EP4225245A1 - Stabilisateur statique-dynamique - Google Patents

Stabilisateur statique-dynamique

Info

Publication number
EP4225245A1
EP4225245A1 EP21790572.8A EP21790572A EP4225245A1 EP 4225245 A1 EP4225245 A1 EP 4225245A1 EP 21790572 A EP21790572 A EP 21790572A EP 4225245 A1 EP4225245 A1 EP 4225245A1
Authority
EP
European Patent Office
Prior art keywords
stabiliser
actuator
frame
attached
saddle
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.)
Pending
Application number
EP21790572.8A
Other languages
German (de)
English (en)
Inventor
Luca BERTUZZI
Rosaria LO GIUDICE
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.)
Algoon Di Bertuzzi Ing Luca
LO GIUDICE, ROSARIA
Original Assignee
Algoon Di Bertuzzi Ing Luca
Comfort Online Con Socio Unico Srl
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Algoon Di Bertuzzi Ing Luca, Comfort Online Con Socio Unico Srl filed Critical Algoon Di Bertuzzi Ing Luca
Publication of EP4225245A1 publication Critical patent/EP4225245A1/fr
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/14—Standing-up or sitting-down aids

Definitions

  • This invention consists of a mobile device that allows users with motor difficulties to easily, gradually and independently change their posture from sitting to standing, with the option of stopping in any intermediate condition, to maintain the acquired position with bi-podalic load as well as to move around indoors, independently and without any assistance, by using the joystick steering control, moving in an upright position, or in any that is deemed to be the most suitable for one's needs.
  • stabilisers are devices used for locomotion and lifting people with disabilities or severe motor difficulties.
  • stabilisers are devices that are designed to lift the person and keep them in a static upright position.
  • static stabilisers these devices allow the person to move indoors only in the presence of a companion who interacts with the device.
  • dynamic stabilisers these allow the person to move indoors, independently.
  • stabilisers have adjustable limb and trunk supports for the stabiliser itself to adapt to the user.
  • the CN108785020A document describes a multifunctional walking aid that consists of a lower frame, load-bearing wheels, protective nets, a footrest, left and right vertical rods, four seat support legs and two U-shaped rods, in which the wheels and the protective nets are secured in the lower part of the lower frame.
  • Document CN107693234A describes a frame with two integrated motorised wheels on the front and rear sides; there is a pedal mechanism, a non-motorised seating mechanism and a mechanism for supporting the kneecaps that includes a support plate and an adjustment block. An actuator moves the thoracic support, which the user uses as support thanks to two handles.
  • the device described in the above mentioned document does not allow the person to be transferred directly from the wheelchair or bed or sofa to the device; the constructive features do not allow a narrow manoeuvring radius, the diameter of the wheels does not allow outdoor use, the lifting function of the person sitting on the saddle does not support the pelvis and is not motorised; it is all entrusted to the upper limbs and partly to the lower limbs; it is not ergonomic, it does not simulate human movement; it does not leave the hands free and has no table on which to place objects; the constructive design is non-existent and represents a machine for the disabled.
  • Document CN108578091A describes a rehabilitation wheelchair for patients with myelopathy; it is a machine that consists of a frame that includes a beam, a pair of front wheels set at the front end of the beam; a pair of rear wheels set at the rear end of the beam; and a vertical column connected vertically to the front part; a lifting arm and a pair of rails.
  • One end of the lifting arm is connected to the side wall of the vertical column with a pin; the other end of the lifting arm is connected to the suspension mechanism.
  • the device described in the above mentioned document implies that the lifting function of the person is entirely entrusted to the upper limbs and partly to the lower ones; in fact, there is no motorised seat for this important function. There is no support surface for the upper limbs; the person must have good mobility in the upper limbs; the constructive design is non-existent and represents a machine for the disabled.
  • Documents CN106214368A and CN106333803A describe a new seating mechanism and a wheelchair.
  • the new seat mechanism mainly includes two four-arm hinged mechanisms, two drive rods, a seat connection rod and a drive mechanism.
  • the wheelchair includes a frame moving mechanism, a fastening support, an armrest mechanism and a standing support mechanism.
  • the lifting function of the person does not support the pelvis; it is entirely entrusted to the upper limbs and partly to the lower ones; it is not ergonomic, it does not simulate human movement; there is no support surface for the upper limbs and the person must have good upper limb mobility; the constructive design is non-existent and represents a machine for the disabled.
  • the invention described in the above mentioned document does not allow the person to be transferred directly from the wheelchair or bed or sofa to the device; it does not bring the person to an upright position; very complex mechanics; 3 motors are needed; the constructive design is non-existent and represents a machine for the disabled.
  • Document WO2017199164A1 describes a robotic device to facilitate the movement of people with severe motor disabilities; it basically consists of a frame with two front motorised wheels, two rear pivoting wheels, two front pivoting wheels, supports for the feet and a tubular structure fitted with two actuators and a strap to lift the body and bring it to an upright position.
  • the main disadvantage of the device described in the above mentioned document is that it does not allow the person to be transferred directly from the wheelchair or bed or sofa to the device. There is no support surface for the upper limbs; the constructive design is non-existent; significant dimensions; there is no support surface for objects; it represents a machine for the disabled.
  • Document EP3243492 Bl describes a verticalizing wheelchair that basically consists of a frame with two front motorised wheels, two rear pivoting wheels, foot supports and a tubular pantograph structure fitted with two actuators and a saddle to lift the body and bring it into an erect position.
  • the main disadvantage of the device described in the above mentioned document is the lack of a structure that prevents the person from falling sideways or forward; it does not include a support surface for the upper limbs; the person must have good mobility in the upper limbs; all levers of the pantograph are accessible with a consequent risk of injury; the constructive design is non-existent and represents a machine for the disabled.
  • document KR20160129986A describes a machine that basically consists of a frame with two front motorised wheels, two rear pivoting wheels, foot supports and a tubular pantograph structure fitted with an actuator and a strap, complete with thoracic support, to lift the body and bring it into an erect position.
  • the main disadvantage of the device described in the above mentioned document is that it does not allow the person to be transferred directly from the wheelchair or bed or sofa to the device. There is no support surface for the upper limbs; all levers of the pantograph are accessible with a consequent risk of injury; the constructive design is nonexistent; significant dimensions; no support surface for objects.
  • Document KR20090124768A also describes a motorised wheelchair that consists of a frame with two front wheels that are powered by gear motors, two rear pivoting wheels, a central tubular structure that supports a pantograph structure fitted with an actuator to lift the patient, and is fitted with a table, side supports and a saddle.
  • the disadvantages of the device described in the above mentioned document are the low height from the ground, no electric height adjustment of the column; all levers of the pantograph are accessible with a consequent risk of injury; the shape of the saddle is inadequate to be easily transferred from the wheelchair to the device.
  • Document KR20120097844A describes a device that consists of an extendable tubular structure fitted with two rear motors and two front pivoting wheels; there is an actuator which converts the horizontal seat into a vertical support thanks to a pantograph structure, and shortens the length of the machine.
  • the disadvantages of the device described in the above mentioned document are that the person needs to have good mobility in the upper limbs; the diameter of the wheels does not allow outdoor use; does not allow the person to be transferred directly from the wheelchair or bed or sofa to the device; all levers of the pantograph are accessible with a consequent risk of injury; the constructive design is non-existent and represents a machine for the disabled.
  • Document US2014109312 describes a machine that basically consists of a frame with two front wheels fitted on a small rotary frame, two rear motorised and fixed, foot supports and a double tubular structure fitted with an actuator and a strap, complete with thoracic support, to lift the body and bring it into an erect position.
  • the invention described in the above mentioned document also has no support surface for the upper limbs; the person needs to have good mobility in the upper limbs; the constructive features do not allow a narrow manoeuvring radius, the diameter of the wheels does not allow outdoor use; the constructive design is non-existent and represents a machine for the disabled.
  • Document US2015190293A describes a machine that basically consists of a frame with two front motorised wheels, a system of rear omnidirectional wheels, foot supports and a tubular pantograph structure fitted with an actuator and a strap, complete with thoracic support, to lift the body and bring it into an erect position.
  • the invention described in the document has no support surface for the upper limbs; the person needs to have good mobility in the upper limbs; the diameter of the wheels does not allow outdoor use; it is not suitable for quadriplegics; all levers of the pantograph are accessible with a consequent risk of injury; the constructive design is nonexistent and represents a machine for the disabled.
  • the purpose of the invention referred to in this patent application is to eliminate the above mentioned disadvantages of the above state of the art equipment, in particular, by designing a device that has minimum dimensions so as to facilitate movement indoors, which is particularly safe as regards the protection of the electrical connections and is simultaneously particularly manageable and can easily overcome unevenness and can be easily used even outdoors.
  • the invention referred to in this patent application consists of a stabiliser type of device (9) equipped with a central vertical frame (1) that consists of a central column (12) attached on the bottom to a first actuator (13).
  • the first actuator (13) is inserted into a hollow central column (15), which is in turn attached to the base (7) by means of a fixing plate (17, Figure 4b) for easy disassembly and assembly during transport.
  • the base (7) of the stabiliser is set up according to that described so far, and has at least two right and left wheels at the front (6,6') and at least two rear pivoting wheels (5,5').
  • the device referred to in this patent application also has a seat (3) that consists of a saddle type of part (3") and a frame (3'); the structure can be seen in figure 4 and the horizontal and vertical positions in figure 5, respectively.
  • the frame (3') is attached at one end to the saddle (3") and at the opposite end it is attached to the central vertical frame (1).
  • the end of the frame (3') opposite the saddle (3") is secured to the central vertical frame (1) with a first pin (19) and connected to the second actuator (4) with a second pin (20), which can be easily removed by removing the elastic washer. If the actuator (4) should malfunction and a person is on the equipment, this allows the actuator (4) to be rapidly disassembled and the seat (3) released.
  • the lower part of the central vertical frame (1) can slide into the hollow central column (15) to change the position vertically from a lower position (Fig 4a) to an upper position (Fig 4b). It is preferred but not mandatory to adjust the saddle (3) with a screw (18) that is fitted with a lever to be easily secured without using tools.
  • the central vertical frame (1) has an upper restraint support (2), which in turn consists of a first right side support (2') and a second left side support (2") that can be adjusted in the space by means of adequate and generic handling means.
  • the right and left side supports (2', 2") are also mutually attached by means of a cross-piece (2"'), which is in turn secured to the upper end of the central column (12) of the vertical frame (1) with the bracket (27).
  • the sliding guides allow the table (14) to move back and forth with respect to the person's chest, thereby allowing the chest-table distance to be adjusted.
  • Fig. 5 represents the kinematics of the standing movement, which reproduces the human movement, and the relative shift of the table (14), which form the restraint support (2) with the right and left side supports (2', 2").
  • the mechanics consist of two kinematics: that of the movement of the seat (3) and that of the movement of the table (14).
  • the kinematics of the seat (3) consist of a lever that is composed of the arm (3'), the fulcrum, consisting of the pin (19), the force of the actuator (4) applied to the pin (20) and the resulting force applied to the pin ( 21) of the tubular tie rod (24).
  • the tubular tie rod (24) is a rod with a cylindrical section, drilled at the ends, to allow the mechanical connection with the pins (21) and (22); its purpose is to transmit the force of the actuator (4) of the saddle to the kinematics of the table (14).
  • the kinematics of the seat (3) therefore allows the movement of the saddle from a horizontal to a vertical position and vice versa, and simultaneously, through the tubular tie rod (24), it provides the necessary mechanical force for the movement of the table kinematic (14).
  • the movement of the table kinematic (14) consists of a pantograph, whose hinges are the pins (25), (25'), (26), (26'); the rods are the bracket (27) and the casing (27') that form the parallelogram and the fixed point is the pin (21), which the tubular tie rod (24) is connected to, which conveys the movement to the pantograph itself.
  • This movement which is of the roto-translational type, is transferred to the body of the table (14), through the bracket (27).
  • the right and left plates (40) and the mobile casing (28) that slides on the pin (23) constitute the mechanical structure that contains the tubular tie rod (24) and the electric cables that connect the movement control device (16) to the right and left motors, the safety push-button and any accessories mounted on the table (14). These cables start from the table (14) and reach the base (7) where the electronic microprocessor control board (29) is located, passing through the above mentioned mechanical structure which therefore, conceals and protects them from any interference with the user.
  • the above mentioned mechanical structure, which contains the tubular tie rod (24), also protects the user from possible injuries.
  • the two kinematics can therefore gently accompany the user during verticalization, which occurs without effort even in the case of very low mobility, because it faithfully reproduces the physiological roto-translational lifting system of the person; this precision derives from the particular position of the lever articulation that consists of the arm (3') and the fulcrum (19) that is positioned very close to the knee joint of the seated user during the lifting movement of the seat (3).
  • the base (7) of the stabiliser device (9), set up as described, has a pair of compa rtments/grooves (7a, 7b) set-up as a footrest for the user and a pair of knee rests (10a, 10b) that can be adjusted through the adjustable supports (12a, 12b).
  • Fig 6 represents an example of the implementation method of the centralised electronic microprocessor control board (29) to control the invention referred to in this patent application.
  • BlueTooth communication module Through serial radio communication to a Bluetooth module (31), the motherboard (29) communicates with the App to remotely control the equipment via a SmartPhone; in particular, it is possible to move the actuators, the brakes and the wheel motors and have the level of the battery charge displayed together with the tilt inclination of the equipment (39) and the relative alarm and diagnostics.
  • the invention built according to that described, allows a stabiliser that is significantly smaller than known stabilisers to be implemented.
  • the stabiliser referred to in this patent application is particularly easy to handle and can be used to move around indoors.
  • a user with motor difficulties can easily, gradually and independently change their posture from sitting to standing, with the option of stopping in any intermediate condition, to maintain the acquired position with bi-podalic load as well as to move around indoors and outdoors independently and without any assistance, by using the joystick steering control, moving in an upright position, or in any that is deemed to be the most suitable for one's needs.
  • the user can use the invention by transferring directly to the saddle from a seated position (from the wheelchair, sofa, bed, car, etc.) and once correctly positioned, they can activate the lifting system by actuating the controls of the provided push-button panel, to start the verticalizing movement until the best postural solution is found with the utmost individual comfort.
  • the table follows the various movements conveyed, thereby accompanying the user during the rising and lowering stages, which take place in absolute safety. If necessary, a device (11) on the thoracic support of the table allows the device to be blocked in an emergency and is also activated automatically in the event of excessive pressure of the user against the table, thereby stopping the movement of the saddle actuator.
  • the user is adequately contained laterally by two adjustable handles (2, 2') even when static, so as to obtain adequate support, or to facilitate a better grip during transfers, in the starting position or during the various movements.
  • the rear restraint is implemented by the saddle (3), which is fitted with an adjustment system just like the entire structure of the equipment, which allows the equipment to be adapted according to the ergonomic characteristics of the user.
  • the invention is equipment that is designed to be used by all those who have motor difficulties, by those suffering from diseases or injuries in the spinal cord, paraplegics, tetraplegics, multiple sclerosis, Parkinson's disease or muscular pathologies and muscular dystrophies, and anyone who has difficulty to stand up.
  • the invention allows the user to reach and maintain an upright position for better functioning of the respiratory, cardio-circulatory and digestive systems, to move independently, to carry out daily activities in an upright position, to reach objects placed high up, which are otherwise unreachable and to facilitate relational relationships.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Handcart (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Organic Low-Molecular-Weight Compounds And Preparation Thereof (AREA)

Abstract

La présente invention consiste en un dispositif mobile qui permet à des utilisateurs ayant des difficultés motrices de se déplacer facilement, de changer progressivement et indépendamment leur posture d'assis à debout, avec l'option de s'arrêter dans n'importe quel état intermédiaire, de maintenir la position acquise avec une charge bipodale ainsi que de circuler à l'intérieur, indépendamment et sans aucune assistance, en utilisant la commande de direction par joystick, se déplaçant dans une position verticale, ou dans l'une quelconque position qui est considérée comme étant la plus appropriée pour les besoins d'un utilisateur.
EP21790572.8A 2020-10-12 2021-09-30 Stabilisateur statique-dynamique Pending EP4225245A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102020000023869A IT202000023869A1 (it) 2020-10-12 2020-10-12 Stabilizzatore statico-dinamico
PCT/IT2021/050301 WO2022079745A1 (fr) 2020-10-12 2021-09-30 Stabilisateur statique-dynamique

Publications (1)

Publication Number Publication Date
EP4225245A1 true EP4225245A1 (fr) 2023-08-16

Family

ID=74194832

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21790572.8A Pending EP4225245A1 (fr) 2020-10-12 2021-09-30 Stabilisateur statique-dynamique

Country Status (3)

Country Link
EP (1) EP4225245A1 (fr)
IT (1) IT202000023869A1 (fr)
WO (1) WO2022079745A1 (fr)

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100980037B1 (ko) 2008-05-30 2010-09-06 김헌섭 하지마비 환자의 재활운동이 가능한 전동 휠체어
US8459610B2 (en) * 2010-08-09 2013-06-11 Fong-Chin Su Assistance mechanism for assisting patients to stand up
KR101220612B1 (ko) 2011-02-25 2013-01-21 근로복지공단 착석과 기립시 이동이 가능한 이동보조기
DE102011006359B4 (de) 2011-03-29 2015-03-19 MATIA ROBOTICS MEKATRONiK SiSTEMLER AR-GE MÜHENDiSLiK YAZILIM SANAYi VE TiCARET ANONiM SiRICETI Mobilitätsvorrichtung für körperbehinderte Personen und Verfahren zum Aufrichten einer sitzenden körperbehinderten Person und zum Fixieren der Person im Stand auf einer selbstfahrenden Mobilitätsvorrichtung
US10045895B2 (en) 2011-08-24 2018-08-14 Liko Research & Development Ab Patient stand assist and therapy devices and methods
US8850636B2 (en) 2012-06-26 2014-10-07 David C. Gray Personal independent mobility and lift device
WO2014192575A1 (fr) * 2013-05-28 2014-12-04 大和ハウス工業株式会社 Appareil de support pour transfert
KR20160129986A (ko) 2015-04-30 2016-11-10 (주)독도 기립 보조장치
EP3243492B1 (fr) 2016-05-09 2019-02-13 4 Power 4 Fauteuil roulant de verticalisation a trajectoire retro-verticalisante-descendante du repose-pieds
ITUA20163483A1 (it) 2016-05-16 2017-11-16 Scuola Superiore Di Studi Univ E Di Perfezionamento Santanna Dispositivo robotico per la verticalizzazione e la mobilita' di disabili motori gravi
US9999557B2 (en) 2016-07-14 2018-06-19 Challenging Solutions, Inc. Robotic mobility device
CN106333803B (zh) 2016-09-28 2017-08-25 上海邦邦机器人有限公司 一种多用途代步车
CN106214368B (zh) 2016-09-28 2017-09-29 上海邦邦机器人有限公司 一种新型座椅机构及设有该座椅机构的轮椅车
CN108578091B (zh) 2017-06-06 2019-08-13 明光市朗威医疗器械科技有限公司 一种脊髓病人康复智能轮椅
CN107693234A (zh) 2017-11-09 2018-02-16 杭州程天科技发展有限公司 一种麦克纳姆轮驱动的全向助行车
CN108785020A (zh) 2018-09-03 2018-11-13 天津科技大学 一种多功能助行器

Also Published As

Publication number Publication date
WO2022079745A1 (fr) 2022-04-21
IT202000023869A1 (it) 2022-04-12

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