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
  • 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
  • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
• • 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
  • 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
  • A61H2003/006—Appliances for aiding patients or disabled persons to walk about with forearm rests, i.e. for non-used arms
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
  • A61H3/00—Appliances for aiding patients or disabled persons to walk about
  • A61H3/04—Wheeled walking aids for patients or disabled persons
  • A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
  • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
  • A61H2201/01—Constructive details
  • A61H2201/0119—Support for the device
  • A61H2201/0153—Support for the device hand-held
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
  • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
  • A61H2201/01—Constructive details
  • A61H2201/0161—Size reducing arrangements when not in use, for stowing or transport
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
  • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
  • A61H2201/01—Constructive details
  • A61H2201/0192—Specific means for adjusting dimensions
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
  • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
  • A61H2201/12—Driving means
  • A61H2201/1207—Driving means with electric or magnetic drive
  • A61H2201/123—Linear drive
• • 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
  • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
• • 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
  • A61H2201/1635—Hand or arm, e.g. handle
  • A61H2201/1638—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
  • A61H2201/50—Control means thereof
• • 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
  • A61H2201/50—Control means thereof
  • A61H2201/5005—Control means thereof for controlling frequency distribution, modulation or interference of a driving signal
• • 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
  • A61H2201/50—Control means thereof
  • A61H2201/5007—Control means thereof computer controlled
• • 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
  • A61H2201/50—Control means thereof
  • A61H2201/5023—Interfaces to the user
  • A61H2201/5025—Activation means
• • 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
  • A61H2201/50—Control means thereof
  • A61H2201/5053—Control means thereof mechanically controlled
• • 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
  • A61H2201/50—Control means thereof
  • A61H2201/5058—Sensors or detectors
• • 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
  • A61H2201/50—Control means thereof
  • A61H2201/5058—Sensors or detectors
  • A61H2201/5061—Force sensors
• • 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
  • A61H2201/50—Control means thereof
  • A61H2201/5058—Sensors or detectors
  • A61H2201/5071—Pressure sensors
• • 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
  • A61H2201/50—Control means thereof
  • A61H2201/5058—Sensors or detectors
  • A61H2201/5071—Pressure sensors
  • A61H2201/5074—Pressure sensors using electric pressure transducers with proportional output
• • 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
  • A61H2201/50—Control means thereof
  • A61H2201/5058—Sensors or detectors
  • A61H2201/5092—Optical sensor
• • 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
  • A61H2201/50—Control means thereof
  • A61H2201/5097—Control means thereof wireless

Definitions

• the invention relates to the field of walking aids, and more particularly of motorized walkers.
• the invention relates to a method of controlling a motorized walker making it possible to generate autonomy for its user. r Prior art!
• Technical walking aids are for example: canes, walking frames, and rollators.
• Technical aids for walking allow a person with walking and / or balance disorders to regain some independence.
• Some walking frames are designed to be used from a seated position and allow support during sit-to-stand transfers, but are difficult to use when walking (3-step walking: the person, resting on the walking frame, moves forward one foot, then the other foot, then, still resting on their feet, the person moves the walking frame forward).
• These walking frames are stable but inert supports, that is to say they do not actively assist the person in his movements.
• the most user-friendly technical walking aids have wheels and cannot be used as a support during sit-to-stand and stand-to-sit transfers due to lack of stability.
• a motorized walker has been proposed comprising lower handles and upper handles which can facilitate the passage from the seated position to the standing position of the user (US10292891).
• the sit-stand and stand-sit assistance is then provided by a third party, in particular by staff in nursing homes for the elderly or in hospitals.
• These repeated manipulations are responsible for musculoskeletal disorders of the caregivers.
• This situation has contributed to the emergence of “aid to caregivers”, which has had real success in hospitals and nursing homes.
• These are, in particular, verticalizers, mechanical or electrical, marketed with the aim of preventing musculoskeletal disorders (MSDs) in caregivers.
• MSDs musculoskeletal disorders
• the use of technical aids of the stand-up type considerably reduces work stoppages by avoiding musculoskeletal disorders.
• this type of caregiver aid requires the use of a second device in addition to the walking aid device. This poses difficulties of handling, storage, presence of caregivers and cost.
• a removable uprighting aid device arranged to be positioned on a walker and comprising a telescopic structural rod making it possible to make the device universal (FR3073393).
• a device is not a walker and, as a stand-up device designed for verticalization, it does not make it possible to facilitate the movement of an individual using the walker.
• its ability to be adapted to several walkers limits the possibilities of precisely controlling the angle of verticalization.
• such a verticalization angle has a critical impact during the transition from a seated position to a standing position.
• a walking assistance device capable of facilitating, on the one hand, the passage from a sitting position to the standing position of the user, and on the other hand his movement.
• the object of the invention is to provide a motorized walker arranged to help the user to move from a seated position to a standing position while providing him with control means configured to control the movement of the walker in such a way. intuitive.
• Another object of the invention is to propose a method for controlling a motorized walker, said method being adapted to the movement of the user and not requiring said user, who he performs, to perform complex movements. . GB dream description of the invention
• the invention relates to a motorized walker comprising a frame having a front part and a rear part, a pair of wheels being arranged to support the rear part of the frame, and at least one wheel being arranged to support the front part. of the frame, at least one of the wheels being coupled to a displacement motor, said motorized walker being characterized in that:
• the frame is equipped with two verticalization ramps, said verticalization ramps having a longitudinal axis forming an angle with an axis perpendicular to the ground, between 20 ° and 40 °, each of said verticalization ramps being associated with an electronic handle movable in translation along the verticalization ramp to which it is associated,
• At least one verticalization motor arranged to allow a movement, preferably synchronous, of the electronic handles along the verticalization ramps, preferably said movement being able to make a user of the walker pass from a seated position to a position standing, and
• At least one of the electronic handles comprising one or more sensors operatively coupled to a control module, said control module being configured so as to be able to control the verticalization motor and the displacement motor.
• the latter may optionally include one or more of the following features, alone or in combination:
• control module is configured to calculate an index corresponding to an intention of a user of the rollator, for example if he wishes to stand up or sit down, said index being calculated from data generated by the sensor (s) of the rollators. electronic handles.
• the calculation of the index corresponding to the intention of a user of the rollator also uses a prediction model trained from data generated, by the sensor (s) of the electronic handles, during the use of the motorized rollator by said user.
• control module is configured to further determine whether a user of the rollator is standing on the rollator from data generated by the sensor (s) of the electronic handles.
• the control module can be configured to further determine when a user of the rollator is the user is seated and the user is not resting on the walker from, in particular, a prediction model trained from data generated by the sensor (s) of the electronic handles, during the use of the motorized rollator by said user.
• Each of the verticalization ramps comprises a motorized screw-nut system driven by the verticalization motor allowing the movement of the electronic handles along the verticalization ramps.
• Many systems for transmitting a rotational movement of the motor to a translational movement of the handle could be suitable.
• the screw-nut system integrates very well into the verticalization ramps.
• the verticalization ramps have a bearing located opposite the verticalization motor relative to the screw. Such a bearing makes it possible both to guide the screw in the tube but also to absorb the axial forces induced by the user.
• the electronic handles and the verticalization ramps are coupled via an external guidance system. It allows for some of the effort induced by the user to be absorbed, in particular when the user is standing upright.
• It comprises two verticalization motors, each being coupled to one of the verticalization ramps and preferably positioned at one end of the verticalization ramp.
• It comprises a data memory, said data memory being configured to store a maximum height of the electronic handles on each of the verticalization ramps, said maximum height of the electronic handles having been calculated from a prediction model and data generated by the electronic handle sensor (s).
• the maximum height can also correspond to a predetermined value during the first configuration of the rollator and then it is corrected as the rollator is used by the user by learning.
• other values can be adjusted during the first use and then automated with learning such as the verticalization speed and more particularly a verticalization kinetics or the force thresholds for triggering the verticalization.
• it comprises a data memory, said data memory being configured to store a minimum height and a maximum height of the electronic handles on each of the verticalization ramps.
• the motorized walker can be adapted specifically to its user for better comfort of use.
• it includes a man-machine interface configured to detect the user's intention (to stand up or sit down) and if the user is still linked to the stander (if, for example, there has been a false start and the user did not get up).
• a man-machine interface configured to detect the user's intention (to stand up or sit down) and if the user is still linked to the stander (if, for example, there has been a false start and the user did not get up).
• Such an interface can in particular be integrated into the electronic handle or handles in the form of sensor (s).
• the sensor is selected from: a force sensor, a pressure sensor, a through-beam photocell, a displacement sensor.
• control module is configured to further calculate a force variation value applied to the electronic handle over a time interval and trigger a movement of the electronic handles when the calculated applied force variation value is greater than a variation value of predetermined force.
• the motorized walker can perform a verticalization adapted to the individual at a time desired by the individual without the latter having to perform any other action than to lean on the electronic handles as when he wishes. get up by leaning on a table, for example.
• control module is configured to further calculate a value of force applied to the electronic handle and to trigger a verticalization only if the value of applied force calculated to the electronic handle at the start of a time interval is less than or equal to a predetermined force value.
• a proximity sensor preferably configured to measure a proximity value between the trunk of a user of the rollator and the frame and in that the control module is further configured to trigger a verticalization when the proximity value measured is greater than a predetermined proximity value.
• the control module is further configured to control at least one verticalization motor so as to minimize jerk (English terminology for jerk) during the ascent, and preferably to control the position of the electronic handles during the ascent so that their position X (t) corresponds to the following equation:
• X (t) being the position of the electronic handle, on a vertical axis, with respect to a lowest position Xi, as a function of time t;
• Xf being a maximum height of the electronic handle
• T is a total verticalization time
• the central nervous system moves the hand or other end effector smoothly from one point to another during a gesture. For this, it minimizes the "jerk” (English terminology for jerk), that is to say the variation of the force along a trajectory.
• jerk English terminology for jerk
• the handles follow a trajectory which is best suited to human movement and therefore more comfortable.
• the invention further relates to a method of controlling a motorized walker according to the invention, said control method comprising the following steps:
• such a control method makes it possible, on the basis of a measurement of a force value applied to an electronic handle, to generate a control instruction to one of the verticalization motors and to one of the displacement motors.
• the method can determine the intention of a user and control the motors of the rollator to facilitate its realization.
• Other implementations of this aspect include computer systems, apparatus, and corresponding computer programs stored on one or more computer storage devices, each configured to perform the actions of a method according to the invention.
• a system of one or more computers can be configured to perform particular operations or actions, in particular a method according to the invention, by installing software, firmware, hardware or a combination. software, firmware or hardware installed on the system.
• one or more computer programs can be configured to perform particular operations or actions through instructions which, when executed by a data processing apparatus, cause the apparatus to perform the actions.
• Figure 1 shows an illustration of a perspective view of a motorized walker according to one embodiment of the invention.
• Figure 2 shows an illustration of a side view of a longitudinal section of a verticalization ramp according to one embodiment of the invention.
• Figure 3 shows an illustration of a side view of a longitudinal section of a verticalization ramp according to one embodiment of the invention.
• Figure 4 shows an illustration of a perspective view of an electronic handle according to one embodiment of the invention.
• the outer casing has been made transparent so as to allow viewing of the inside of the handle.
• Figure 5 shows an illustration of a side view of a longitudinal section along a z axis of a handle according to one embodiment of the invention.
• Figure 6 shows an illustration of a top view of a longitudinal section along a y axis of a handle according to one embodiment of the invention.
• Figure 7 shows a curve of light intensity received by the receiver of a photoelectric cell as a function of the displacement of a shutter element.
• Figure 8 is an illustration of a perspective view of a handle according to one embodiment of the invention.
• the outer casing has been omitted.
• Figure 9 shows an illustration of a side view of a longitudinal section along a z axis of a handle according to one embodiment of the invention.
• FIG. 10 represents an illustration of a front view of the central part of a handle according to the invention.
• FIG. 11 represents a functional diagram of the motors and control members of a motorized walker according to an embodiment of the invention
• Figure 12 shows an illustrative diagram of a method according to one embodiment of the invention. Steps framed in dotted lines are optional.
• FIG. 13 represents an illustrative diagram of steps of a method according to one embodiment of the invention.
• each block in the flowcharts or block diagrams may represent a system, device, module or code, which includes one or more executable instructions to implement the specified logic function (s).
• front part and rear part can be defined as all the elements of the motorized rollator located respectively on either side of a longitudinal section plane from a top view. face of the motorized walker, said longitudinal sectional plane passing through the center of gravity of said motorized walker.
• the rear part being that intended to accommodate a user.
• the expression "axis perpendicular to the ground”, and represented by the y axis in the figures, corresponds to an axis forming an angle substantially equal to 90 ° with any surface in contact with the wheels of the motorized rollator.
• the expression “electronic handle” corresponds for example to a device making it possible to support the weight of a user, arranged to accommodate a hand of said user and comprising within it one or more sensors arranged so as to allow a measurement of a force.
• Force applied corresponds within the meaning of the invention to a user exerting pressure on the exterior surface of said electronic handle.
• component of a force corresponds to a projection of a force on a direction.
• a “first component” thus corresponds, for example, to a projection of a force along a Z axis represented by an axis orthogonal to the longitudinal axis of the electronic handle.
• a “second component” thus corresponds to a projection of a force along an X axis, corresponding to the longitudinal axis of the electronic handle.
• fixed corresponds to the joining of two distinct entities with respect to each other.
• two entities can have a removable or non-removable attachment.
• removable corresponds according to the invention to the ability to be detached, removed or dismantled easily without having to destroy the fixing means either because there is no fixing means or because the fixing means are easily and quickly removable (eg notch, screw, tongue, lug, clips).
• notch, screw, tongue, lug, clips e.g notch, screw, tongue, lug, clips
• non-removable or “irremovable” fixing corresponds according to the invention to the ability not to be detached, removed or dismantled without having to destroy the fixing means either because there is no fixing means or because the fixing means are not easily and quickly removable.
• non-removable it should be understood that the object is fixed by welding or more generally by any irreversible means of securing.
• tubular corresponds to a substantially elongated element forming a duct, the lumen of which is enclosed by a wall of said duct. Such a light thus designates a hollow interior space circumscribed by the wall of the duct.
• the term “substantially” is associated with a particular value, it is necessary to understand a value varying by less than 30% with respect to the compared value, preferably by less than 20%, even more preferably by less than 10%.
• the vectorized shape varies by less than 30% from the compared vectorized shape, preferably less than 20%, even more preferably less than 10%.
• polymer is understood to mean either a copolymer or a homopolymer.
• a "copolymer” is a polymer grouping together several different monomer units and a “homopolymer” is a polymer grouping together identical monomer units.
• a polymer can for example be a thermoplastic or thermosetting polymer.
• thermoplastic polymer or “thermoplastic” is understood to mean a polymer which, in a repeated manner, can be softened or melted under the action of heat and which takes on new forms by application of heat and pressure.
• thermoplastics are, for example: high density polyethylene (HDPE), polyethylene terephthalate (PET), polyvinyl chloride (PVC), polystyrene (PS) or acrylonitrile butadiene styrene (ABS).
• thermosetting polymer means a plastic material which irreversibly transforms by polymerization into an insoluble polymer network. Once the shape of the thermosetting polymer is fixed and cooled, it can no longer be changed under the action of heat.
• Thermosetting polymers are, for example: unsaturated polyesters, polyimides, polyurethanes or vinyl esters which can be epoxy or phenolic.
• Coupled is understood to mean connected, directly or indirectly with one or more intermediate elements. Two elements can be mechanically coupled, electrically coupled or linked by a communication channel.
• operations refer to actions and / or processes of a data processing system, for example a computer system or an electronic computing device, which manipulates and transforms the data represented as physical (electronic ) in computer system memories or other information storage, transmission or display devices. These operations can be based on applications or software.
• sample program code can include, but are not limited to, subroutine, function, executable application, source code, object code, library and / or any other sequence of instructions designed for execution on a computer system.
• processor designates at least one hardware circuit configured to execute instructions contained in the program code.
• the hardware circuit can be an integrated circuit.
• Examples of a processor include, but are not limited to, a central processing unit (CPU), a network processor, a vector processor, a digital signal processor (DSP), a field programmable grid network (FPGA), a programmable logic assembly (PLA), an application-specific integrated circuit (ASIC), a programmable logic circuit and a controller.
• learning within the meaning of the invention corresponds to a method designed to define a function f making it possible to calculate a value of Y from a base of n labeled observations (X1 ... n, Y1 ... n ) or not labeled (X1 ... n).
• a function can correspond to a prediction model. Learning can be said to be supervised when it is based on labeled observations and unsupervised when it is based on unlabeled observations.
• learning is advantageously used for the customization of the operation of the walker and therefore its adaptation to a particular user.
• prediction model is understood to mean any mathematical model making it possible to analyze a volume of data and to establish relationships between factors allowing the evaluation of risks or that of opportunities associated with a specific set of conditions, in order to '' orient decision-making towards a specific action.
• human-machine interface within the meaning of the invention corresponds to any element allowing a human being to communicate with an electronic device.
• the term "motorized” means a device or device equipped with any known suitable means (e.g. motor) making it possible to generate a displacement of all or part of the device with which said means is associated.
• Walking assistance devices such as motorized walkers generally do not allow the user to smoothly provide verticalization assistance (passage from the seated position to the standing position) of the user and then a movement assistance. Indeed, the means of verticalization are generally absent or provided by additional support systems for caregivers.
• the present invention proposes to overcome this by detailing a motorized rollator comprising electronic handles arranged to allow the user to stand upright and capable of controlling the movement of the rollator according to the user's instructions.
• the invention relates to a motorized walker 1.
• a motorized rollator 1 comprises a frame 10 having a front part 10a and a rear part 10b.
• the frame 10 can be made of metal, a metal alloy, a polymer, a composite assembly or a mixture of these materials.
• the frame 10 is made of stainless steel.
• the frame 10 can be covered with a shell.
• Such a shell can be made of polymers, composites or any other materials.
• a motorized rollator 1 comprises a pair of wheels 11 arranged to support the rear part 10b of the frame 10, and at least one wheel 12 which is arranged to support the front part 10a of the frame.
• the chassis preferably has two wheels at the rear and two wheels at the front.
• the motorized rollator 1 will include motorized wheels arranged to support the rear part 10b of the frame 10.
• the only motorized wheels can be those supporting the rear part 10b of the frame 10.
• the walker 1 is a motorized walker.
• at least one of these wheels is coupled to a displacement motor 20.
• a displacement motor 20 is arranged at the level of a wheel and is not visible directly in FIG. 1. It is hidden by a positioned shell. at one or more wheels.
• Any type of electric motor can be used, preferably a brushless motor such as a brushless electronically commutated motor.
• a motorized walker 1 according to the invention may further include a proximity sensor 50.
• a proximity sensor 50 is preferably configured to measure a proximity value between the trunk of a user of the motorized walker 1 and the proximity sensor. 50.
• the proximity sensor 50 being generally attached to the frame 10 or to an element of the frame, this makes it possible to measure a proximity value between the trunk of a user of the motorized rollator 1 and the frame 10.
• a motorized walker 1 according to the invention may further comprise a plate 60.
• a plate 60 is generally arranged so as to be able to support the weight of an object of everyday convenience, but it may preferably be arranged so as to be able to support the weight of an everyday object. support the weight of a given user.
• a motorized walker 1 according to the invention may include a plate 60 fixed to the frame and / or to the verticalization ramps.
• the frame 10 of the motorized rollator 1 according to the invention is equipped with two verticalization ramps 100.
• the two verticalization ramps are fixed immovably to the frame 10.
• they can alternatively be fixed to the. frame 10 removably.
• these verticalization ramps 100 have a longitudinal axis (noted “x” in connection with FIG. 1) forming an angle (noted “a” in connection with FIG. 1) with an axis perpendicular to the ground (noted “y” in link with figure 1) between 20 ° and 40 °.
• these verticalization ramps 100 have a longitudinal axis forming an angle with an axis perpendicular to the ground of between 25 ° and 35 °, more preferably substantially equal to 30 ° and even more preferably equal to 30 °. Indeed, it has been determined in the context of the present invention that such an inclination allows an effective verticalization of a subject and causes the least instability of the subject during the verticalization.
• each of these verticalization ramps 100 is associated with an electronic handle 200 movable in translation along the verticalization ramp 100 with which it is associated.
• the electronic handles 200 are arranged so as to be able to train a user from a seated position to a standing position, i.e. to undergo a verticalization.
• the motorized walker 1 also comprises at least one verticalization motor 30.
• the at least one verticalization motor 30 is preferably arranged to control a movement of the electronic handles 200 along the verticalization ramps 100.
• a single motor could suffice, it would simultaneously activate the two handles being coupled to it by means of torque transmission means.
• Any type of electric motor can be used, preferably a brushless motor such as a brushless electronically commutated motor.
• each of the verticalization ramps 100 may include a verticalization motor 30.
• the walker advantageously comprises two verticalization motors 30, each being coupled to one of the verticalization ramps 100.
• the motors are preferably positioned at one end of the verticalization ramp 100.
• the motors are positioned at the lower end of each of the verticalization ramps 100.
• the loading forces on the handle being directed downwards, it is easier to position the motor at the bottom because the recovery of the forces can then be done at the level of the upper bearing, which stresses the screw in tension. There is therefore no risk of the screw buckling.
• the position of the motor at the bottom makes it possible to reduce the bulk of the device in height.
• each of the verticalization ramps 100 comprises a transmission system which, driven by the verticalization motor 30, allows the movement of the electronic handles 200 along the verticalization ramps 100.
• the movement of the electronic handles 200 along the verticalization ramps 100 is advantageously able to make a user of the walker pass from the seated position to the standing position.
• the movement of the electronic handles 200 is preferably a synchronized movement so as not to cause imbalance of the user.
• the transmission system can correspond to any means arranged to transmit a rotational movement (verticalization motor 30) into a translational movement (electronic handle 200). It can for example be selected from the following systems: rack, crank rod, cam, belt, screw-nut. When the motorized walker 1 has only one verticalization motor 30, then the transmission system is arranged so as to allow translational movement of the two electronic handles 200.
• each of the verticalization ramps comprises a motorized screw-nut system driven by the verticalization motor 30.
• a motorized screw-nut system driven by the verticalization motor 30.
• Such a system comprises a screw 110 extending from the verticalization motor 30 to a guide device 120 and a nut 130. able to be moved along the screw 110.
• the verticalization ramps 100 include a guide device 120 located opposite the verticalization motor with respect to the screw.
• a guide device 120 makes it possible both to guide the screw 110 but also to absorb part of the axial forces induced by the user.
• a screw 110 that can be used has a length value much greater than the diameter value and must withstand significant axial forces transmitted by the handles. Thus, it should preferably be guided at both ends.
• the screw is placed in a guide device 120 comprising a ball bearing.
• the guide device 120 is arranged so as to block the screw 110, in particular to prevent any rotational movement of said screw 110, when the motorized rollator 1 is stationary.
• the screw 110 can be any type of screw suitable for a screw-nut system. In particular, it can be selected from trapezoidal, square or triangular thread screws or else ball screw-nuts.
• the screw 110 be coupled to the verticalization motor 30 by means of a sleeve 140 allowing the screw-motor coupling.
• a sleeve 140 is preferably arranged so as to allow a flexible coupling between the screw 110 and the verticalization motor 30. Such a flexible coupling makes it possible to isolate the motor from the axial forces of the screw.
• the electronic handles 200, coupled to the stand-up ramps 100 must be able to support at least part of an individual's weight since one of their function is to move an individual from a seated position to a standing position.
• the electronic handles 200 and the verticalization ramps 100 are arranged to be able to support a weight of at least 30 kilograms, preferably at least 50 kilograms and more preferably at least 70 kilograms.
• an interior guide 160 one embodiment of which is illustrated in FIG. 2
• a external guide 150 one embodiment of which is illustrated in FIG. 3.
• the electronic handles 200 and the verticalization ramps 100 are coupled via an interior guidance system 160.
• the internal guide system 160 may for example comprise a rail or a slide inside the verticalization ramp 100 on which will slide an element fixed to an electronic handle 200.
• an element 161 fixed to an electronic handle 200 will slide the along the inside surface of a verticalization ramp so as to transfer part of the forces undergone by the verticalization handle.
• Such an element 161 may for example correspond to a ball bearing.
• the electronic handles 200 and the verticalization ramps 100 are coupled via an interior guidance system, and said interior guidance system comprises a rail on which an element attached to the electronic handle 200 slides.
• the electronic handles 200 and the stand up ramps 100 are coupled via an exterior guidance system.
• the exterior guidance system may for example comprise a rail or a slide outside the verticalization ramp 100 on which will slide an element fixed to an electronic handle 200.
• the exterior guidance system may include bearings 151, 152 positioned in contact with a front face and / or a rear face of the verticalization ramp 100.
• the verticalization ramps 100 include at least one end-of-travel sensor.
• a limit switch or position sensor or limit switch is preferably selected from: an optoelectronic sensor, a through-beam phototransistor, a roller push switch, a roller lever switch, a spring rod and a magnetic loop rod.
• a through-beam phototransistor is used as a limit switch and is located at the bottom of a verticalization ramp, for example in a jack. It is used to initialize the position of the handle when the device is powered on. Once the origins are taken, the position of the handle can be known thanks to the hall effect sensors integrated into the motor.
• Electronic grips 200 configured to measure a force applied to them can be equipped with force transducers, torque transducers, pressure transducers, strain gauges, piezoelectric technology or even simple button sensors.
• the electronic handles 200 used in the context of the invention comprise a coupling between a photoelectric cell and a shutter element.
• a photoelectric cell can in particular correspond to a sensor consisting of an infrared emitter and a receiver placed opposite. The emission zone is therefore an infrared light line.
• a blanking element such as a flag enters between the transmitter and the receiver the amount of light received by the receiver gets smaller and smaller.
• the measurement of the current at the output of the sensor is proportional to the quantity of light measured and therefore to the distance of penetration of the flag. This distance can then be reduced to the force, applied to the handle, which caused the displacement.
• an electronic handle allows the motorized walker to be controlled without the user wearing sensors or actuating buttons (or other interface).
• Such an arrangement makes it possible to detect a force, applied to the handle, greater than or equal to two kilograms but also much less.
• such an arrangement makes it possible to determine an applied force value and does not simply detect the crossing of a threshold.
• a processor may process information in a different way depending on the level of force which will have been applied to the electronic handle.
• an electronic handle 200 according to the invention is arranged so as to allow the measurement of at least one component of a force being applied to it.
• a handle according to the invention has a central part 210 and an outer shell 220.
• the central part 210 of an electronic handle 200 may have a substantially cylindrical shape. However, as can be seen in the illustration of FIG. 4, preferably, the central part 210 comprises at least one portion having a section comprising an edge. It has, for example, a section in the form of a polygon.
• the central part 210 is made with a material preferably exhibiting a Young's modulus of at least 60 GPa, for example at least equal to 175 GPa, more preferably greater than 200 GPa. This makes it possible to give the central part 210 a rigidity suitable for its use in the electronic handle according to the invention.
• the center piece 210 can be made of metal, a metal alloy, a polymer, or a composite assembly. Preferably, the central part 210 is made of stainless steel.
• the central part 210 preferably has a minimum length of 100 mm or 300 mm and a maximum of 500 mm.
• the outer casing 220 of an electronic handle 200 may have a substantially tubular, preferably tubular, shape. It may include at least one portion having a section comprising an edge. However, preferably, it has a cross section of ellipsoidal shape and more preferably circular.
• the outer shell 220 is made of a material preferably having a Young's modulus of less than 200 GPa, more preferably less than 150 GPa and even more preferably less than 100 GPa. Such a constitution and the existence of elasticity at the outer shell 220 makes it possible to improve the performance of the electronic handle according to the invention.
• the outer shell 220 may be made of metal, a metal alloy, a polymer, or a composite assembly. Preferably, the outer shell 220 is made of aluminum.
• the outer casing 220 preferably has a minimum length of 300 mm and a maximum length of 500 mm.
• the outer casing 220 may have an outer diameter of between 20 mm and 40 mm and a wall thickness of between 1 mm and 3 mm.
• the outer casing 220 is arranged so as to be able, under the effect of a force comprising a vertical component, to move at least one tenth, preferably one thousandth of a millimeter in translation with respect to an orthogonal axis. to a longitudinal axis of the central piece 210.
• a force component value can be quantified from a tenth of preferably a thousandth of a millimeter of displacement.
• a displacement of at least a tenth, preferably a thousandth of a millimeter may preferably correspond to a displacement of at least 0.001 millimeter to 1 millimeter.
• the outer casing 220 may be arranged so as to be able, under the effect of a force comprising a horizontal component, to move at least one tenth, preferably at least one thousandth of a millimeter in translation with respect to a longitudinal axis of the central piece 210.
• a force component value can be quantified from a tenth of preferably a thousandth of a millimeter of displacement.
• An electronic handle 200 comprises a first photocell 230.
• Photoelectric cells are electronic devices generally comprising a light emitting diode capable of emitting light pulses, generally in the near infrared (e.g. 850 to 950 nm). This light is received or not by a photodiode or a phototransistor depending on the presence or absence of an object on the path of the light pulses. The photoelectric current created can be amplified and then analyzed.
• a light emitting diode capable of emitting light pulses, generally in the near infrared (e.g. 850 to 950 nm). This light is received or not by a photodiode or a phototransistor depending on the presence or absence of an object on the path of the light pulses.
• the photoelectric current created can be amplified and then analyzed.
• a photoelectric cell can be selected from a photoelectric cell of the barrier type, of the reflex type, of the proximity type.
• optical fibers can be used to modify the arrangement of photoelectric cells within the scope of the invention.
• a photoelectric cell is preferably a photocell of the barrier type for which the barrier is constituted by the shutter element 240.
• the first photoelectric cell 230 comprises a first diode 231 capable of emitting a light beam.
• the diode of a photoelectric cell according to the invention may correspond to an infrared diode.
• the first photoelectric cell 230 comprises a first receiver 232 arranged to receive the light beam emitted by the first diode.
• the light beam emitted by the first diode is directed directly towards the first receiver 232.
• the first photoelectric cell 230 is configured to generate a current proportional (eg intensity or voltage) to a quantity of photons received by the first receiver 232.
• the first receiver 232 which, as a light transducer, will generate a light. modification of an electrical signal in response to the light beam incident on its surface.
• the first receiver 232 can for example be a photoconductor, a photodiode or a photo transistor.
• a photoelectric cell according to the invention is configured to generate an electric current whose intensity or voltage will be proportional to the quantity of photons received by the receiver.
• the electronic handle 200 includes a first shutter member 240 which is capable of, or arranged to, change the amount of photons received by the first receiver 232.
• this change in the amount of photons received is function of the position of the first shutter element 240 relative to the first photoelectric cell 230.
• a sealing element 240 within the meaning of the invention can be made of metal, a metal alloy, a polymer or a composite assembly.
• the sealing element 240 is made of polymer, more preferably of thermoplastic polymer.
• the closure element 240 may include a protuberance 241 arranged so as to be positioned between the diode 231 and the receiver 232 of the photoelectric cell 230.
• the protuberance 241 can be removably or non-removably attached to the element d. 'shutter 240. In addition, in the absence of protuberance 241, it is the shutter element which is received between the diode 231 and the receiver 232.
• first photoelectric cell 230 and the first shutter element 240 can be movable at least in part with respect to each other. Indeed, it is in particular the movement of one relative to the other, preferably of at least part relative to each other, which will allow a measurement of a component of a force applied to the electronic handle 200 according to the present invention.
• FIGS. 4 or 5 shows, for example, means 242 for fixing the closure element 240 to the outer casing 220.
• the fixing is preferably a removable fixing.
• the fixing will be carried out so that a force F1 applied to the electronic handle 200, if it is sufficient to at least partially displace the outer envelope 220 then it will cause a modification of the quantity of photons received by the first receiver 232.
• the position of the first shutter element 240 making it possible to influence the quantity of photons received by the first receiver 232 then, the modification of the quantity of photons received by the first receiver 232 will be correlated, preferably proportional, to a first component of the force that has been applied to the electronic handle 200.
• the fixing will be carried out so that a force F2 applied to the electronic handle 200, if it is sufficient to move at least in part the outer casing 220 then it will cause a modification of the quantity of photons received by the first receiver 232.
• the position of the first shutter element 240 making it possible to influence the quantity of photons received by the first receiver 232 then, the modification of the quantity of photons received by the first receiver 232 will be correlated, preferably proportional, to a second component of the force that has been applied to the electronic handle 200.
• the handle may include an element 270 capable of elastic deformation, for example made of polymer, so as to allow translation. of the outer casing 220 relative to the central part 210.
• the electronic handle according to the present invention can include a sensor of a vertical or horizontal force component passing through a measurement of a displacement of the outer casing relative to the central part 210, the displacement being caused by a force. having a vertical component or a horizontal component.
• the electronic handle 200 comprises a fixed horizontal axis, for example made of steel, capable of being linked to a walking assistance device (eg a walker) and which serves as a reference. It also comprises an outer casing 220 which can take the form of an outer tube which can move, under the effect of the horizontal component of the force, by a tenth of a millimeter in translation with respect to the central axis and which, under the effect of the vertical component of the force, deforms in the sagittal plane like an embedded beam. This force can be measured by a processor, for example placed in the electronic handle 200 or in the walking assistance device.
• a processor for example placed in the electronic handle 200 or in the walking assistance device.
• a photoelectric cell as used in the context of the present invention is preferably configured so as to be able to generate an electrical signal whose intensity or voltage is correlated, preferably proportional, to the position of a shutter element.
• the modification of the quantity of photons received by the receiver will be proportional to a component of the force which has been applied to the electronic handle 200.
• the relationship between distance and current is preferably linear over at least 1mm.
• an electronic handle 200 can also include at least one second photoelectric cell 250.
• This second photoelectric cell 250 can share the same characteristics as the first photoelectric cell 230 and in particular its preferred or advantageous characteristics.
• the second photoelectric cell 250 comprises a second diode 251 capable of emitting a light beam. It also includes a second receiver 252 designed to receive said light beam.
• the second photoelectric cell 250 is arranged so that a force applied to the electronic handle 200 is able to cause a change in the quantity of photons received by the second receiver 252.
• the force applied to the handle electronics 200 will be able to cause a modification of the quantity of photons received by the second receiver 250 if it is able to at least partially displace the outer envelope 220.
• the modification of the quantity of photons received is proportional to a second component of the force which has been applied to the electronic handle 200.
• this allows calibration of the electronic handle without manual intervention on the handle and its electronics. Indeed, a 'zero' is obtained when no force is applied on the system. and the measured force may correspond to a percentage of displacement of the closure element, for example with respect to a maximum displacement.
• the photoelectric cells 230, 250 can be indirectly attached to the central part 210.
• an electronic handle 200 can also include an electronic card 280.
• Such an electronic card 280 can be configured to measure the output voltage of the photoelectric cell and then transform it into digital data.
• the electronic card 280 is configured to sample the current measurement over 10 bits, which corresponds to 1024 values. Such sampling allows a measurement resolution of the order of a thousandth of a millimeter.
• the electronic card 280 is configured to measure an output voltage or current and sample it on at least 4 bits, preferably at least 10 bits.
• the electronic card 280 or an electronic card placed outside the handle, can be configured to transform the information generated by a photoelectric cell into information on the intensity of the force applied to the electronic handle.
• an electronic handle 200 may also include a second shutter member 260.
• a first sensor is used for the deformation of the handle due to a vertical component F1 and a second sensor is used for the horizontal displacement of the handle due to a horizontal component F2.
• a second sensor is used for the horizontal displacement of the handle due to a horizontal component F2.
• the presence of two sensors allows automatic calibration (i.e. without manipulation of the sensor).
• This second closure element 260 can share the same characteristics as the first closure element 240 and in particular its preferred or advantageous characteristics.
• the second shutter element 260 may include a protuberance 261 arranged to cut the light beam generated by the second diode 251.
• the second shutter element 260 is capable of modifying the quantity of photons received by the second receiver 252. This modification is in particular a function of its position relative to the second photoelectric cell 250.
• the second closure element 260 may include a membrane 262, said membrane 262 being arranged to transmit a displacement of the outer shell 220, for example subjected to a component of horizontal force, to a protuberance 261.
• the connection with the outer casing 220 may be a strip which deforms according to the force exerted horizontally by the user. On this strip is rigidly fixed a protuberance such as a flag which is used for measurement. The deformed part remaining in its elastic zone, the deformation is proportional to the force.
• the second component of the force will be perpendicular to the first component of the force.
• the electronic handle 200 may include a sensor for the deformation of the outer casing 220, and more broadly of the handle 200, due to a horizontal component.
• the second photoelectric cell 250 is preferably positioned substantially perpendicularly, preferably perpendicular to the first photoelectric cell 230. More particularly, the axis of a light beam formed by the first photoelectric cell 230 is perpendicular to the light axis. formed by the second photoelectric cell 250.
• the electronic handle 210 when the electronic handle 210 has a second photocell 250 and a second shutter member 260, one is attached to the outer casing 220 and the other is not attached to the. outer casing 220, is fixed to the central part 210.
• the electronic handle 200 comprises a second photoelectric cell 250 and a second shutter element 260
• a part coupled to the electronic handle This part may for example correspond to a junction element between the electronic handle and a frame element.
• At least one closure element 240,260 is attached directly or indirectly to the outer casing 220.
• This attachment can be a removable or non-removable attachment.
• at least one photoelectric cell 230, 250 is attached directly or indirectly to the outer casing 220.
• This attachment can be a removable or non-removable attachment.
• a photocell is attached to the outer casing then it will not be attached to the central piece 210.
• the photoelectric cell (s) 230, 250 are fixed to the ends of the outer casing 220. Preferably, they are fixed to the opposite ends of the outer casing 220.
• the photoelectric cell 230 arranged for a measurement of a vertical force component F1 is preferably positioned in a proximal quartile P of the electronic handle 200 while the photoelectric cell 250 arranged for a measurement of a horizontal force component F2 is preferably positioned in a quartile distal D of the electronic handle 200. This improves measurement accuracy and sensitivity.
• linear ball bearings are used and a linear ball guide type part makes it possible to make the connection between the central axis and the outer tube.
• the outer casing may further be covered with an ergonomic shape 221 to facilitate handling of the electronic handle 200.
• the ergonomic shape 221 can be made of polymers or any other material.
• an electronic handle 200 can also be arranged so as to allow the measurement of at least two components of a force being applied to it.
• each of the electronic handles 200 advantageously comprises a central part 210 comprising a first photocell 230, a first shutter element 240, a second photocell 250 and a second shutter element 260.
• the shutter elements 240, 260 are arranged so as to be able, depending on their position relative to their respective photoelectric cell 230, 250, to modify the quantity of photons received by receiver 232,252.
• the first photoelectric cell 230 and the first shutter element 240 are arranged so that a force applied to the electronic handle 200 comprising a first component capable of at least partially moving the central part 210 , or capable of causing a modification of the quantity of photons received by the first receiver, the modification being proportional to a first component of the force that has been applied to the electronic handle 200.
• the second photoelectric cell 250 comprises a second diode 251 capable of emitting a light beam and a second receiver 252 arranged to receive said light beam.
• the second photoelectric cell 250 is configured to generate a current proportional (voltage or intensity proportional) to an amount of photons received by the second receiver 252.
• the second shutter element 260 is capable, depending on its position relative to the second photoelectric cell 250, of modifying the quantity of photons received by the second receiver 252.
• the second photoelectric cell 250 and the second shutter element 260 are arranged so that a force applied to the electronic handle 200 comprising a second component capable of at least partially moving the central part 210, is capable of in causing a modification of the quantity of photons received by the second receiver 252, said modification being proportional to a second component of the force having been applied to the electronic handle 200.
• the two electronic handles 200 can thus be configured to control a motor fitted to the walking assistance device according to the values of the two calculated force components.
• the motor control can generate a movement of a motorized device such as a walking assistance device.
• a motorized device such as a walking assistance device.
• Such an order may be subject to the determination of the values of the two components of an applied force and calculated respectively for the two handles.
• the latter (and in particular the position of the photoelectric cells and of the shutter elements) can be arranged so that the first component of the force F2 applied to the electronic handle 200 is not able to cause a modification of the quantity of photons received at the level of the second photovoltaic cell 250 but only at the level of the first photovoltaic cell 230.
• each of the electronic handles 200 can also be configured so that the force applied F1 to the electronic handle 200, comprising a second component perpendicular to the first component, is not able to cause a modification of the quantity of photons received at the level of the first photovoltaic cell 30 but only at the level of the second photovoltaic cell 250.
• the central piece 210 may include an attachment region 210-1 to a motorized device such as a walking assistance device according to the present invention as well as a support region 210-2.
• the attachment region 210-1 may consist of a longitudinal extension of the support region
• 210-2 may comprise a plurality of housings, such as for example a plurality of screw threads, adapted to receive fixing elements, such as by way of nonlimiting example a plurality of screws, making it possible to connect the handle electronic 210 to the walking assistance device.
• a plurality of housings such as for example a plurality of screw threads, adapted to receive fixing elements, such as by way of nonlimiting example a plurality of screws, making it possible to connect the handle electronic 210 to the walking assistance device.
• the support region 210-2 is adapted to allow a user to lean thereon when the user interacts with the motorized device or the gait assist device. Thus, in this embodiment, it is the central part 210 which directly undergoes a deformation upon the application of a force exerted by the user.
• the contact region 210-2 of the central part 210 can advantageously comprise at least one embedded beam and a deformation bridge.
• the embedded beam advantageously comprises an embedded end 211-2, 211-3 and a free end 211-1, 211-4.
• the recessed end 211-2, 211-3 is connected to the central part while the free end 211-1, 211-4 has a degree of freedom allowing movement of said free end during the application of a force on the electronic handle 200.
• the embedded beams are arranged so as to have a degree of freedom during the application of a force F2 according to a first component but not to have a degree of freedom during the application of a force F2. the application of a force F2 according to a second component perpendicular to the first component.
• the free end 211-1, 211-4 may have a degree of freedom along a specific axis such as the axis of one of the components of the applied force. This thus makes it possible to generate a displacement of the free end 211-1, 211-4 only if the applied force has a given non-zero component.
• the free end 211-1, 211-4 may have a degree of freedom along a specific axis such as the axis of one of the components of the applied force. This thus makes it possible to generate a displacement of the free end 211-1, 211-4 only if the applied force has a given non-zero component.
• 211-4 may have a degree of freedom allowing movement of said free end along the axis of the second component of the applied force, said second component of the applied force possibly corresponding to a horizontal component F2.
• the bearing region 210-2 of the central part 210 can advantageously comprise at least two embedded beams, preferably arranged at the ends, along a longitudinal axis, of the central part 210.
• a deformation bridge of the central part 210 may include a through opening 212 opening onto a recess 213.
• the through opening 212 is arranged to be able to undergo an elastic deformation during the application of a force on the electronic handle. 200. More particularly, the volume of the through opening 212 may increase or decrease depending on the application of force on the electronic handle 200.
• the through opening 212 can be arranged so that its volume varies only upon application of a force having a particular component. This makes it possible to generate an increase or a decrease in the volume of the through opening 212, by a displacement of the central part 210 and more particularly of the bearing region 210-2, only if the applied force has a given component not zero (eg vertical component).
• the increase or decrease in the volume of the through opening 212 can be generated along a specific axis of an applied force, such as the axis of one of the components of the applied force.
• the through opening 212 can be arranged so as to allow movement of the bearing region 210-2, and therefore an increase or decrease in the volume of the through opening 212 along the axis of the first component. of the applied force, said first component of the applied force possibly corresponding to a vertical component F1.
• the second photoelectric cell 250 can be fixed to the central part 210, within a suitable cavity.
• the second closure element 260 will in this case be fixed directly to a free end 211-1, 211-4 of a fixed beam.
• the application of a force on the support region 210-2 if it is sufficient, will induce an elastic deformation of the central part 210.
• Such a deformation can be measured if the second component of the applied force is non-zero, resulting in a modification of the quantity of photons received by the second receiver 252.
• the elastic deformation will cause a displacement of the second shutter element 260 fixed to the free end 211-1, 211-4 according to the axis of the second component of the applied force thus blocking all or part of the light beam received by the receiver 252 and generated by the diode 251.
• the first photoelectric cell 230 and the first shutter element 240 may respectively be positioned on either side of the through opening 212 of the deformation bridge. Indeed, the application of a force on the support region 210-2, if it is sufficient, will induce an elastic deformation of the central part 210. Such a deformation can be measured if the first component of the applied force is non-zero, resulting in a modification of the quantity of photons received by the first receiver 232.
• the elastic deformation will cause a displacement of the first shutter element 240 fixed to the central part 210, more particularly in a suitable housing 214, along the axis of the first component of the force applied thus blocking all or part of the light beam received by the receiver 232 and generated by diode 231.
• the central part 210 may include at least two central openings 216-1, 216-2 traversed by a part 215 of the central part, said central openings being positioned between the at least one embedded beam 211-2, 211-3 and the deformation bridge.
• the central part 210 comprises two embedded beams 211-2, 211-3, the two central openings 216-1, 216-2 are positioned between said embedded beams.
• Such prestresses can generate an elastic deformation of the deformation bridge and potentially a modification of the quantity of photons received by the first receiver 232.
• each of the electronic handles 200 may include an outer casing 220, said outer casing 220 being coupled and / or fixed to the central part 210.
• the outer casing 220 is not attached to the central part 210. but is only coupled, for example, by one or more force transmission elements.
• one or more force transmission elements of the outer casing 220 are arranged to pass through a housing made in the free end 211-1, 211-4 of the embedded beam 211-2, 211-3.
• a force transmission element may for example correspond to a screw, a tube, a cylinder, such as a pin connecting the two parts of the outer casing 220 and passing through the central part 210 in housings made in the free end 211 - 1, 211 -4 of the embedded beam 211-2, 211 -3.
• the force transmission element is not in direct or indirect contact with the central part.
• the housing provided in the free end 211-1, 211-4 of the embedded beam 211-2, 211-3 comprises an element, such as a pin, having a fit with play.
• the outer casing 220 preferably transmits the external forces to the central part 210 by the pins passing through the central part in its parts 211-1 and 211-4, having an adjustment with play.
• the pins may correspond to metal cylinders passing through the central part 210 at the level of the free end 211-1 and 211-4 and coming to be housed in the outer part 220.
• the handle may also include a fastening element such as a screw passing through the central part 210 in the cavities 216-1 and 216-2.
• the force applied by a hand on the handle can be modeled by a force, F, in the sagittal plane, having a vertical component, F1, and a horizontal component, F2, in the direction of travel of the user.
• F a force
• F1 a vertical component
• F2 a horizontal component
• Such an electronic handle allows you to override the compressions made by the user when using the handle to focus on actions with a force associated with a given direction.
• a motorized walker 1 according to the invention is configured so that it can be controlled intuitively by a user.
• a motorized walker 1 according to the invention is configured so that at least one displacement motor 20 and at least one verticalization motor 30 can be controlled by a user from manipulation of the electronic handles.
• At least one of the electronic handles 200 comprises a sensor coupled, preferably functionally, to a control module 40 and the control module 40 is configured so as to be able to control the verticalization motor 30 and the displacement motor 20.
• the control module 40 will be able to control the verticalization motor 30 and the displacement motor 20 as a function of values transmitted by the sensor of the electronic handle.
• the electronic handle 200 may include several sensors coupled, preferably functionally, to the control module 40.
• the functional coupling of one or more sensors of one of the electronic handles 200 to the control module can correspond to a transmission of information, such as current values (intensity or voltage) from the sensors to the control module. , this directly or indirectly.
• this functional coupling can include a fusion of the information coming from the sensors so that the control module can give an instruction to one or more motors according to values coming from several sensors.
• Such a sensor fusion makes it possible, for example, to detect the user's intention to stand up in order to synchronize the movement of the walker with the movement of the human.
• the electronic handle 200 being provided with sensors and electronics, it is necessary to bring cables from the location of the electronics on the chassis.
• the cables are for example integrated in a jack of a verticalization ramp.
• a cable chain is placed inside the cylinder tube. This solution allows the complete integration of the cables inside the mechanism and protects the cables from the rotating screw and the passage of the nut and the external guide.
• the cable chain is used to run a 5-wire ribbon with a pitch of 0.8 mm from the handle attachment to the location of the system control electronics.
• the senor of the electronic handle 200 is arranged so as to be able to measure at least one component of a force applied to the electronic handle 200.
• the electronic handle sensor 200 can be any device arranged and configured to measure the value of a force or an effort.
• a sensor of the electronic handle 200 can be selected from: a force sensor, a pressure sensor, a through-beam photocell, a displacement sensor.
• the electronic handle sensor 200 can include a strain gauge, a resistive force sensor or a photoelectric cell.
• the electronic handle 200 according to the invention comprises at least one photoelectric cell 230.
• control module 40 can include one or more processors 41.
• the control module 40 can advantageously be configured to cooperate with the sensors, collect the data measured by said sensors and calculate a value from said measured data. Such cooperation can in particular take the form of an internal communication bus.
• the control module 40 is configured to further calculate a value of variation of force applied to the electronic handle over a time interval and initiate movement of the electronic handles when the calculated applied force variation value is greater than a value. of predetermined force variation.
• the motorized walker 1 can perform a verticalization adapted to the individual at a time desired by the individual without the latter having to perform any other action than to rely on the electronic handles as when wants to get up by leaning on a table for example.
• the control module 40 is configured to further calculate a value of force applied to the electronic handle and to initiate a stand-up only if the value of applied force calculated to the electronic handle at the start of the time interval is less or equal to a predetermined force value.
• control module 40 is further configured to control the at least one stand-up motor 30 so as to minimize the jerk, or jerk, during the ascent, and preferably to control the position of the electronic handles 200 at the same time. during the rise so that their position X (t) corresponds to the following equation:
• X (t) being the position of the electronic handle, on a vertical axis, with respect to a lowest position Xi, as a function of time t;
• Xf being a maximum height of the electronic handle
• T is a total verticalization time
• the processor 41 is advantageously configured to trigger verticalization when the measured proximity value is greater than a predetermined proximity value.
• control module 40 can include a data memory 42.
• the data memory 42 can advantageously include a non-erasable section, physically isolated or simply arranged so that a write or erase access is prohibited.
• the data memory can furthermore be arranged to record the data measured by the sensors present on a motorized walker.
• the data memory 42 can also comprise one or more programs, or more generally one or more sets of program instructions, said program instructions being intelligible by the processor 41.
• the execution or interpretation of said instructions by said processor causes the implementation of a method for controlling a motorized walker 1 according to the invention.
• the data memory 42 is configured to store a minimum height and a maximum height of the electronic handles on each of the verticalization ramps 100.
• the minimum height is preferably between 400 cm and 600 cm relative to the ground and the maximum height is preferably between 900 cm and 1100 cm relative to the ground.
• the data memory 42 is advantageously configured to store threshold values that can be used during the control of the walker 1 motorized by a processor 41 or more generally by a control module 40. For example, a predetermined threshold value of applied force, a value predetermined threshold of variation of applied force, and / or a predetermined proximity threshold value.
• the data memory 42 can further be configured to store a standing time.
• control module 40 may include a communication module 43 providing communication between the various components of the control module 40, in particular according to a suitable wired or wireless communication bus.
• the communication module 43 is configured to ensure the communication of data measured by the sensors of a motorized walker according to the invention to a data memory configured to record such data.
• the communication module also allows communication between the processor and the data memory in order in particular to calculate a value as a function of the stored data, said value can then be recorded directly in a suitable field in the data memory.
• the communication module also allows the processor to control a verticalization motor and a movement motor of a motorized walker, in particular a control of one or the other of the motors can be associated with a value calculated from the data measured by the sensors.
• each of the verticalization ramps 100 comprises a cable chain allowing the establishment of a wired connection, direct or indirect, between at least one of the electronic handles and the verticalization motor and / or the displacement motor.
• control module 40 can include a man-machine interface 44.
• the latter can advantageously be arranged to cooperate with a processor, the man-machine interface can correspond to a screen, a printer, a communication port coupled to a computer device or any other interface making it possible to communicate with a human, in a perceptible manner. through one of its senses or a computer client through a communication link.
• Such an HMI can be used to configure the control module.
• the control module can interact via an HMI with other electronic devices or connected objects in order to collect configuration data.
• Such parameter data can for example correspond to maximum height values and / or minimum height.
• a control at the level of the electronic handles makes it possible to memorize, for example during the first use, the minimum and / or maximum height information.
• I ⁇ HM and more particularly the electronic handles in connection with the control module is configured to detect the intention of the user (to stand up or sit down) and if the user is still in connection with the stander (if by example there was a false start and the user did not get up).
• a motorized rollator 1 is equipped with a power source (not shown in the figures) suitable for allowing the various elements of said motorized rollator to operate.
• a power source generally consists of a battery or a plurality of batteries arranged to deliver sufficient electrical energy to allow the operation of the various verticalization and movement motors or to ensure the operation of the various components of the control module.
• a motorized walker 1 according to the invention cannot be limited to a single control module 40, provision is made, in a particular embodiment, for the motorized walker 1 to include a control module dedicated to each handle. Each of the control modules can thus be arranged inside or outside the handle with which it is associated.
• the rollator may include an electronic card for power per motor which makes it possible to control the energy sent to said motor.
• the invention relates to a control method 300 of a motorized walker 1, preferably a motorized walker 1 according to the invention.
• a control method 300 according to the invention is particularly suitable for a motorized walker 1 comprising:
• each of said verticalization ramps 100 being associated with an electronic handle 200 movable in translation along the verticalization ramp 100 with which it is associated;
• At least one verticalization motor 30 arranged to allow movement, preferably synchronous, of the electronic handles 200 along the verticalization ramps 100; at least one of the electronic handles 200 comprising a sensor operatively coupled to a control module 40, said control module 40 being configured so as to be able to control the verticalization motor 30 and the displacement motor 20.
• a control method 300 according to one embodiment of the invention is illustrated in FIG. 12.
• a control method 300 of a motorized walker 1 comprises the steps of measuring 320 at least one value of applied force. to an electronic handle 200, comparison 330 of the at least one force value applied to a predetermined threshold force value, and generation 370 of a control instruction to at least one of the verticalization and displacement motors.
• a control method 300 of a motorized walker 1 may include the steps of calibrating 310 of the motorized rollator, of calculating 340 of a value of variation over time of a force applied to an electronic handle 200, of comparison 350 of the value of the temporal variation of a force applied at a predetermined threshold value and of determination 360 of a position value of the at least one electronic handle 200.
• a control method 300 of a motorized walker 1 may include a step of calibrating the motorized walker 1.
• a control method is advantageously adapted to the user of the motorized rollator 1.
• the calibration step 310 may include a storage, for example on a data memory 42, of: a lowest position value Xi, for example on a vertical axis, of one or two electronic handles 200;
• the calibration step 310 may include storage, for example on a data memory 42, of:
• a predetermined threshold value of variation of applied force and / or a predetermined proximity threshold value.
• these threshold values could have been prerecorded in a data memory 42 during the design of the motorized rollator 1.
• a method 300 for controlling a motorized walker comprises a step 320 of measuring at least one value of force applied to an electronic handle 200.
• This measuring step 320 may correspond to the generation of a value of a component d. a force applied to the electronic handle 200 by a user.
• the applied force the value of which is measured, corresponds to a vertical component of the applied force.
• the detection of the sit-to-stand transfer movement is done at least in part by measuring the vertical force of pressing on the electronic handles 200.
• this step may include the measurement 320 of at least two components of the device. force applied to the electronic handle 200.
• this measurement 320 can preferably be carried out for the two electronic handles 200.
• This step can be carried out by one or more sensors of an electronic handle 200.
• a method of controlling a motorized walker 300 includes a step 330 of comparing the at least one applied force value to a predetermined threshold applied force value. Such a comparison makes it possible to generate an indicator of the user's posture. For example, the comparison step can lead to generating a binary value (e.g. yes / no).
• a method according to the invention can advantageously detect a posture of a user and in particular his ability or his need to pass from the seated position to starts by detecting an overshoot of a threshold value by a measured value of applied force.
• This comparison step can also include the generation of a posture indicator in the form of an alphanumeric value or a numerical value.
• a digital value may for example correspond to a difference between the measured value and the predetermined threshold value.
• a posture indicator value can advantageously be used in combination with other values when generating a control instruction.
• This step can be performed by a control module 40 and in particular by a processor 41 configured to perform such a comparison and generate the user's posture indicator.
• a control method 300 of a motorized walker 1 can advantageously include a step 340 of calculating a variation value over time of a force applied to an electronic handle 200.
• This step can be carried out by a control module 40 of a motorized walker 1 and more particularly by a processor 41 of said control module 40.
• such a time variation value can correspond to a variation in force applied during a predetermined time interval.
• the time interval is preferably less than 1 second, more preferably less than 0.5 second, even more preferably less than 0.2 seconds.
• the method according to the invention makes it possible to monitor in real time the interactions of a user with a motorized walker in order to determine their intention.
• This value can be calculated for an electronic handle 200 and preferably for the two electronic handles 200.
• the applied force whose temporal variation is calculated corresponds to a vertical component of the applied force.
• This calculated value can be used in a step 350 for comparing the value of the temporal variation of an applied force with a predetermined threshold value of the variation of applied force.
• Such a comparison makes it possible to generate an indicator of the user's intention.
• the comparison step can lead to generating a binary value (eg yes / no).
• Such an intention index can in particular correspond to an intention indicator for a posture transition.
• This comparison step can also include the generation of an intention indicator in the form of an alphanumeric value or a numerical value.
• a digital value may for example correspond to a difference between the calculated value and the predetermined threshold value.
• An intention indicator value may advantageously be used in combination with other values when generating a control instruction.
• the method according to the invention can advantageously characterize at best the intention of a user to go from a seated position to a standing one. It has in particular been shown that the joint use of a detection threshold based on an applied force value, preferably a vertical component value, coupled to a detection threshold based on an applied force variation value makes it possible to better control results and increased control specificity.
• a method 300 for controlling a motorized walker can also include a step of determining 360 a position value of the at least one electronic handle 200.
• a position sensor of preferably positioned at a verticalization ramp 100 or an electronic handle 200 can be configured to determine the position of the handle.
• This position value of the electronic handle can advantageously be used in combination with other values when generating a control instruction.
• This step can be carried out by a control module 40 and more particularly a processor 41 configured to determine such a position value from the data supplied by a suitable sensor.
• a method 300 for controlling a motorized walker can also include a step of determining a proximity value between the trunk of a user of the motorized walker 1 and a proximity sensor 50.
• a proximity sensor can determine the distance between the user and said proximity sensor. This distance value or a position index of the user derived from such a distance value can advantageously be used in combination with other values when generating a control instruction.
• This step can be carried out by a control module 40 and more particularly a processor 41 configured to determine the distance separating a user from a proximity sensor positioned on the motorized rollator 1, from the data supplied by said proximity sensor.
• a control method 300 of a motorized walker can also include a step of generating 370 a command instruction to at least one of the verticalization 30 and displacement motors 20.
• this step of command instruction generation can be performed based on the measured value of force applied to an electronic grip or to a posture index value.
• the control instruction may be a function of the comparison of at least one value of force applied to a predetermined threshold value of force applied.
• the generation 370 of a control instruction can also take into account other parameters. Preferably, it takes into account the measured value of force applied to an electronic handle or the posture index value in combination with the temporal variation value of a force applied to an electronic handle or the index value d 'intention.
• the generation 370 of a control instruction can also take into account the position index value or the measured value of distance of the user from the proximity sensor.
• This step can be carried out by a control module 40 of a motorized walker 1 and more particularly by a processor 41 of said control module.
• the present invention proposes that the control instruction be generated so as to minimize the jerk associated with standing up.
• the command instruction generated is such that it makes it possible to determine a verticalization kinetics corresponding to the following equation:
• X (t) being the position of the electronic handle, on a vertical axis, with respect to a lowest position Xi, as a function of time t;
• Xf being a maximum height of the electronic handle
• T is a total verticalization time
• a method according to the invention comprises a measurement 420 of at least one horizontal component value of the force applied to an electronic handle 200.
• This measurement step 420 can correspond to the generation of a value d a horizontal component of a force applied to the electronic handle 200 by a user.
• the detection of an intention of a given user to move the walker forward is done at least in part by measuring the horizontal support force on one or two electronic handles 200.
• this step can include the measurement of at least one. at least two components of the force applied to the electronic handle 200.
• this measurement 420 can preferably be carried out for the two electronic handles 200.
• a method of controlling a motorized walker 300 can then include a step 430 of comparing the at least one horizontal component value of the force applied to an electronic handle to a predetermined threshold value of applied force.
• a comparison makes it possible to generate an indicator of the user's movement.
• the comparison step can lead to generating a binary value (e.g. yes / no).
• the method according to the invention can advantageously detect a movement initiated by a user and in particular his intention to move the motorized walker 1 forward by detecting an overshoot of a threshold value by a measured value of applied force.
• This comparison step may include the generation of a displacement indicator in the form of an alphanumeric value or a numerical value.
• a digital value may for example correspond to a difference between the measured value and the predetermined threshold value.
• a displacement indicator value can advantageously be used in combination with other values when generating a control instruction.
• This comparison step 430 can be performed by a control module 40 and more particularly a processor 41 configured to determine an indicator of the user's movement, from one or more values of one or more components of the applied force. to an electronic handle 200 measured by a sensor arranged in said handle.
• a control method 300 of a motorized walker can advantageously include a step 440 of calculating a variation value over time of a horizontal component of force applied to an electronic handle 200.
• such a temporal variation value can correspond to a variation of the force applied during a predetermined time interval.
• the time interval is preferably less than 1 second, more preferably less than 0.5 second, even more preferably less than 0.2 seconds.
• said step of calculating 440 can be carried out by a control module 40 of a motorized walker 1 and more. particularly by a processor 41 of said control module. This calculated value can be used in a step of comparison 450 of the temporal variation value of a horizontal component of force applied to a predetermined threshold value of variation of a horizontal component of applied force.
• Such a comparison generates a speedometer for the user.
• the comparison step can lead to generating a binary value (e.g. yes / no).
• a speed index can in particular correspond to a speed intention.
• This comparison step can also include the generation of a speedometer in the form of an alphanumeric value or a numerical value.
• a digital value may for example correspond to a difference between the calculated value and the predetermined threshold value.
• a speedometer value can advantageously be used in combination with other values when generating a control instruction.
• the method according to the invention can advantageously characterize at best the intention of a user to move by means of the motorized walker 1.
• certain parameters of the walker such as the maximum height of the electronic handles, the verticalization speed, or the threshold for initiating verticalization or that for returning to the low position can be adapted by learning.
• Learning can be supervised or unsupervised learning.
• the walker is able to implement algorithms based on supervised or unsupervised learning methods.
• the walker is configured to train and implement one or more algorithms. These algorithms may have been built from different learning models, including partitioning, supervised or unsupervised.
• the algorithm can be derived from the use of a supervised statistical learning model selected for example from kernel methods (eg Vast Marge Separators - Support Vector Machines SVM, Kernel Ridge Regression) described for example in Burges, 1998 (Data Mining and Knowledge Discovery.
• a method of controlling a motorized walker can also include a step of generating 470 a command instruction to at least one movement motor 20.
• this step of generating the instruction of movement. control can be performed based on the measured value of horizontal component of force applied to an electronic handle or on a displacement index value.
• the control instruction may be a function of the comparison of at least one value of force applied to a predetermined threshold value of force applied.
• the generation 470 of a control instruction can also take into account other parameters. Preferably, it takes into account the measured value of the horizontal component of force applied to an electronic handle or the value of the displacement index in combination with the value of the temporal variation of the horizontal component of a force applied to an electronic handle or the speed index value.
• the control instruction could also be generated so as to minimize the jerk associated with the movement of the motorized walker 1.
• a motorized walker 1 according to the invention or a control method 300 according to the invention allow intuitive control of a walker by a user generally in a situation of motor impairment on his lower limbs.
• a user can control the means (ie ramp) of verticalization 30 (ie verticalization motor) to help him to pass from a seated position to a standing position on the one hand. and controlling the movement means 20 (ie movement motor) of the motorized walker after the latter has helped it to move to the standing position.

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• 2019
  • 2019-09-18 FR FR1910307A patent/FR3100713B1/fr active Active
• 2020
  • 2020-09-18 US US17/760,986 patent/US20220347041A1/en active Pending
  • 2020-09-18 KR KR1020227012839A patent/KR20220085775A/ko active IP Right Grant
  • 2020-09-18 WO PCT/FR2020/051631 patent/WO2021053311A1/fr active Search and Examination
  • 2020-09-18 JP JP2022517871A patent/JP2022549801A/ja active Pending
  • 2020-09-18 EP EP20785550.3A patent/EP4031089A1/de active Pending
  • 2020-09-18 AU AU2020347902A patent/AU2020347902A1/en not_active Abandoned
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