EP4076331B1 - Roboterisierte gehhilfe und zugehöriges verfahren zum vorbeugen von stürzen - Google Patents

Roboterisierte gehhilfe und zugehöriges verfahren zum vorbeugen von stürzen

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Publication number
EP4076331B1
EP4076331B1 EP20851287.1A EP20851287A EP4076331B1 EP 4076331 B1 EP4076331 B1 EP 4076331B1 EP 20851287 A EP20851287 A EP 20851287A EP 4076331 B1 EP4076331 B1 EP 4076331B1
Authority
EP
European Patent Office
Prior art keywords
walker
robotised
user
force
movement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP20851287.1A
Other languages
English (en)
French (fr)
Other versions
EP4076331C0 (de
EP4076331A1 (de
Inventor
Viviane Pasqui
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Atek
Original Assignee
Atek
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Filing date
Publication date
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Publication of EP4076331A1 publication Critical patent/EP4076331A1/de
Application granted granted Critical
Publication of EP4076331B1 publication Critical patent/EP4076331B1/de
Publication of EP4076331C0 publication Critical patent/EP4076331C0/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/046—Wheeled walking aids for patients or disabled persons with braking 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
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • 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
    • A61H2201/0173—Means for preventing injuries
    • A61H2201/0176—By stopping operation
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • 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
    • A61H2201/5058—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
    • A61H2201/5064—Position 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
    • A61H2201/5084—Acceleration 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
    • A61H2201/5092—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
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0406—Standing on the feet

Definitions

  • the invention relates to the field of walking assistance devices, and more particularly to robotic walkers.
  • the invention relates to a robotic walker arranged and configured to prevent a user from falling, as well as a method for preventing a user from falling using said robotic walker.
  • Technical walking aids include, for example, canes, walking frames, and rollators.
  • Technical walking aids allow a person with walking and/or balance disorders to regain a certain degree of independence.
  • Walkers have been proposed that can passively block the movement of a wheel when the user's position is too far forward in relation to the walking aid device ( CN107693316 ).
  • the operator leans on a part of the walker, his weight overcomes the force of a spring which in turn locks the wheel or allows a braking element to gradually come into contact with the ground and brake.
  • these attempts to improve the stability of walkers remain ineffective. Indeed, such arrangements do not meet the needs of users who face potentially very diverse situations so that the system can trigger at the wrong time or worse not trigger at all.
  • these walkers can be difficult to use, as they generally require that part of the chassis be lifted to unlock the wheels.
  • the invention therefore aims to remedy the drawbacks of the prior art.
  • the invention aims to propose a robotic walker arranged so as to prevent a user from falling and more generally to reduce the risk of falling, preferably while providing the user with control means configured to control the movement of the walker intuitively.
  • the invention further aims to propose a method for preventing a fall of a user of a robotic walker.
  • such a robotic walker helps prevent any risk of the user falling or losing their balance.
  • the robotic walker advantageously makes it possible to counterbalance and even help the user suffering from such physical difficulties.
  • a walker according to the invention makes it possible, on the one hand, to reduce the risk of falling by transmitting a stop command to the movement motor, thus allowing the user to use the robotic walker to avoid falling without it moving in an inappropriate direction, and, on the other hand, to compensate for the loss of balance of the user by allowing the wheels of said robotic walker to return to their previous or initial position, that is to say before the detection of the involuntary movement.
  • the decision to return to a anterior position is achieved faster than the human reflex, i.e. preferably in less than 50 ms.
  • the robotic walker according to the invention is arranged and configured to compensate for a movement at risk of falling but also to reposition the user in his initial position before the imbalance is detected (i.e. involuntary movement) and this without destabilizing him.
  • the robotic walker may optionally include one or more of the following features, alone or in combination:
  • Such a system advantageously makes it possible to prevent the user of the walker from approaching an area containing a beacon (i.e. an independent beacon) and thus makes it possible to limit access to this area.
  • the beacon associated with the walker may, for example, be a transmitting beacon and in this case the independent beacon is a receiving beacon capable of reflecting the signal emitted by the beacon associated with the walker, and vice versa.
  • Such a method for preventing a user from falling makes it possible, based on the identification of a risk of falling, to reposition the robotic walker so that it returns to a previous position at the time of identification of a risk of falling.
  • the method can identify a risk of falling and a position of safety and prevent falls while returning the walker to a position allowing the user to rebalance.
  • implementations of this aspect include computer systems, apparatuses, 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 may be configured to perform particular operations or actions, including a method according to the invention, through the installation of software, firmware, hardware, or a combination of software, firmware, or hardware installed on the system.
  • one or more computer programs may be configured to perform particular operations or actions through instructions that, when executed by a data processing apparatus, cause the apparatus to perform the actions.
  • each block in the flowcharts or block diagrams may represent a system, device, module, or code, which includes one or more executable instructions for implementing the specified logical function(s).
  • walker refers to a walking aid device with at least three wheels and preferably four wheels. It may, for example, be called a rollator.
  • front part and rear part can be defined as the set of elements of the robotic walker located respectively on either side of a longitudinal section plane of a front view of the robotic walker, said longitudinal section plane passing through the center of gravity of said robotic walker.
  • the rear part being the one intended to accommodate a user.
  • the expression “ electronic handle ” corresponds, for example, to a device for supporting 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 measurement of a force.
  • Force within the meaning of the invention corresponds to a mechanical action exerted by a user on a surface and in particular on the electronic handle.
  • a “force applied ” corresponds in the sense of the invention to a user exerting pressure on the outer surface of said electronic handle.
  • component of a force corresponds to a projection of a force in a direction.
  • a “first component” thus corresponds, for example, to a projection of a force along a Z axis represented by an ascending vertical 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.
  • 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 (e.g. notch, screw, tab, lug, clips).
  • removable it is meant that the object is not fixed by welding or by another means not provided to allow the object to be detached.
  • non-removable it is meant 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 conduit whose lumen is enclosed by a wall of said conduit. Such a lumen thus designates a hollow interior space circumscribed by the wall of the conduit.
  • substantially is associated with a particular value, it is understood to mean a value varying by less than 30% from the compared value, preferably by less than 20%, even more preferably by less than 10%.
  • substantially identical is used to compare shapes then the vectorized shape varies by less than 30% from the compared vectorized shape, preferably by less than 20%, even more preferably by less than 10%.
  • a " polymer” is defined as either a copolymer or a homopolymer.
  • a "copolymer” is a polymer made up of several different monomer units, and a “homopolymer” is a polymer made up of identical monomer units.
  • a polymer can, for example, be a thermoplastic or thermosetting polymer.
  • thermoplastic polymer or thermoplastic is a polymer that can be repeatedly softened or melted under the action of heat and that adopts new shapes by the 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 is a plastic material that irreversibly transforms into an insoluble polymer network through polymerization. Once the shape of the thermosetting polymer is fixed and cooled, it cannot be changed by heat.
  • thermosetting polymers include unsaturated polyesters, polyamides, polyurethanes, and vinyl esters, which can be epoxy or phenolic.
  • coupled means connected, directly or indirectly, with one or more intermediate elements.
  • Two elements can be coupled mechanically, electrically or linked by a communication channel.
  • 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 unlabeled (X1... n).
  • a function may correspond to a prediction model.
  • Learning may 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 personalization of the operation of the walker and therefore its adaptation to a particular user.
  • learning may correspond to the learning of a model capable of predicting a time series.
  • a " prediction model” is any mathematical model that allows a volume of data to be analyzed and relationships between factors to be established, enabling the assessment of risks or opportunities associated with a specific set of conditions, in order to guide decision-making towards a specific action.
  • Process means an action performed by a device or processor unless the context indicates otherwise.
  • 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 data represented as physical (electronic) quantities in the memories of the computer system or other devices for storing, transmitting or displaying information. These operations may be based on applications or software.
  • application means any expression, code or notation, of a set of instructions intended to cause data processing to perform a particular function directly or indirectly (e.g. after a conversion operation to other code).
  • program code may include, but are not limited to, a subroutine, a function, an executable application, source code, object code, a 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 electronic circuit may 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 gate array (FPGA), a programmable logic array (PLA), an application-specific integrated circuit (ASIC), a programmable logic circuit, and a controller.
  • human-machine interface within the meaning of the invention corresponds to any element allowing a human being to communicate with an electronic device or the robotic walker to inform the user.
  • motorized means an apparatus or device equipped with any known suitable means (e.g. motor) making it possible to generate movement of all or part of the device with which said means is associated.
  • robotic means an apparatus or device equipped with any known suitable means (e.g. motor) making it possible to generate a movement of all or part of the device with which said means is associated, said movement being controlled by an automatic control system.
  • a robotic walker corresponds to a walker whose motor control adapts to the environment based on sensor data.
  • walking assistance devices such as robotic walkers are designed for people with reduced mobility, their use can sometimes cause falls for the user. Indeed, people with reduced mobility can also have balance disorders. As previously discussed, there are robotic walkers configured to stop all movement when a risky situation is identified. However, such robotic walkers are uncomfortable to use and may not be able to prevent some falls.
  • the inventor has determined that in addition to stopping the walker, fall prevention will be more effective if the user is rebalanced in his initial position before the occurrence of the event that could lead to a fall and this without destabilizing him.
  • the present invention therefore provides a robotic walker comprising a control module 40 configured to directly or indirectly control the wheels of the walker so as to enable fall prevention and configured to prevent a fall by locking the wheels and initiating a return to a previous position.
  • the invention relates to a robotic walker 1.
  • a robotic walker 1 comprises a chassis 10 having a front part 10a and a rear part 10b.
  • the chassis 10 may be made of metal, a metal alloy, a polymer, a composite assembly, or a mixture of these materials.
  • the chassis 10 is made of stainless steel, aluminum, or both.
  • the chassis 10 may be covered with a shell.
  • Such a shell may be made of polymers, composites, or any other materials.
  • a robotic walker 1 comprises a pair of wheels 11a, 11b arranged to support the rear part 10b of the chassis 10, and at least one wheel 12 which is arranged to support the front part 10a of the chassis.
  • the chassis preferably has two wheels at the rear and two wheels at the front.
  • the robotic walker 1 will comprise motorized wheels arranged to support the rear part 10b of the chassis 10.
  • the only motorized wheels may be those supporting the rear part 10b of the chassis 10.
  • the walker 1 is a robotic walker.
  • at least one of these wheels is coupled to a movement motor 20, described in connection with the functional diagram presented in figure 8 .
  • a displacement motor 20 is arranged at a wheel and is not directly visible on the figure 1 .
  • the displacement motor 20 is hidden by a shell positioned at one or more wheels.
  • several wheels can each be connected to a displacement motor 20.
  • Any type of electric motor can be used such as servomotors, stepper motors and direct current motors, preferably a brushless motor such as a brushless electronically commutated motor.
  • a speed reducer can be integrated into the motors.
  • the one or more travel motors 20 may also serve as brakes. That is, in one embodiment, the travel motors 20 may serve as drive units for driving the rear wheels 11a, 11b and as brake units for braking the rear wheels 11a, 11b. In particular, the travel motors 20 may be used to brake the rear wheels 11a, 11b.
  • the travel motors 20 serve only as drive units for driving the rear wheels 11a, 11b and that braking units for braking the rear wheels 11a, 11b are provided separately from the travel motors 20.
  • These braking units may, for example, be electromagnetic brakes or mechanical brakes.
  • each of the rear wheels 11a, 11b comprises a displacement motor 20 coupled thereto to assist the movement of each of the rear wheels 11a, 11b which corresponds to it.
  • the displacement motors 20 may be installed in the rear wheels 11a, 11b, but it is also possible that only the front wheel(s) 12 have displacement motors 20 or alternatively that all the front wheels 12 and rear wheels 11a, 11b have displacement motors 20 installed therein.
  • a robotic walker 1 according to the invention further comprises a control module 40.
  • the control module 40 may comprise one or more processors 41.
  • the control module 40 may control the entire robotic walker 1, including the movement motors 20.
  • the control module 40 may advantageously be configured to cooperate with the sensors, collect the data measured by said sensors and calculate one or more values from said measured data. Such cooperation may in particular take the form of an internal communication bus.
  • the control module 40 may be provided adjacent to a battery 21. Control by the control module 40 will be described later.
  • control module 40 may comprise or be coupled to a data memory 42.
  • the data memory 42 may advantageously comprise a non-erasable section, physically isolated or simply arranged so that write or erase access is prohibited.
  • the data memory may further be arranged to record the data measured by the sensors present on a robotic walker and/or on the user of the robotic walker.
  • the data memory 42 may further 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 preventing a user of a robotic walker 1 from falling according to the invention.
  • the data memory 42 is advantageously configured to store threshold values that can be used when controlling the robotic walker 1 by a processor 41 or more generally by a control module 40.
  • the data memory 42 is configured to store a predetermined stopping time and the positions of at least one of the wheels as a function of time.
  • the stored values may correspond to predetermined values, for example, in the factory or during the first configuration of the walker.
  • these values are the result of a correction as the walker is used by the user through learning.
  • other values may be set during the first use and then their automated correction with learning, such as the detection force of a hand on the handle, resistance to walking in a straight line, resistance to walking in turns, a force for which the speed remains constant in translation, a minimum force in advance, a minimum distance between the user and the walker or a maximum distance between the user and the walker.
  • the distance between the user and the walker is used, in combination with a force value measured on a handle, and the threshold values of minimum distance between the user and the walker or maximum distance between the user and the walker are derived from learning.
  • control module 40 is configured to determine an indicator of an involuntary movement of a user of the robotic walker 1 which could lead to a fall of said user.
  • the determination of an indicator of an involuntary movement of a user of the robotic walker 1 corresponds to the identification of an imbalance or preferably the beginnings of an imbalance of the user of the walker.
  • This determination is for example based on monitoring the values generated by one or more sensors. This monitoring is preferably carried out continuously. Continuous monitoring corresponds for example to measurements carried out at a frequency of less than 80 ms, preferably less than or equal to 50 ms, more preferably less than or equal to 30 ms, for example less than or equal to 10 ms.
  • a method according to the invention is preferably configured to identify, where appropriate, an indicator of involuntary movement within a time period of less than 80 ms, preferably within a time period of less than or equal to 50 ms, more preferably less than or equal to 20 ms, even more preferably less than or equal to 10 ms.
  • a method according to the invention is configured to predict a risk of falling before its occurrence and as close as possible to the occurrence of the triggering element. There is also advantageously an action which occurs before the natural reaction of the user.
  • control module 40 is configured to carry out a continuous and real-time analysis of sensor values in order to identify an involuntary movement which could lead to a fall.
  • the indicator of an involuntary movement of a user of the robotic walker 1 is determined for a given instant.
  • the coupling between the control module 40 and the sensor(s) equipping a robotic walker 1 according to the invention or a user allows synchronized access and real-time analysis of the measurements taken by the sensor(s), by the control module 40.
  • a robotic walker 1 according to the invention allows continuous and automated analysis of the measurements taken by the sensor(s) and makes it possible to prevent any risk of falling during its use by a user.
  • the indicator of a user's involuntary movement can be determined from a multitude of sensors.
  • this indicator can be identified from several transformations of the data coming from these sensors. Indeed, it is possible to base the determination of the indicator of a user's involuntary movement on the comparison of a measured absolute value with a predetermined threshold value or on the comparison of a variation calculated over a predetermined time interval with a predetermined threshold value of variation.
  • the indicator of an involuntary movement of a user of the walker is determined over a predetermined time interval.
  • the indicator of an involuntary movement of a user of the walker may be determined over a time interval of between 0.01 ms and 80 ms, preferably between 1 ms and 70 ms, more preferably between 5 ms and 40 ms.
  • an indicator of an involuntary movement can be determined on the basis of a calculation of an evolution over several consecutive measurements.
  • Comparison with thresholds may not allow optimal discrimination of commonly measured values and sensor values reflecting an imbalance. This is all the more true considering the high heterogeneity of the conditions of users of the robotic walkers according to the invention.
  • the inventor proposes the use of learning to detect normal values, for example.
  • the determination of an involuntary movement can then be adapted according to the users, for example on the basis of a learning model.
  • the control module can therefore be configured to implement a learning model.
  • the robotic walker according to the invention can comprise a control module configured to carry out a learning step aimed at training a learning model for analyzing the sensor data.
  • the learning will be done from the sensor data so as to discriminate sensor data corresponding to a current profile of the user from sensor data that may correspond to an abnormal situation, in this case the occurrence of an involuntary movement.
  • the learning may be supervised or unsupervised.
  • control module will advantageously be configured to execute a step of determining an indicator of involuntary movement from a learning model.
  • This step may include the implementation of a mathematical method making it possible to generate binary results, percentages of probability of an indicator of involuntary movement or any other value making it possible to identify one or more indicators of involuntary movement.
  • the step of determining an indicator of involuntary movement from a learning model is preferably based on the prior construction of an unsupervised learning model that will be able to autonomously classify the value of a sensor data item as a commonly measured value or an abnormal value. More preferably, the control module will be configured to execute a learning model based on a neural network, k-means partitioning or hierarchical clustering.
  • Sensor configured to measure the displacement of a wheel 11a, 11b, 12, preferably at least two wheels.
  • the movement of a robotic walker is a good indicator that a fall is about to occur.
  • a robotic walker 1 may therefore comprise an angular sensor or speed sensor configured to detect the movement of at least one wheel: the number of revolutions, the acceleration or the speed of at least one of the wheels and send signals representing the number of revolutions, the acceleration or the speed to the control module 40.
  • the speed sensor may be arranged adjacent to the control module 40. It is also possible for the speed sensor to be installed at the level of the pair of rear wheels 11a, 11b of the robotic walker 1.
  • the speed sensor may be provided only in the front wheel(s) 12.
  • the speed sensor configured to detect the movement of at least one wheel or angular position sensors can be selected from: incremental sensors, optical sensors, magnetic position sensors, mechanical sensors for example of the gear type or potentiometers.
  • the speed sensor can calculate the number of revolutions or the speed of the wheels or the speed of the robotic walker 1 using a hall effect sensor included in the travel motors 20.
  • Speed can be detected from multiple values depending on the technology used: counter-electromotive force values, angular velocity values, or even acceleration component values.
  • the indicator of an involuntary movement of a user of the walker can be determined from a comparison between a calculated value of displacement of at least one wheel and a predetermined threshold value of displacement of at least one wheel.
  • the indicator of an involuntary movement of a user of the walker can be determined from a comparison between a calculated absolute value of a speed of at least one wheel and a predetermined absolute threshold value of a speed of at least one wheel.
  • the indicator then preferably being a calculated speed greater than a predetermined threshold speed.
  • the predetermined absolute threshold value of a wheel speed can be equal to 2 ms -1 (for meters per second).
  • the indicator of an involuntary movement of a user of the walker is determined from a comparison between a calculated value of variation in the speed of at least one wheel and a threshold value of variation in the speed of at least one wheel.
  • the threshold value of variation in the speed of at least one wheel may be equal to 5 ms -2 .
  • the calculated value of variation in the speed of at least one wheel may correspond to an absolute value of the variation in the standard of the speed of the wheels for a duration of between 1 ms and 80 ms, preferably for a duration of between 5 ms and 70 ms and more preferably for a duration of between 10 ms and 60 ms.
  • the movement of the walker can also be determined from physical measurement systems, video means (2-Dimensional “2D” or 3-Dimensional “3D” camera), ultrasound system, an inertial unit, laser rangefinder, geolocation (Global Navigation Satellite System in English terminology) or software measurement systems (Luenberger observers or Kalman filters).
  • a robotic walker 1 can therefore comprise a 2D or 3D video means or an inertial unit configured to detect the movement of the robotic walker 1.
  • the indicator of an involuntary movement of a user of the walker can then be determined from a comparison between a calculated value of movement of the walker and a predetermined threshold value of movement of the walker.
  • the indicator of an involuntary movement of a user of the walker can be determined from a comparison between a calculated absolute value of a speed and a predetermined absolute threshold value of a speed of the walker.
  • the indicator then preferably being a calculated speed greater than a predetermined threshold speed.
  • a robotic walker 1 may comprise at least one electronic handle 200 comprising a sensor functionally coupled to a control module 40.
  • the sensor integrated into the electronic handle 200 is for example selected from: a force sensor, a pressure sensor, a photoelectric barrier cell, a displacement sensor, and electrodes.
  • the sensor integrated in the electronic handle 200 is advantageously configured to allow the determination of an interaction force between a hand of the user and the robotic walker.
  • the indicator of an involuntary movement of a user of the walker may correspond to a calculated value of the interaction force between the hands of the user and the robotic walker 1.
  • the indicator of an involuntary movement of a user of the walker may correspond to a calculated value of variation of the interaction force between the hands of the user and the robotic walker 1.
  • the value of variation of the interaction force between the hands of the user and the robotic walker 1 is preferably calculated over a time interval of between 0.1 ms and 80 ms, more preferably between 1 ms and 50 ms, even more preferably between 5 ms and 40 ms and for example between 5 ms and 20 ms.
  • the indicator of an involuntary movement of a user of the walker may correspond to an absolute value of the variation of the norm of the force of interaction between the hands of the user and the robotic walker 1 for at least 10 ms is at least equal to 1000 ms -3 .
  • the variation will preferably be measured over a duration of less than 80 ms.
  • the indicator of an involuntary movement of a user of the walker may correspond to a force value applied to the electronic handle 200.
  • the indicator of an involuntary movement of a user of the walker could correspond to the exceeding by a measured absolute value of the force of interaction between the hands of the user and the robotic walker 1 of a predetermined absolute threshold value of the interaction force, for example equal to 100 N.
  • a predetermined absolute threshold value of the interaction force for example equal to 100 N.
  • control module 40 is preferably configured to further calculate a value of variation in force applied to the electronic handle 200 over a time interval and determine an indicator of an involuntary movement when the calculated value of variation in force applied is greater than a predetermined threshold value of variation in force.
  • control module 40 can be configured to activate the braking, in particular by means of one or more movement motors 20 serving as brakes or one or more braking unit(s) configured to carry out the braking or the release of the braking of said robotic walker 1.
  • a robotic walker 1 according to the invention may include a distance sensor.
  • the distance sensor can for example be selected from laser sensors, such as time-of-flight lasers, or ultrasonic sensors or a camera, preferably a 3D camera.
  • the distance sensor is advantageously configured to measure a distance value between the trunk of a user of the walker and the frame of the walker.
  • the distance sensor being generally fixed on the chassis 10 or to an element of the chassis, this makes it possible to measure a distance value between a part of the body, preferably the trunk, of a user of the robotic walker 1 and the chassis 10. This makes it possible to detect the relative position of the user with respect to the walker.
  • control module 40 can further be configured to determine the indicator of an involuntary movement of a user of the robotic walker 1 which could lead to a fall of said user when the measured distance value is not between predetermined limits.
  • the predetermined terminals may, for example, be stored in a data memory 42 of the control module 40. They may, for example, correspond to a distance of between 250 mm and 850 mm. Advantageously, these terminals are determined according to the size of the user of the robotic walker. Furthermore, preferably, they may be modified as the walker is used by a learning mechanism.
  • the senor can be configured to analyze the instantaneous position of the user in relation to the robotic walker.
  • control module 40 can be configured to actuate the braking, in particular by means of one or more movement motors 20 serving as brakes or one or more braking unit(s) configured to carry out the braking or the release of the braking of said robotic walker 1.
  • braking can be activated when the distance between the user's trunk and the robotic walker 1 is less than or greater than the minimum values, for example 250 mm, and the maximum values, for example 850 mm, of the predetermined terminals.
  • the user when the user wishes to sit or lean on the robotic walker 1, the user will necessarily release at least one electronic handle 200. From the moment the user releases one or both electronic handles 200, the sensor integrated in the corresponding electronic handle can indicate that no interaction force between the user's hand and the electronic handle 200 is detected. This can cause the wheels to become immobilized, in particular the wheels can be controlled in position, that is to say they keep the same position as that measured when at least one electronic handle 200 is released.
  • the wheels remain stationary. Then, when the distance between the user and the robotic walker 1 is again greater than the predetermined value, for example 250 mm, and an interaction force between the two hands of the user and the corresponding electronic handles 200 is detected, the immobilization of the wheels ceases.
  • a predetermined value for example 250 mm
  • a robotic walker 1 according to the invention can be coupled to a remote sensor positioned on a user of the robotic walker 1.
  • a remote sensor within the meaning of the present invention may, for example, correspond to an electronic device comprising an inertial unit, a heart rate measuring device or a device comprising pressure sensors.
  • Such an inertial unit advantageously allows the user's gait to be reliably monitored. Indeed, the presence of an inertial unit, integrated for example in an object carried by the user, makes it possible to monitor the user's gait independently of the use of the robotic walker.
  • the inertial unit will analyze the user's gait in at least three dimensions. From the data from the inertial unit, the processing module will be able to determine an indicator of a non-movement. voluntary, in particular from occasional anomalies appearing in the user's approach.
  • the remote sensor positioned on the user of the walker may also correspond to one or more pressure sensors positioned in the user's soles.
  • a pressure sensor advantageously makes it possible to reliably monitor a user's gait.
  • the pressure sensor(s) may be configured to continuously analyze the user's gait in real time. From the data from the pressure sensor, the processing module may determine an indicator of involuntary movement, in particular from occasional anomalies appearing in the distribution of forces exerted by the user's feet.
  • the remote sensor is advantageously configured to communicate with the control module 40 and transmit measured values to it.
  • control module 40 can further be configured to determine the indicator of an involuntary movement of a user of the robotic walker 1 which could lead to a fall of said user from values measured by a remote sensor.
  • a robotic walker 1 according to the invention may also include a tilt sensor, for example located on the frame or in the control module 40.
  • This tilt sensor may generate values taken into account by the control module when identifying an indicator of involuntary movement.
  • the environment may influence the behavior of the user and their interaction with the robotic walker 1.
  • an involuntary movement on a flat surface could be a voluntary movement when starting a slope.
  • control module 40 is preferably configured to take into account values generated by the tilt sensor when determining an involuntary movement of the user.
  • the tilt sensor can be a two or more axis acceleration sensor, a gyroscopic sensor, or any other sensor that can directly or indirectly measure a tilt value.
  • control module 40 can be configured to activate the braking when the angular position or the distance to a beacon exceeds a predetermined threshold.
  • This braking can for example be controlled by means of one or more movement motors 20 serving as brakes or one or more braking unit(s) configured to perform the braking or the release of the braking of said robotic walker 1 in stages as described above.
  • the robotic walker 1 may comprise a transmitting and/or receiving beacon.
  • Such beacons may in particular be implemented as a sensor for measuring distances by calculating the flight time of a wave.
  • the receiving beacon may be configured to detect a signal reflected or emitted by a transmitting beacon placed in the environment in which the user is moving. Indeed, such beacons may be positioned at different locations in the user's living space and are configured to communicate with the receiving beacon.
  • the receiving beacon may be configured to detect the signal emitted by the transmitting beacon and the control module 40 is then advantageously configured to activate braking of the walker. This braking may in particular occur when the robotic walker 1 is at a distance less than a threshold value from the transmitting beacon.
  • the transmitting and/or receiving beacon of the robotic walker 1 may correspond to any exteroceptive sensor and in particular to sensors comprising hardware and software components adapted to enable communication according to the Bluetooth ® standard, of the NFC type (for “near field communication” according to English terminology) or of the radio-identification type.
  • the transmitting and/or receiving tag corresponds to an RFID reader (for “Radio Frequency IDentification” in Anglo-Saxon terminology).
  • the transmitting beacon can correspond to any beacon capable of reflecting or transmitting a signal, and includes hardware and software components adapted for communication according to the Bluetooth ® standard, NFC type (for "near field communication” in Anglo-Saxon terminology) or even radio-identification type.
  • the transmitter tag corresponds to a passive radio tag encoding digital data and comprising an antenna and a chip.
  • the RFID reader passes near the passive radio tag, it sends requests to the passive radio tag to retrieve the data stored in memory.
  • the passive radio tag remotely powered by the signal from the RFID reader, first generates a code making it possible to identify the area in which the robotic walker 1 is located or more generally is heading.
  • the control module 40 can determine, by comparing the received code with a correspondence database stored in the data memory 42, whether the code corresponds to a prohibited area. If this is indeed the case, the control module 40 can be configured to control the braking of the robotic walker 1.
  • the environment in which the user is moving can thus comprise a plurality of beacons, this thus allows the user of the robotic walker 1 to avoid finding himself in an area considered to be at risk, such as an area comprising a staircase, or an area near a road. It is also possible to grid an exterior or interior area of a residence in order to prevent users of the robotic walker 1, in particular those suffering from neurodegenerative diseases, from getting lost or leaving the place of residence.
  • the transmitting and/or receiving beacon is configured to detect and identify a plurality of radio tags.
  • the indicator of involuntary movement can be determined from many sources. Preferably, it is determined from at least two sensors, preferably at least three sensors. Indeed, the indicator of involuntary movement will be more reliable when it is determined from at least three sensors such as electronic handle sensors and at least one displacement sensor.
  • control module 40 may be configured to process measured values so as to generate calculated values used for determining an indicator of an involuntary movement.
  • the processing may vary depending on the sensors concerned and may, for example, include frequency filtering, normalizations, or even resampling.
  • the indicator of an involuntary movement can be determined from a comparison between a calculated or measured value and a predetermined threshold value.
  • Another problem with walkers may be their inability to meet different and changing needs.
  • the needs of walker users can change as their conditions improve or deteriorate.
  • a walker that initially suits a person may gradually become unusable over time.
  • the predetermined values implemented by the robotic walker 1 according to the invention can be entered and updated via a human-machine interface (HMI).
  • HMI human-machine interface
  • Such an HMI can be an integral part of the robotic walker 1 and be fixed thereto. However, preferably, the HMI is occasionally coupled, wired or wirelessly, to the robotic walker 1.
  • the predetermined values implemented by the robotic walker 1 according to the invention can be calculated automatically from data relating to the user and their morphology entered for example via the HMI.
  • these threshold values can change depending on the information entered about the user.
  • the predetermined values implemented by the robotic walker 1 according to the invention can be modified over time on the basis of learning implemented by the control module 40.
  • the control module or any computing unit coupled to the walker can advantageously implement a personalization procedure comprising supervised and/or unsupervised learning steps based on values generated from the sensors coupled to the walker.
  • the threshold values can be particularly adapted to the person using the walker according to the invention.
  • the processing unit may determine a personal normality profile.
  • This “normal” profile may, for example, correspond to a model of the characteristics of use of the walker making it possible to determine usual values such as usual values of force, variation in force, speed, variation in speed, distance or variation in distance.
  • the use of the “normal” profile then makes it possible to set threshold values and/or to detect anomalies, anomalies being in particular observations whose characteristics differ significantly from the “normal” profile and which could lead to a fall.
  • the processing unit will be able to determine reference values or threshold values predetermined by the implementation of a supervised or unsupervised learning method.
  • supervised learning methods neural networks, classification trees, nearest neighbor search or trees regression techniques may be among the most robust and effective machine learning techniques in a method according to the invention.
  • the walking profile of the user of the robotic walker 1 according to the invention can be determined automatically from calibration data measured for example by the sensors of the robotic walker 1.
  • calibration data are for example measured during a calibration step of the robotic walker 1.
  • the calibration step may consist of a plurality of measurements by all of the sensors of the robotic walker 1 during use by the user.
  • Threshold values used by the walker or the method according to the invention may change depending on the information acquired specific to the user.
  • the calibration data can be labeled and serve as reference values, the data or measurements being for example associated with a reference gait, that is to say with a voluntary movement of the user.
  • the control module or any computing unit coupled to the walker can advantageously implement a personalized calibration procedure comprising supervised and/or unsupervised learning steps based on the values generated from the sensors coupled to the walker.
  • the processing unit may determine a calibrated profile.
  • This “calibrated” profile may, for example, correspond to a prediction model trained on the usage characteristics of the walker.
  • This prediction model may have been trained on the basis of usual movement values such as usual values of force, force variation, speed, speed variation, distance or distance variation.
  • the use of the “calibrated” profile then allows more sensitive and specific detection of an involuntary movement of the user. For example, if the prediction model corresponds to a model capable of predicting a time series, then a measured value deviating significantly from a predicted value may be considered as an indicator of involuntary movement.
  • control module 40 is configured to identify a previous position at the given instant of at least one of the wheels 11a, 11b, 12, and therefore more generally of the walker.
  • it is configured to identify a previous position prior to the given instant of the wheel(s), preferably of at least two wheels, 11a, 11b, 12 being coupled to a displacement motor 20.
  • the previous position at the given time corresponds to a position of the wheel(s) 11a, 11b, 12 at least ten milliseconds before the given time, more preferably at least 50 milliseconds before the given time, even more preferably at least 100 milliseconds before the given time.
  • the previous position at the given time may correspond to a position of the wheel(s) 11a, 11b, 12 at a time corresponding to the given time minus a predetermined duration.
  • the robotic walker for example the data memory 42, is configured to memorize the position of the wheel(s) 11a, 11b, 12, preferably those coupled to a movement motor 20 as a function of time. In addition, it can memorize a predetermined duration which will be subtracted from the given instant so as to determine the previous position of the wheel(s) 11a, 11b, 12.
  • control module 40 is configured to transmit to at least one of the wheels 11a, 11b, 12, preferably to at least two wheels, a command to stop the robotic walker 1.
  • the walker comprises one or more movement motors 20 serving as brakes or one or more braking unit(s) configured to perform the braking or the release of the robotic walker 1 braking.
  • the brake unit may be friction and have a structure of pads, shoes or discs which is moved so as to mechanically prevent rotation of the wheel or wheels of the walker or, preferably, by motor braking provided by one or more movement motors 20 serving as brakes.
  • the stop command can be defined in time and therefore be associated with a predetermined stop duration.
  • the predetermined stop duration is between 1 ms and 1 second.
  • the stop is preferably immediate and then followed by a movement to return to a previous position. However, to avoid a possible shock to the user, the stop is gradual and involves slowing down the walker before stopping and returning to a previous position.
  • the stop command may include a predetermined immobilization duration allowing a speed of movement of the wheels to be set before they stop.
  • a predetermined immobilization duration allowing a speed of movement of the wheels to be set before they stop.
  • the stopping of the walker will not be abrupt but may be softened by defining a predetermined stopping duration of between 10 ms and 1 second. This further reduces the discomfort of the user of the robotic walker 1.
  • a predetermined immobilization time can, for example, be between 100 ms and 1 second.
  • control module 40 is configured to transmit to at least one of the wheels 11a, 11b, 12, preferably to at least two wheels, a command to move the robotic walker 1. This can allow the robotic walker 1 to return to a position that it had previously to that which it had at the given instant identified.
  • the robotic walker 1 in the case where the robotic walker 1 moves too quickly forward, the robotic walker 1 would be stopped for example for a predetermined duration and then it would move backwards so as to return to a position previous to the detection of the risk of falling.
  • the balance of a standing human is achieved by the central nervous system by maintaining the projection of the center of mass in the base of support, this defines static balance.
  • a human is in motion, as when walking, he does not fall, but his balance is said to be dynamic.
  • the projection of the center of mass is no longer in the base of support, which should lead to the fall, but which is in fact a state of recoverable balance, because the next step brings the center of mass of the back of the body back to the base of support (the sole of the foot on the ground) to exceed it again, until the next step.
  • This is a reactive balance process, such as moving the arms to bring the trunk into static balance or taking a step forward to be in dynamic balance.
  • the present invention enables reactive balance assistance where the robotic walker will put the user into a recoverable state, then into static balance.
  • the movement instruction of the robotic walker 1 includes a predetermined duration of return to the previous position allowing the control module 40 to determine a speed of movement of the wheels. Furthermore, this duration may be a function of the distance to be covered.
  • the walker will be configured so that this return to the previous position is at a 'slow' speed, preferably at a speed lower than the speed of movement of the walker at the time of determining the indicator of an involuntary movement of the user.
  • the robotic walker 1 may be configured to memorize a predetermined duration of holding in the previous position. This duration corresponds to a duration during which the robotic walker 1 remains in the previous position. Preferably, this duration is less than one second.
  • a walker according to the invention may comprise at least one electronic handle 200, preferably two electronic handles 200.
  • the electronic handles 200 are arranged to be able to measure a force applied to them by a user.
  • the electronic handles 200 configured to measure a force applied to them can be equipped with force sensors, torque sensors, pressure sensors, 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 may in particular correspond to a sensor consisting of an infrared emitter and a receiver placed opposite. The emission zone is therefore a line of infrared light.
  • a shutter element such as a flag penetrates between the emitter and the receiver, the quantity of light received by the receiver is increasingly weak.
  • the measurement of the current at the sensor output is proportional to the quantity of light measured and therefore to the penetration distance of the flag. This distance can then be related to the force, applied to the handle, which caused the movement.
  • such an electronic handle allows the control of the robotic walker 1 without the user having to wear sensors or operate buttons (or other interfaces).
  • Such an arrangement makes it possible to detect a force, applied to the handle, greater than or equal to two kilograms but also much lower.
  • such an arrangement makes it possible to determine a value of the applied force and does not simply detect the exceeding of a threshold.
  • a processor may process information differently depending on the level of force that has been applied to the electronic handle.
  • an electronic handle 200 is arranged so as to allow the measurement of at least one component of a force applied to it.
  • an electronic handle 200 As illustrated in the figure 2 , to the figure 3 and to the figure 4 , an electronic handle 200 according to the invention comprises a central part 210 and an outer casing 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 the figure 2 , preferably, the central part 210 comprises at least one portion having a section comprising an edge. It has, for example, a polygon-shaped section.
  • the central part 210 is made of a material preferably having a Young's modulus of at least 175 GPa (for gigapascals), 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 central part 210 may 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 300 mm (per millimeter) and a maximum of 500 mm.
  • the outer casing 220 of an electronic handle 200 may have a substantially tubular shape, preferably tubular. It may comprise at least one portion having a section comprising an edge. However, preferably, it has a section of ellipsoidal shape and more preferably circular.
  • the outer casing 220 is made with 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 level of the outer casing 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 a diameter exterior between 20 mm and 40 mm and a wall thickness 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 by at least one tenth, preferably one thousandth of a millimeter in translation relative to an axis orthogonal to a longitudinal axis of the central part 210.
  • a force component value can be quantified from one tenth, preferably one thousandth of a millimeter of displacement.
  • a displacement of at least one tenth, preferably one 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 by at least one tenth, preferably at least one thousandth of a millimeter in translation relative to a longitudinal axis of the central part 210.
  • a force component value may be quantified from one tenth, preferably one thousandth of a millimeter of displacement.
  • An electronic handle 200 comprises a first photoelectric cell 230.
  • Photoelectric cells are electronic devices that typically include a light-emitting diode capable of emitting light pulses, usually in the near infrared range (e.g., 850 to 950 nm). This light is received or not by a photodiode or phototransistor depending on the presence or absence of an object in 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, usually in the near infrared range (e.g., 850 to 950 nm). This light is received or not by a photodiode or phototransistor depending on the presence or absence of an object in the path of the light pulses.
  • the photoelectric current created can be amplified and then analyzed.
  • a photoelectric cell may be selected from a through-beam, reflex, or proximity type photoelectric cell.
  • optical fibers may be used to modify the arrangement of the photoelectric cells within the scope of the invention.
  • a photoelectric cell is preferably a barrier-type photoelectric cell for which the barrier is constituted by a first closing element 240.
  • Such photoelectric cells can generally be inexpensive but robust compared to commonly used sensors.
  • 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 of intensity proportional to a quantity of photons received by the first receiver 232.
  • the first receiver 232 which, as a light transducer, will generate a modification of an electrical signal in response to the light beam incident on its surface.
  • the first receiver 232 may, for example, be a photoconductor, a photodiode or a phototransistor.
  • a photoelectric cell according to the invention is configured to generate an electric current whose intensity will be proportional to the quantity of photons received by the receiver.
  • the electronic handle 1 comprises a first shutter element 240 which is capable of, or arranged so as to, modify the quantity of photons received by the first receiver 232.
  • this modification of the quantity of photons received is a function of the position of the first shutter element 240 relative to the first photoelectric cell 230.
  • a sealing element within the meaning of the invention may be made of metal, a metal alloy, a polymer or a composite assembly.
  • the sealing element is made of polymer, more preferably of thermoplastic polymer.
  • the first shutter element 240 may comprise a protrusion 241 arranged so as to be positioned between the diode 231 and the receiver 232 of the photoelectric cell 230.
  • the protrusion 241 may be fixed in a removable or non-removable manner to the first shutter element 240. Furthermore, in the absence of a protrusion 241, it is the shutter element which is housed 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 relative to each other. Indeed, it is in particular the movement of one relative to the other, preferably of at least a 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.
  • the first shutter element 240 and the first photoelectric cell 230 are fixed directly or indirectly to parts of the central part and these parts can be movable relative to each other.
  • the figure 3 for example has means 242 for fixing the first closure element 240 to the outer casing 220.
  • the fixing is preferably a removable fixing.
  • the positioning of the first photoelectric cell 230 and the first shutter element 240 or the fixing of the shutter element 240 to the outer casing 220 will be carried out in such a way that a force F1 applied to the electronic handle 200, if it is sufficient to at least partially move 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 first component of the force having been applied to the electronic handle 200.
  • the fixing will be carried out in such a way that a force F2 applied to the electronic handle 200, if it is sufficient to at least partially move the outer casing 220, causes 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 having been applied to the electronic handle 200.
  • the handle may comprise an element 270 capable of elastic deformation, for example made of polymer, so as to allow a translation of the outer casing 220 relative to the central part 210.
  • the electronic handle according to the present invention may comprise a sensor of a vertical or horizontal force component passing or not by a measurement of a displacement of the outer casing relative to the central part 210, the displacement being caused by a force comprising a vertical component and/or a horizontal component.
  • the displacement may concern only a part of the outer casing and may be understood as a deformation of the outer casing.
  • the electronic handle 200 comprises a fixed horizontal axis, for example made of steel, capable of being connected to a walking assistance device (e.g., 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 relative to the central axis and which, under the effect of the vertical component of the force, deforms in the sagittal plane like a fixed beam.
  • the measurement of this force can be carried out by 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 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 having been applied to the electronic handle 200.
  • the relationship between distance and intensity is preferably linear over at least 1 mm.
  • an electronic handle 200 may also comprise at least one second photoelectric cell 250.
  • This second photoelectric cell 250 may 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 comprises a second receiver 252 arranged to receive said light beam.
  • the second photoelectric cell 250 is arranged so that a force applied to the electronic handle 200 is capable of causing a change in the quantity of photons received by the second receiver 252.
  • the force applied to the electronic handle 200 will be capable of causing a modification of the quantity of photons received by the second receiver 250 if it is capable of at least partially moving the outer casing 220.
  • the electronic handle 200 may also comprise a central part 210 arranged so that a portion of the central part 210 moves under the action of a force F1 applied to said electronic handle 200, causing a modification of the quantity of photons received by the first receiver 232 and that a portion of the central part 210 moves under the action of a force F2 applied to the electronic handle 200, causing a modification of the quantity of photons received by the second receiver 252.
  • the modification of the quantity of photons received is proportional to a second component of the force having been applied to the electronic handle 200.
  • a 'zero' is obtained when no force is applied to the system and the measured force can correspond to a percentage of displacement of the shutter element, for example, compared to a maximum displacement.
  • the photoelectric cells 230, 250 can be attached directly to the central part 210.
  • the photoelectric cells 230, 250 can be indirectly attached to the central part 210.
  • an intermediate element 211 can be used.
  • the intermediate element 211 is attached to the central part 210 while the photoelectric cells 230, 250 are attached to the intermediate element 211. This can make it possible to manufacture a handle according to the invention more quickly and facilitates possible maintenance thereof.
  • an electronic handle 200 may also comprise an electronic card 280.
  • Such an electronic card 280 may 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 on 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 may 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 comprise a second closing element 260.
  • a first sensor is used to measure the deformation of the electronic handle 200 due to a vertical component F1 and a second sensor is used to measure the horizontal displacement of the handle due to a horizontal component F2.
  • the presence of the two sensors allows automatic calibration (i.e. without manipulation of the sensor).
  • This second shutter element 260 may share the same characteristics as the first shutter element 240 and in particular its preferred or advantageous characteristics.
  • the second shutter element 260 may comprise a protrusion 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 (not shown in the figure 7 ). This modification is in particular a function of its position relative to the second photoelectric cell 250.
  • the second closure element 260 may comprise a membrane 262, said membrane 262 being arranged to transmit a displacement of the outer casing 220, for example subjected to a horizontal force component, 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 closure element 260 and the second photoelectric cell 250 are fixed directly or indirectly on parts of the central part and these parts may be movable relative to each other.
  • the central part is arranged so that the second shutter element 260 and the second photoelectric cell 250 are fixed directly or indirectly to parts of the central part which can move independently and parts of the central part on which the first shutter element 240 and the second photoelectric cell 250 are fixed directly or indirectly.
  • 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 electronic 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 200 comprises a second photoelectric cell 250 and a second shutter element 260
  • one is fixed to the outer casing 220 and the other, not being fixed 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
  • the central part 210 is fixed to a part coupled to the electronic handle.
  • This part may for example correspond to a junction element between the electronic handle and a chassis element of the robotic walker 1.
  • the shutter elements and photocells can all be attached to the central part. This attachment can be direct or indirect.
  • At least one closure element 240, 260 is attached directly or indirectly to the outer casing 220. This attachment may be a removable or non-removable attachment. Furthermore, in one embodiment, if a closure element is attached to the outer casing 220 then it will not be attached to the central part 210.
  • At least one photoelectric cell 230,250 is attached directly or indirectly to the outer casing 220. This attachment may be a removable or non-removable attachment. Furthermore, if a photoelectric cell is attached to the outer casing then it will not be attached to the central part 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 (not shown on the figure 7 ) 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 distal quartile D of the electronic handle 200. This allows an improvement in the precision of the measurements and the 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 gripping of the electronic handle 200.
  • the ergonomic shape 221 may be made of polymers or any other material.
  • the force applied by a hand on the handle can be modeled by a force, in the sagittal plane, having a vertical component, F1, and a horizontal component, F2, in the direction of the user's walking.
  • a force in the sagittal plane, having a vertical component, F1, and a horizontal component, F2, in the direction of the user's walking.
  • a robotic walker 1 according to the invention is configured so that it can be intuitively controlled by a user.
  • a robotic walker 1 according to the invention is configured so that at least one movement motor 20 can be controlled by a user from a manipulation of the electronic handles.
  • an electronic handle 200 may also be arranged so as to allow the measurement of at least two components of a force applied to it.
  • each of the electronic handles 200 can advantageously comprise a central part 210 comprising a first photoelectric cell 230, a first shutter element 240, a second photoelectric cell 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 the 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 and capable of at least partially moving the central part 210, is 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 having 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 of intensity proportional to a quantity 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 and capable of moving at least partly the central part 210, is capable of 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 at least part of a motor equipping a robotic walker 1 as a function of the values of the two calculated force components.
  • the motor control can generate a movement of a motorized device such as a robotic walker 1.
  • a control can be subject to the determination of the values of the two components of a force applied and calculated respectively for the two handles.
  • the latter (and in particular the position of the photoelectric cells and the shutter elements) can be arranged so that the first component of the applied force F2 to the electronic handle 200 is not capable of causing 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 to the electronic handle 200, comprising a second component perpendicular to the first component, is not capable of causing a modification of the quantity of photons received at the level of the first photovoltaic cell 230 but only at the level of the second photovoltaic cell 250.
  • the central part 210 may comprise an attachment region 210-1 to a motorized device such as a robotic walker 1 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 and may comprise a plurality of housings, such as for example a plurality of screw threads, adapted to receive fixing elements, such as non-limiting examples a plurality of screws, making it possible to connect the electronic handle 200 to the robotic walker 1.
  • the support region 210-2 is adapted to allow a user to lean on it when the user interacts with the robotic walker 1.
  • it is the central part 210 which directly undergoes deformation when a force exerted by the user is applied.
  • the support region 210-2 of the central part 210 may advantageously comprise at least one embedded beam and a deformation bridge.
  • the embedded beam advantageously comprises a embedded end 211-1, 211-3 and a free end 211-2, 211-4.
  • the embedded end 211-1, 211-3 is connected to the central part while the free end 211-2, 211-4 is arranged to be movable along a longitudinal axis of the central part 210 allowing movement of said free end when a force is applied to the electronic handle 200.
  • the embedded beam is arranged so that the free end 211-2, 211-4 is able to move when a force is applied according to a first component but is not able to move when a force is applied according to a second component perpendicular to the first component.
  • the free end 211-2, 211-4 can move (under the effect of the deformation of the beam) 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 211-2, 211-4 only if the applied force has a given non-zero component.
  • the free end 211-2, 211-4 can have a degree of freedom allowing a displacement 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.
  • a deformation bridge 212 of the central part 210 may comprise a through opening 212-1 opening onto a recess 213.
  • the through opening 212-1 is arranged to be able to undergo elastic deformation when a force is applied to the electronic handle 200. More particularly, the volume of the through opening 212-1 may increase or decrease depending on the application of the force to the electronic handle 200.
  • the through opening 212-1 may be arranged so that its volume varies only when a force comprising a particular component is applied. This makes it possible to generate an increase or a decrease in the volume of the through opening 212-1, by a displacement of the central part 210 and more particularly of the support region 210-2, only if the applied force has a given non-zero component (e.g. vertical component).
  • a non-zero component e.g. vertical component
  • the increase or decrease in the volume of the through opening 212-1 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 212-1 can be arranged so as to allow a displacement of the support region 210-2, and therefore an increase or decrease in the volume of the through opening 212-1 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 shutter element 260 will in this case be fixed directly to a free end 211-2, 211-4 of a recessed 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, leading to a modification of the quantity of photons received by the second receiver 252.
  • the elastic deformation will lead to a displacement of the second shutter element 260 fixed to the free end 211-2 along 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 can respectively be positioned on either side of the through opening 212-1 of the deformation bridge 212. Indeed, the application of a force to 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, leading to a modification of the quantity of photons received by the first receiver 232.
  • the elastic deformation will lead to a displacement of the first shutter element 240 fixed on the central part 210, more particularly in a suitable housing 214, along the axis of the first component of the applied force, thus blocking all or part of the light beam received by the receiver 232 and generated by the diode 231.
  • the central part 210 may comprise at least two central openings 216-1, 216-2 traversed by a part 215 of the central part making it possible to ensure sufficient rigidity to avoid any significant deformation or breakage of the central part 210 during its handling by the user, said central openings being positioned in the center of the central part, more particularly between the ends of the central part 210.
  • the central part 210 may advantageously comprise a recess (not shown in the figures) running longitudinally through the central part 210.
  • a recess allows in particular the passage of electrical power supply cables from the walker to the electronic handle 200 and more particularly said recess allows the photoelectric cells 230, 250 to be connected so that they are powered.
  • each of the electronic handles 200 may comprise an outer casing 220, said outer casing 220 being coupled and/or fixed to the central part 210.
  • the outer casing 220 is not fixed 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 20 are arranged so as to pass through a housing made in the free end 211-2, 211-4 of the embedded beam.
  • 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 a first housing made in the free end 211-2, 211-4 of the embedded beam and/or in a second housing made in the central part 210.
  • the force transmission element is not in direct or indirect contact with the central part 210.
  • the first housing made in the free end 211-2, 211-4 of the beam embedded and the second housing made in the central part 210 comprises a force transmission element, such as a pin, having a fit with a clearance.
  • the outer casing 220 preferably transmits the external forces to the central part 210 by the pin passing through the central part in its second housing and by the pin passing through the central part in its first housing made in the free end 211-2, 211-4.
  • the pins may correspond to metal cylinders passing through the central part 210 at a first housing provided in the free end 211-2, 211-4 and at a second housing provided in the central part 210 which is housed in the outer casing 220.
  • These pins are advantageously mounted with play so as to rotate freely, they therefore only transmit forces from the outer part to the central part 210.
  • the first housing is arranged to accommodate the force transmission element.
  • the force transmission element advantageously taking the form of a pin, makes it possible to connect the outer casing 220 of the electronic handle 200 to the central part 210.
  • the second housing provided in the central part 210 takes the form of an oblong hole and is arranged to accommodate a ball bearing adapted to enclose said force transmission element.
  • the force transmission element passing through the second housing of the central part 210 advantageously taking the form of a pin, has a degree of freedom in translation and in rotation relative to the central part 210 of the electronic handle 200.
  • Such force transmission elements make it possible to avoid torsional forces which can interfere with measurements when a user applies force.
  • Such an arrangement makes it possible to improve the accuracy of the measurement and in particular its linearity.
  • An electronic handle 200 may also include a fastening element such as a screw passing through the central part 210 in the central openings 216-1, 216-2 and/or within a cavity comprising the second photoelectric cell 250.
  • a fastening element such as a screw passing through the central part 210 in the central openings 216-1, 216-2 and/or within a cavity comprising the second photoelectric cell 250.
  • the outer casing 220 can take the form of two half-shells arranged to accommodate the central part 210.
  • the fixing element is arranged to establish a reversible mechanical connection between the two half-shells forming the outer casing 220.
  • Such a fixing element makes it possible to avoid torsional forces which can interfere with the measurements when a force is applied by a user, since the fixing element is not in contact with the central part 210.
  • At least one of the electronic handles 200 comprises a sensor coupled, preferably operatively, to a control module 40 and the control module 40 is configured so as to be able to control the movement motor 20.
  • the control module 40 will be able to control the movement motor 20 according to values transmitted by the sensor of the electronic handle 200.
  • the electronic handle 200 may comprise several sensors coupled, preferably functionally, to the control module 40.
  • the coupling allows the sensor to transmit data to the control module.
  • the functional coupling of one or more sensors of one of the electronic handles 200 to the control module may correspond to a transmission of information, such as current values (intensity or voltage) from the sensors to the control module, directly or indirectly.
  • this functional coupling may include a fusion of the information from the sensors so that the control module can give an instruction to one or more motors based on values from several sensors.
  • Such 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 Since the electronic handle 200 is equipped with sensors and electronics, it is necessary to bring cables from the location of the electronics to the chassis.
  • the cables are, for example, integrated directly into the chassis or fixed to it.
  • 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 sensor of the electronic handle 200 may be any device arranged and configured to measure the value of a force or effort.
  • a sensor of the electronic handle 200 may be selected from: a force sensor, a pressure sensor, a barrier photoelectric cell, a displacement sensor.
  • the sensor of the electronic handle 200 may comprise 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 may comprise a communication module 43 ensuring communication between the different 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 the data measured by the sensors of a robotic walker 1 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 based on 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 movement motor of a robotic walker 1, in particular a command of the motor can be associated with a value calculated from the data measured by the sensors.
  • control module 40 may comprise a Human Machine Interface (HMI) 44.
  • HMI Human Machine Interface
  • the human-machine interface can correspond to one or more LEDs, indicator light, sound signal, tactile signal (vibrations), a screen, a printer, a communication port coupled to a computer device or any other interface allowing communication with a human, in a perceptible manner via one of his senses or a computer client via a communication link.
  • Such an HMI can also be used to configure the control module.
  • the control module can interact via an HMI with other electronic devices or connected objects 5 so as to collect configuration data.
  • Such parameter data may, for example, correspond to predetermined threshold values or predetermined durations.
  • a robotic walker 1 is equipped with a suitable electrical power source (not shown in the figures) enabling the various elements of said robotic walker 1 to operate.
  • a power source generally consists of a battery or a plurality of batteries arranged to deliver sufficient electrical energy to enable the operation of the movement motor(s) or to ensure the operation of the various components of the control module.
  • a robotic walker 1 according to the invention cannot be limited to a single control module 40; it is provided, in a particular embodiment, that the robotic walker 1 comprises 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. In addition, the walker can comprise an electronic power card per motor which makes it possible to control the energy sent to said motor.
  • This walking assistance complements the fall prevention capabilities of the walker according to the invention to reduce the risk of falls for users of a walker according to the present invention.
  • the robotic walker may optionally include one or more of the following features, alone or in combination:
  • the invention relates to a method 100 for preventing a fall of a user of a robotic walker 1, preferably of a robotic walker 1 according to the invention.
  • a method 100 for preventing a fall of a user of a robotic walker 1 comprises the steps 110 of determining at a given instant, an indicator of an involuntary movement of a user of the robotic walker 1, a step 120 of identifying a previous position at the given instant of at least one of the wheels 11a, 11b, 12, a step 130 of transmitting an immobilization instruction to the movement motor 20 of the robotic walker 1 for a predetermined stopping time, and a step 140 of transmitting a movement instruction to the movement motor 20 of the robotic walker 1 so that it returns to the previous position at the identified given instant.
  • a method 100 for preventing a fall of a user of a robotic walker 1 comprises a step 110 of determining, at a given instant, an indicator of an involuntary movement of a user of the robotic walker 1 which may lead to a fall of said user.
  • the indicator of an involuntary movement of a user may be determined from a multitude of sensors, located on the chassis 10 of the robotic walker 1, or in an electronic handle 200 or even directly on the user of said robotic walker 1.
  • This identification step 110 may correspond to the comparison of a value measured by one of the sensors with a predetermined threshold value or to the comparison of a variation calculated over a predetermined time interval with a predetermined threshold value of variation.
  • Such a variation may differ depending on the type of sensors. It may in particular be a variation of force for a pressure sensor, or a variation in distance for a distance sensor, between the user's trunk and the chassis 10, of the robotic walker 1, or a variation in speed, for a sensor configured to measure the movement of a wheel of a robotic walker 1.
  • a method 100 for preventing a fall of a user of a robotic walker 1 further comprises a step 120 of identifying a previous position at the given instant of at least one of the wheels 11a, 11b, 12, preferably of at least two wheels.
  • the identification step 120 can advantageously make it possible to determine an angular variation and a direction taken by at least one of the wheels 11a, 11b, 12, preferably at least two wheels.
  • the positions of at least one of said wheels are stored in the data memory 42 of the control module 40 as a function of time, which makes it possible to easily identify the position of at least one of the wheels, preferably at least two wheels, before the identification of the involuntary movement.
  • a method 100 for preventing a fall of a user of a robotic walker 1 further comprises a step 130 of transmitting to the movement motor 20 an instruction to immobilize the robotic walker 1, for example for a predetermined stopping time previously recorded in the data memory 42 of the control module 40. This makes it possible to completely immobilize the robotic walker 1 in order to prevent the user from falling.
  • a method 100 for preventing a fall of a user of a robotic walker 1 further comprises a step 140 of transmitting to the movement motor 20 an instruction to move the robotic walker 1 so that it returns to the previous position at the identified given time, of at least one of the wheels 11a, 11b, 12, preferably at least two wheels.
  • Such a step advantageously makes it possible to help the user of the robotic walker 1 to reestablish his position relative to said robotic walker 1.
  • the robotic walker 1 may comprise various sensors and an involuntary movement may also be associated with a loss of balance, involving for example the application of a pronounced force on a handle electronic 200, or a moving away or a moving closer of the user's torso relative to the chassis 10 of the robotic walker 1, or a sudden acceleration of the rotation speed of one of the wheels of the robotic walker 1, causing in one case or the other a movement or not of the robotic walker 1.
  • the transmission step 140 is particularly suitable for facilitating the restoration of the user's balance.
  • the invention relates to a method 300 for controlling a robotic walker 1, preferably a robotic walker 1 according to the invention.
  • a control method 300 according to one embodiment of the invention is illustrated in figure 11 .
  • a method 300 for controlling a robotic walker 1 comprises the steps of measuring 320 at least one force value applied to an electronic handle 200, comparing 330 the at least one force value applied to a predetermined threshold force value, and generating 360 a control instruction to at least one of the movement motors 20 of the robotic walker 1.
  • a method 300 for controlling a robotic walker 1 may comprise the steps 310 of customizing the robotic walker 1, calculating 340 a value of variation over time of a force applied to an electronic handle 200, comparing 350 the value of variation over time of a force applied to a predetermined threshold value.
  • these threshold values may have been pre-recorded in a data memory 42 during the design of the robotic walker 1.
  • the storage of such data makes it possible, on the one hand, to adapt the walker in its operation to the morphology of a given user. Indeed, depending on the user's level of autonomy, or their propensity to lose balance, and depending on the sensors positioned on said robotic walker 1, it may be advantageous to adapt the different thresholds in order to prevent any risk of falling.
  • the steps of the control method 300 are described in connection with a force sensor applied to an electronic handle 200.
  • the invention cannot be limited to this embodiment and may include, in combination with or instead of such a force sensor applied to an electronic handle, a distance sensor or a sensor configured to measure a variation in speed of a wheel of the robotic walker 1.
  • a method 300 for controlling a robotic walker 1 comprises a step 320 of measuring at least one force value applied to an electronic handle 200.
  • This measuring step 320 may correspond to the generation of a value of a component of a force applied to the electronic handle 200 by a user.
  • the applied force whose value is measured corresponds to a vertical component of the applied force.
  • the detection of a user pressing on said handle is done at least in part by measuring the vertical pressing force on the electronic handle 200.
  • this step may comprise the measurement 320 of at least two components of the force applied to the electronic handle 200.
  • this measurement 320 may preferably be carried out for both electronic handles 200.
  • This step can be performed by one or more sensors of an electronic handle 200.
  • a method 300 for controlling a robotic walker 1 comprises a step 330 of comparing the at least one applied force value to a predetermined threshold value of applied force and/or measuring the distance between the user and the robotic walker 1.
  • a comparison makes it possible to generate a posture indicator of the user.
  • the comparison step may lead to generating a binary value (e.g. yes/no).
  • a method according to the invention will be able to advantageously detect a posture of a user and in particular his capacity or his need to set the robotic walker 1 in motion, by detecting an exceeding of a threshold value by a measured value of applied force.
  • This comparison step may also include the generation of a posture indicator in the form of an alphanumeric value or a numerical value.
  • a numerical value may, for example, correspond to a difference between the measured value and the predetermined threshold value.
  • a posture indicator value may 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 in particular by a processor 41 configured to carry out such a comparison and generate the user's posture indicator.
  • a method 300 for controlling a robotic walker 1 can advantageously comprise a step 340 of calculating a value of variation over time of a force applied to an electronic handle 200.
  • This step can be carried out by a control module 40 of a robotic walker 1 and more particularly by a processor 41 of said control module 40.
  • such a time variation value may 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 seconds, 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 robotic walker 1 to determine the intention thereof.
  • 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 and a horizontal component of the applied force.
  • This calculated value can be used in a step 350 of comparing the time variation value of an applied force to a predetermined threshold value of applied force variation.
  • Such a comparison makes it possible to generate an indicator of the user's intention.
  • the comparison step may lead to the generation of a binary value (e.g. yes/no).
  • Such an intention index may in particular correspond to an indicator of the intention to move the robotic walker 1 and therefore the user.
  • This comparison step may also include the generation of an intent indicator in the form of an alphanumeric value or a numeric value.
  • a numeric value may, for example, correspond to a difference between the calculated value and the predetermined threshold value.
  • An intent indicator value can be advantageously used in combination with other values when generating a control instruction.
  • the method according to the invention will advantageously be able to best characterize a user's intention to move.
  • a detection threshold based on an applied force value preferably a vertical and horizontal component value
  • a detection threshold based on an applied force variation value allows for better control results and an increase in the specificity of the control of the movement of the robotic walker 1.
  • a method 300 for controlling a robotic walker 1 may also comprise a step of determining a distance value between the trunk of a user of the robotic walker 1 and a distance sensor.
  • a distance sensor may determine the distance between the user and said distance sensor. This distance value or a position index of the user derived from such a distance value may 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 distance sensor positioned on the robotic walker 1, from the data provided by said distance sensor.
  • a method 300 for controlling a robotic walker 1 may also comprise a step 360 of generating a control instruction to at least one of the movement motors 20.
  • this step of generating a control instruction may be carried out on the basis of the measured value of force applied to an electronic handle or on a posture index value.
  • the control instruction may be a function of comparing at least one applied force value to a predetermined threshold value of applied force.
  • the generation 360 of a control instruction can also take into account other parameters.
  • it takes into account the measured value of force applied to an electronic handle 200 or the posture index value in combination with the temporal variation value of a force applied to an electronic handle or the intention index value.
  • 360 generation of a control instruction may also take into account the position index value or the measured distance value of the user relative to the distance sensor.
  • This step can be carried out by a control module 40 of a robotic walker 1 and more particularly by a processor 41 of said control module.

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Claims (18)

  1. Roboter-Rollator (1) mit einem Chassis (10), das einen vorderen Teil (10a) und einen hinteren Teil (10b) aufweist, einem Paar Räder (11a, 11b), die so angeordnet sind, dass sie den hinteren Teil (10b) des Chassis (10) tragen, und mindestens einem Rad (12), das so angeordnet ist, dass es den vorderen Teil (10a) des Chassis trägt,
    worin mindestens eines der Räder (11 a, 11 b, 12) mit einem Fahrmotor (20) gekoppelt ist, worin der Roboter-Rollator (1) ein Steuermodul (40) aufweist, das ausgestaltet ist, den oder die Fahrmotor(en) (20) zu steuern, worin der Roboter-Rollator (1) dadurch gekennzeichnet ist, dass das Steuermodul (40) ausgestaltet ist, zum:
    - Bestimmen eines Indikators einer unwillkürlichen Bewegung eines Benutzers des robotischen Rollators (1) zu einem gegebenen Zeitpunkt, die zu einem Sturz des Benutzers führen kann, wobei der Indikator einer unwillkürlichen Bewegung eines Benutzers des robotischen Rollators (1) aus Werten bestimmt wird, die von einem oder mehreren Sensoren erzeugt werden, die ausgewählt werden aus: einem Sensor, der in einen elektronischen Handgriff (200) integriert ist, einem Sensor, der ausgestaltet ist, die Bewegung eines Rades (11a, 11b, 12) zu messen, einem Abstandssensor, der ausgestaltet ist, den Abstand zwischen dem Benutzer und dem Roboter-Rollator zu messen, oder einem Sensor, der an dem Benutzer des Roboter-Rollators angeordnet ist;
    - Identifizieren einer vorherigen Position zum gegebenen Zeitpunkt von mindestens einem der Räder (11a, 11b, 12), vorzugsweise von mindestens zwei Rädern;
    - Übertragen, an den Fahrmotor (20), eines Anhalte-Befehls für den Roboter-Rollator (1); und
    - Übertragen, an den Fahrmotor (20), eines Fahr-Befehls für den Rollator (1), so dass dieser die vorherige Position zum identifizierten Zeitpunkt wieder einnimmt.
  2. Roboter-Rollator (1) nach Anspruch 1, dadurch gekennzeichnet, dass der Fahr-Befehl für den Roboter-Rollator (1) eine bestimmte Zeitdauer für die Rückkehr zur vorherigen Position zu einem bestimmten identifizierten Zeitpunkt umfasst, die es dem Steuermodul (40) ermöglicht, eine Geschwindigkeit für die Bewegung der Räder zu bestimmen.
  3. Roboter-Rollator (1) nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass der Anhalte Befehl für den Roboter-Rollator (1) eine bestimmte Dauer des Haltens umfasst, die es dem Steuermodul (40) ermöglicht, eine Geschwindigkeit der Bewegung der Räder vor ihrem Anhalten zu bestimmen.
  4. Roboter-Rollator (1) nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die vorhergehende Position zum gegebenen Zeitpunkt der Position des Rades oder der Räder (11a, 11b, 12) mindestens zehn Millisekunden vor dem gegebenen Zeitpunkt entspricht.
  5. Roboter-Rollator (1) nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass der Indikator für eine unwillkürliche Bewegung eines Benutzers des Roboter-Rollators (1) aus Werten bestimmt wird, die von einem in einem elektronischen Handgriff (200) eingebauten Sensor und einem Abstandssensor erzeugt werden, der ausgestaltet ist, den Abstand zwischen dem Benutzer und der Roboter-Rollator zu messen.
  6. Roboter-Rollator (1) nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass der Indikator für eine unwillkürliche Bewegung eines Benutzers des Roboter-Rollators (1) über ein bestimmtes Zeitintervall bestimmt wird.
  7. Roboter-Rollator (1) nach Anspruch 6, dadurch gekennzeichnet, dass der Indikator für eine unwillkürliche Bewegung eines Benutzers des Roboter-Rollators (1) über ein Zeitintervall zwischen 0,01 ms und 50 ms bestimmt wird.
  8. Roboter-Rollator (1) nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass der Indikator einer unwillkürlichen Bewegung eines Benutzers des Roboter-Rollators (1) aus einem Vergleich zwischen einem berechneten Wert der Geschwindigkeitsänderung von mindestens einem Rad (11a, 11b, 12) und einem Schwellenwert der Geschwindigkeitsänderung von mindestens einem Rad (11a, 11b, 12) bestimmt wird.
  9. Roboter-Rollator (1) nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass der Roboter-Rollator (1) mindestens einen elektronischen Handgriff (200) mit einem Sensor umfasst, der funktionell mit einem Steuermodul (40) gekoppelt ist, wobei der Sensor ausgestaltet ist, eine Interaktionskraft zwischen einer Hand des Benutzers und dem Roboter-Rollator (1) zu bestimmen, und darin, dass der Indikator für eine unwillkürliche Bewegung aus der Interaktionskraft bestimmt wird.
  10. Roboter-Rollator (1) nach einem der Ansprüche 1 bis 9, dadurch gekennzeichnet, dass der Roboter-Rollator (1) mindestens einen Abstandssensor aufweist, der ausgestaltet ist, einen Abstandswert zwischen dem Benutzer und dem Roboter-Rollator zu bestimmen, und darin, dass das Steuermodul ferner ausgestaltet ist, den Indikator einer unwillkürlichen Bewegung eines Benutzers des Roboter-Rollators (1), die zu einem Sturz des Benutzers führen kann, anhand des Abstandswerts zu identifizieren, vorzugsweise wenn der gemessene Abstandswert nicht innerhalb bestimmter Grenzen liegt.
  11. Roboter-Rollator (1) nach einem der Ansprüche 1 bis 10, dadurch gekennzeichnet, dass der Roboter-Rollator (1) mindestens einen Sensor aufweist, der in einen elektronischen Handgriff (200) integriert ist, der ausgestaltet ist, die Bestimmung eines Interaktionskraftwerts zwischen einer Hand des Benutzers und dem Roboter-Rollator (1) zu ermöglichen, und darin, dass das Steuermodul ferner ausgestaltet ist, den Indikator einer unwillkürlichen Bewegung eines Benutzers des Roboter-Rollators (1), die zu einem Sturz des Benutzers führen kann, anhand des ermittelten Wertes der Interaktionskraft zu identifizieren, vorzugsweise wenn der ermittelte Kraftwert größer als ein bestimmter Schwellenwert ist.
  12. Roboter-Rollator (1) nach einem der Ansprüche 1 bis 11, dadurch gekennzeichnet, dass dieser ferner umfasst:
    - einen Datenspeicher (42), der mit dem Steuermodul (40) verbunden und konfiguriert ist, einen vorgegebenen Wert für den Kraftmultiplikator und einen vorgegebenen Wert für den Gehhilfe-Einstellungskoeffizienten zu speichern;
    - zwei elektronische Handgriffe (200), die jeweils mindestens einen Sensor aufweisen, der funktionell mit dem Steuermodul (40) gekoppelt ist, worin der Sensor ausgestaltet ist, Daten der Interaktionskraft zwischen einer Hand des Benutzers und des Roboter-Rollators (1) zu erzeugen;
    - mindestens einen Bewegungssensor, der ausgestaltet ist, Bewegungsdaten des Roboter-Rollators (1) zur Gehilfe zu messen;
    - worin das Steuermodul (40) ferner konfiguriert ist, zum
    ∘ Bestimmen eines Interaktionskraftwerts zwischen einer Hand des Benutzers und des Roboter-Rollators (1) für jeden der elektronischen Handgriffe (200) aus den Daten, die von jedem der Sensoren der elektronischen Handgriffe (200) erzeugt werden;
    ∘ Bestimmen eines Werts für die Bewegungsgeschwindigkeit des Roboter-Rollators (1) aus den gemessenen Bewegungsdaten;
    ∘ Berechnen eines Werts für die Schrittweite für jedes der motorisierten Räder aus:
    -- den Interaktionskraftwerten zwischen einer Hand des Benutzers und dem Roboter-Rollator (1), korrigiert mit dem vorgegebenen Wert des Kraftmultiplikators, und
    -- dem Wert der Bewegungsgeschwindigkeit des Roboter-Rollators (1), korrigiert mit dem vorgegebenen Wert des Gehhilfe-Einstellungskoeffizienten.
  13. Roboter-Rollator (1) nach einem der Ansprüche 1 bis 12, dadurch gekennzeichnet, dass der elektronische Handgriff (200) so angeordnet ist, die Messung von mindestens zwei Komponenten einer auf ihn ausgeübten Kraft zu ermöglichen, worin der elektronische Handgriff (200) umfasst:
    -eine erste fotoelektrische Zelle (230), worin die erste fotoelektrische Zelle (230) eine erste Diode (231), die einen Lichtstrahl aussenden kann, und einen ersten Empfänger (232) aufweist, der den Lichtstrahl empfangen kann, worin die erste fotoelektrische Zelle (230) ausgestaltet ist, einen Strom zu erzeugen, der proportional zu einer Menge von Photonen ist, die vom ersten Empfänger (232) empfangen werden; und
    -ein erstes Verschlusselement (240), das geeignet ist, in Abhängigkeit von seiner Position in Bezug auf die erste fotoelektrische Zelle (230) die Menge der vom ersten Empfänger (232) empfangenen Photonen zu verändern;
    -worin die erste fotoelektrische Zelle (230) und das erste Verschlusselement (240) so angeordnet sind, dass die auf den elektronischen Handgriff (200) ausgeübte Kraft eine Änderung der Menge der vom ersten Empfänger (232) empfangenen Photonen bewirken kann, wobei diese Änderung proportional zu einer ersten Komponente (F1) der auf den elektronischen Handgriff (200) ausgeübten Kraft ist;
    -eine zweite fotoelektrische Zelle (250) mit einer zweiten Diode (251), die einen Lichtstrahl aussenden kann, und einem zweiten Empfänger (252), der den Lichtstrahl empfangen kann, worin die zweite fotoelektrische Zelle (250) ausgestaltet ist, einen Strom zu erzeugen, der einer vom zweiten Empfänger (52) empfangenen Menge von Photonen proportional ist,
    -ein zweites Verschlusselement (260), das geeignet ist, in Abhängigkeit von seinem Gewicht in Bezug auf die zweite fotoelektrische Zelle (250) die Menge der vom zweiten Empfänger (252) empfangenen Photonen zu verändern,
    -worin die zweite fotoelektrische Zelle (250) und das zweite Verschlusselement (260) so angeordnet sind, dass die auf den elektronischen Handgriff (200) ausgeübte Kraft geeignet ist, eine Änderung der vom zweiten Empfänger (252) empfangenen Menge an Photonen zu bewirken, wobei diese Änderung einer zweiten, an den elektronischen Handgriff (200) angelegte Kraft-Komponente (F2) proportional ist, worin der elektronische Handgriff (200) ausgestaltet ist, den Motor in Abhängigkeit von den Werten der beiden berechneten KraftKomponenten zu steuern.
  14. Roboter-Rollator (1) nach Anspruch 13, dadurch gekennzeichnet, dass der elektronische Handgriff (200) aus einem zentralen Teil (210) und einer äußeren Ummantelung (220) besteht und darin, dass der elektronische Handgriff (200) so angeordnet ist, dass eine auf den elektronischen Handgriff (200) ausgeübte Kraft dazu geeignet ist, das zentrale Teil (210) und die äußere Ummantelung (220) zumindest teilweise zu bewegen, vorzugsweise so dass der zentrale Teil (210) zumindest teilweise bewegt wird.
  15. Roboter-Rollator (1) nach Anspruch 14, dadurch gekennzeichnet, dass die erste fotoelektrische Zelle (230) und/oder das erste Verschlusselement (240) und die zweite fotoelektrische Zelle (250) und/oder das zweite Verschlusselement (240) an dem zentralen Teil (260) befestigt sind.
  16. Roboter-Rollator (1) nach einem der Ansprüche 14 oder 15, dadurch gekennzeichnet, dass der zentrale Teil (210) mindestens einen eingelassenen Teil mit einem eingelassenen Ende (211-1, 211-3) und ein freies Ende (211-2, 211-4) umfasst, worin das freie Ende (211-2, 211-4) einen Grad an Beweglichkeit aufweist, der eine Verschiebung des freien Endes in Richtung der zweiten Komponente (F2) der aufgebrachten Kraft zulässt.
  17. System zur Kontrolle der Bewegung eines Rollators, welches umfasst:
    - einen Roboter-Rollator (1) nach einem der Ansprüche 1 bis 16, worin der Roboter-Rollator ferner eine mit dem Rollator verbundene Markierung umfasst,
    - mindestens eine unabhängige Markierung, die ausgestaltet ist, ein Signal zu reflektieren oder auszusenden,
    worin der Roboter-Rollator (1) ausgestaltet ist, eine Bremsung auszulösen, wenn der Abstand zwischen der mit dem Rollator verbundenen Markierung und der unabhängigen Markierung kleiner als ein bestimmter Schwellenwert ist.
  18. Verfahren (100) zur Verhinderung eines Sturzes eines Benutzers eines Roboter-Rollators (1) nach einem der Ansprüche 1 bis 16, wobei das Verhinderungsverfahren die Schritte umfasst, die von dem Steuermodul (40) des Roboter-Rollators (1) ausgeführt werden:
    - Bestimmung (110) eines Indikators für eine unwillkürliche Bewegung eines Benutzers des Roboter-Rollators (1) zu einem gegebenen Zeitpunkt, die zu einem Sturz des Benutzers führen kann;
    - Identifikation (120) einer vorherigen Position zu dem gegebenen Zeitpunkt von mindestens einem der Räder (11a, 11b, 12), vorzugsweise von mindestens zwei Rädern;
    - Übertragung (130), an den Fahrmotor (20), eines Anhalte-Befehls für den Roboter-Rollator (1); und
    - Übertragung (140), an den Bewegungsmotor (20), eines Fahr-Befehls für den Roboter-Rollators (1), so dass dieser die vorherige Position zum identifizierten Zeitpunkt von mindestens einem der Räder (11a, 11b, 12) wieder einnimmt.
EP20851287.1A 2019-12-20 2020-12-21 Roboterisierte gehhilfe und zugehöriges verfahren zum vorbeugen von stürzen Active EP4076331B1 (de)

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CN113940667B (zh) * 2021-09-08 2022-08-09 中国科学院深圳先进技术研究院 基于助行器的防摔倒助行方法、系统和终端设备
KR20240055953A (ko) * 2022-10-20 2024-04-30 삼성전자주식회사 웨어러블 장치의 소모 전력을 줄이기 위한 제어 방법 및 이를 수행하는 웨어러블 장치
KR20240136729A (ko) 2023-03-07 2024-09-19 주식회사 피앤에스미캐닉스 이동형 보행 훈련 장치
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