vertically or backwards.
  • each first linear actuator 44 G , 44 D is located behind the lower mechanical link 91 of each first linear actuator 44 G , 44 D , over at least a majority of the stroke of the base movable 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 sizing 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 frame 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 pivot links.
  • Each first linear actuator 44 G , 44 D has a smaller angle with respect 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 movable base 60 is close to its lower seat position only when the movable base 60 is close to its high running 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 movable base 60 is close to its high operating position.
  • the weight that the user U exerts on the movable base 60 in order to sit down thus remains moderate relative to the stressing force of the base 60 upwards by each first linear actuator 44 G , 44 D.
  • This upward bias on each actuator 44 G , 44 D therefore does not block the user in the high position.
  • the user U can then lower himself under the effect of his weight without risk of rearward recoil, when he tends to sit down in the chair 1 or to fall vertically or backwards.
  • each second linear actuator 46 G , 46 D is located behind the lower mechanical link 95 of each second linear actuator 46 G , 46 D , over at least a majority of the stroke of the base movable 60 when it moves relative to the frame 3 between the high position and the low sitting position.
  • the inclination of each second linear actuator 46 G , 46 D is determined in particular for sizing reasons.
  • the lever arm exerted by each second linear actuator 46 G , 46 D on the second arm 42 G , 42 D is then satisfactory.
  • the lower articulation 95 of each second linear actuator 46 G , 46 D is not too low compared to the frame 3.
  • the movable seat assembly 6 comprises two lower support members 130 left and right.
  • Each lower support member 130 is configured to be a rear support for part of the lower limb U ID , U IG of the user U at least in the low sitting position, in particular in the gluteal region of the user U. It is located in front of the saddle 110 in the low seating position.
  • Each lower support member 130 is also called buttock support in the remainder of the description.
  • Each lower bearing member 130 comprises a gasket 131 and a gasket support 132 which is covered by the gasket 131.
  • Each gasket 131 is connected to its gasket support 132 by a guide pin 133 and by a groove 135 which are visible. to the figures 20 and 21 .
  • Each lower support member 130 is connected by a clip 136 to the frame 3.
  • the left pad 131 G is intended to be in contact with a part of the user's left lower limb U IG , in particular a part of his left buttock or of his left thigh. This is for example a cushion, the guide pin 133 of which projects downward.
  • the left trim 131 G has a distinct shape from that of the right trim 131 D. Its internal lateral surface is intended to be of substantially complementary shape to the external lateral surface of the left saddle portion 111.
  • the right lining 131 D is intended to be in contact with a part of the user's right lower limb U ID , in particular a part of his right buttock or of his right thigh. This is for example a cushion, the guide pin 133 of which projects downward.
  • the internal lateral surface of the right upholstery 131 D is intended to be of substantially complementary shape to the external lateral surface of the straight saddle portion 112.
  • each lower support member 130 is intended to be rigidly secured to the frame.
  • the lining support 132 of each lower support member 130 is connected by screwing to a transverse support bar of the frame 3 which is located in front of the upper rear support bar 35 H of the. chassis 3.
  • the trim support 132 comprises the groove 135 in its central part.
  • each lower support member 130 jointly form a lateral adjustment means 134 of the lining 131 G , 131 D relative to the corresponding trim support 132. Due to each lateral adjustment means 134, each trim 131 G , 131 D is at least partly adjustable laterally with respect to the frame 3.
  • the mobile 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 saddle 110, the backrest 20, a frame 600 and armrests 660.
  • the saddle 110 comprises a left saddle portion 111, a right saddle portion 112, a central articulation 123 and a saddle base 120.
  • Each left 111 or right 112 saddle portion is connected by a groove 145 and by a pin guide 143 to the saddle base 120.
  • the saddle base 120 is connected to the frame 600.
  • the left saddle portion 111 is intended to be in contact with a part of the user's left lower limb U IG , in particular a part of his left buttock. This is for example a cushion, the guide pin 143 of which projects downward.
  • the left saddle portion 111 is of a different shape from that of the right saddle portion 112.
  • the internal lateral surface of the left saddle portion 111 is intended to be of substantially complementary shape to that of the internal lateral surface of the right portion 112. saddle.
  • the right saddle portion 112 is intended to be in contact with a part of the user's right lower limb U ID , in particular a part of his right buttock. This is for example a cushion, the guide pin 143 of which projects downward.
  • the central articulation 123 connects the front end of the left saddle portion 111 to the saddle base 120, in a laterally movable pivot connection.
  • the central articulation 123 connects the front end of the straight saddle 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 articulation 123 to the attachment 650 of the frame 600, being tiltable vertically with respect to the attachment 650.
  • the saddle base 120 includes a groove 145 for each portion of the saddle. 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 jointly form a lateral adjustment means 142 of one of the saddle portions 111, 112 relative to the saddle base 120. Due to this lateral adjustment means 142, each saddle portion 111, 112 is at least partly adjustable laterally with respect to the frame 600.
  • the frame 600 of the movable base 60 includes a left support member 610, a right support member 630, a front transverse support member 620, a rear transverse support member 640 and a saddle clip 650.
  • the frame 600 serves as a support for the saddle 110.
  • the frame 600 and the saddle 110 replace the lateral support elements 61, 63 and the intermediate support element 62 of the mobile base 60 of the wheelchair 1 according to the first mode of operation. production.
  • the first left arm 41 G and the second left arm 42 G are mechanically connected by the upper articulations 94, 98 to the left support element 610.
  • the first right arm 41 D and the second right arm 42 D are mechanically connected by the upper articulations 94, 98 to the right support element 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 straight 630 in their longitudinal direction.
  • the front transverse support element 620 has the general shape of a U.
  • the saddle 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 arms 42 G and law 42 D.
  • the clip 650 for the saddle 110 includes a stopper 651 which projects vertically downwards and a connection hole 652 for the saddle 110.
  • the connection hole 652 is used to connect the saddle 110 to the front support member 620. by a pivot connection around the transverse direction YY, so that the saddle 110 is tiltable in the direction of the height ZZ relative to the frame 600.
  • the stop 651 serves as a stop for the saddle 110 downwards relative to the frame 600.
  • the wheelchair 1 comprises two armrests 660 which are each rigidly secured to one of the left 610 and right 630 support elements of the frame.
  • Each armrest 660 comprises a support arm 662 and an upper trim 661.
  • the armrests 660 are usable by the user U in the high walking position and also in the low sitting position.
  • the support arm 662 is in the form of a bracket. Each support arm 662 is connected to the corresponding left support element 610 or right 630, near the upper articulation 98 of the second arms 42 G , 42 D. The upper surface of each support arm 662 is covered by one of the upper fittings 661. Each support arm 662 also serves to connect one of the front retention members 7 to the movable base 60, serving as a base for the support member. retention before 7 matching.
  • Each upper trim 661 takes for example the form 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 joint 75 connects the arm 78 of the front retention member to one of the armrest support arms 662 660, pivotably about the transverse direction Y-Y.
  • the second articulation 77 pivotally laterally connects the front support element 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 figure 17 and at least one closed position such as those shown in figure 15 and at the figure 16 .
  • the front support element 72 In the open position, the front support element 72 lets the user U sit on the mobile base 60. In the closed position, the front support element 72 retains the user U forwards 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 be able 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 at the figure 15 . It is shown in the upper and closed position at the figure 16 .
  • 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 of the lower support members 130 of the movable base 60 in the low sitting position and in the high running position.
  • the rear thrust members 8 G , 8 D are each configured to urge one of the lower limbs U ID , U IG of the user U forwards during walking. As a result, the walking of the user U is facilitated.
  • Each rear support element 80 has a concave shape which is intended to match the shape of the lower limb U ID , U IG of the user, in particular of the rear of the thigh of the user U against which the element d 'rear support 80 is supported in the high position and in the low position.
  • 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 walking of the user U.
  • the user U against the return force of each return means 83 in particular thanks to its weight. , when the lower limb which is placed on the ground moves back during walking relative to the other of the lower limbs.
  • Each of the supports 84 is attached to one of the left 610 and right 630 support members.
  • the link member 85 includes a rod. This is a pivot link configured to pivot the rear support element 80 forwardly relative to the movable base 60.
  • the support arm 86 connects the rear support element 80 to the support 84. It is configured to pivot around the link member 85. It is located laterally outwardly of the rear support element 80. 'it connects to support 84.
  • the walking aid wheelchair 1 comprises a locking member 200 of the movable base 60 in the low sitting 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 walking aid wheelchair 1.
  • 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 walking aid wheelchair 1.
  • Each locking bar 202 is pivotably connected with respect to the frame 3 by the articulation 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 housing 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 he is in the walking aid wheelchair 1.
  • the second notch 207 is located behind the first notch 205.
  • Each articulation 203 of the locking bar is a pivot connection. 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 rigidly secured to the left 610 or right 630 support element, from which it protrudes laterally towards the outside of the wheelchair 1. It has by example a rounded outline.
  • Each retaining member 208 is integral with the second left arm 42 G or right 42 D from which it projects laterally towards the outside of the wheelchair 1. It has, for example, a rounded outline. 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 upper unlocking position and its lower locking position.
  • the locking member 200 is movable between a locking position in which the movable base 60 is in the low seating position and an unlocking position in which the movable base is in the high operating position.
  • each locking bar 202 In the locked position, each locking bar 202 is in the down position and it runs along the upper support bar left 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 upper position and it is inclined upwardly relative to the upper left support bar 32a of the frame and to the articulation 203.
  • Each locking pin 206 is above and in before the first corresponding notch 205.
  • Each retainer 208 is above and in front of the corresponding second notch 207.
  • Each locking bar rests on one of the retaining members 208.
  • the user U is seated in the wheelchair 1, the mobile base 60 is in the low sitting position with the locking member 200 locked.
  • the position changing device 4 is in its folded position which is shown in figure 3 .
  • the backrest 20 prevents the user U from falling backwards.
  • the front retention elements 7 prevent the user U from falling forward.
  • the control device change of position 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 towards its high operating position.
  • the urging thrust of the linear actuators 44 D , 44 G , 46 D , 46 G is greatest in the low seat position, it gradually decreases as the angle normal to the arm of each actuator 44 D , 44 G , 46 D , 46 G increases during the lifting of the mobile base.
  • the arms 41 D , 41 G , 42 D , 42 G support a tangential force of the user's weight which increases as the mobile base 60 rises to the high running position.
  • the position changing device 4 partially takes up the weight of the user U over the entire lifting stroke of the movable base 60. It thus helps the user U to get up and stay upright.
  • the front retention elements 7 prevent the user U from falling forward.
  • FIG 11 user U is standing.
  • the weight of the user U is partially supported by the position changing device 4 which helps the user U to maintain an upright position.
  • Its right U ID and left U IG lower limbs are urged forward by the right 8 R and left 8 G rear thrust members.
  • the mobile base 60 is in the high running position.
  • the position changing 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 pulling wheelchair 1 with him, with his hands free.
  • the user U can use the walking aid wheelchair 1 alone and in safety.
  • the position changing device 4 tends to limit the speed of its downward movement and to bring the mobile base 60 towards its low sitting position so that he is seated on it, in the position shown in figure 1 or at the figure 10 .
  • the position changing device 4 can move the movable base 60 relative to the frame 3 from the low seated position to the high walking position, with a risk of falling out of the wheelchair 1 which is reduced.
  • the position changing device 4 advances the frame 3 relative to the mobile base 60, when the user U wishes to sit down or when the user U tends to fall backwards or vertically.
  • the movement of the mobile base 60 during the passage from the low seat position to the high walking position is effected with a movement relative to the frame 3 which is upward and forward and which reproduces the natural movement of a user U to stand up.
  • the position changing device 4 partially supports the weight of the user U during the passage 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 down. In particular, it is suitable for re-educating the user U for walking or for keeping 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 best suit the needs of the user U.
  • the movement guidance of the movable base 60 and the stability of the movable base 60 relative to the frame 3 are particularly satisfactory thanks to the lifting device 4 and in particular of the plurality of arms 44 G , 44 D , 46 G , 46 D.
  • each actuator 44 G , 44 D , 46 G , 46 D of the 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 making the mobile base 60 only partially support the weight of the user U.
  • the size of the lifting device 4 is reduced.
  • the user U also benefits from a relatively large walking space. He can easily get in and out of his chair 1.
  • the number of wheels 5 RG , 5 RD , 5 FG and 5 FD is variable.
  • the wheelchair 1 can have a single front wheel or a single rear wheel.
  • the structure and shape of the frame 3 may vary.
  • At least one of the elongated uprights 32, 34 takes the form of a plate instead of the lower bars 32b, 34b and the 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 at the rear only by the wheel supports 38 G , 38 D , 39 G , 39 D .
  • the elongated uprights 32, 34 are non-rectilinear, for example by extending in the longitudinal direction X-X by 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.
  • the linear actuators 44 G , 44 D , 46 G , 46 D comprise a spring or other type of elastic return means configured to urge the base towards its high running position.
  • 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 supplied by at least one other of the actuators 44 G , 44 D , 46 G , 46 D , in particular if the user U requires a greater assistance from actuators 44 G , 44 D , 46 G , 46 D for one of its lower limbs U ID, U IG than for the other.
  • 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 walking aid wheelchair 1 comprises a locking member 200 of the movable base 60 in the high walking position.
  • the locking member 200 comprises a single locking bar 202 which is configured to engage a single locking pin 206 in the locking position. Lock bar 202 is then located on the left or right side of 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 Fauteuil roulant d'aide à la marche Active EP3585346B1 (fr)

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

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US (1) US11471361B2 (ja)
EP (1) EP3585346B1 (ja)
JP (1) JP7015849B2 (ja)
CN (1) CN110461294B (ja)
CA (1) CA3053622A1 (ja)
ES (1) ES2881264T3 (ja)
FR (1) FR3063008B1 (ja)
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Publication number Publication date
EP3585346A1 (fr) 2020-01-01
WO2018154234A1 (fr) 2018-08-30
FR3063008B1 (fr) 2022-03-18
SG11201907620WA (en) 2019-09-27
JP2020508826A (ja) 2020-03-26
ES2881264T3 (es) 2021-11-29
CN110461294A (zh) 2019-11-15
US20200237602A1 (en) 2020-07-30
US11471361B2 (en) 2022-10-18
FR3063008A1 (fr) 2018-08-24
JP7015849B2 (ja) 2022-02-03
CA3053622A1 (en) 2018-08-30
CN110461294B (zh) 2021-07-16

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