FR3056434B1 - Robot mobile d'assistance comprenant au moins un systeme d'appui pivotant - Google Patents

Robot mobile d'assistance comprenant au moins un systeme d'appui pivotant Download PDF

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Publication number
FR3056434B1
FR3056434B1 FR1659321A FR1659321A FR3056434B1 FR 3056434 B1 FR3056434 B1 FR 3056434B1 FR 1659321 A FR1659321 A FR 1659321A FR 1659321 A FR1659321 A FR 1659321A FR 3056434 B1 FR3056434 B1 FR 3056434B1
Authority
FR
France
Prior art keywords
support system
pivoting support
robot including
assistance robot
mobile assistance
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.)
Expired - Fee Related
Application number
FR1659321A
Other languages
English (en)
Other versions
FR3056434A1 (fr
Inventor
Vincent Dupourque
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.)
Kompai Robotics
Original Assignee
Kompai Robotics
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
Priority to FR1659321A priority Critical patent/FR3056434B1/fr
Application filed by Kompai Robotics filed Critical Kompai Robotics
Priority to ES17787472T priority patent/ES2863666T3/es
Priority to CN201780060634.8A priority patent/CN109862861B/zh
Priority to PCT/FR2017/052601 priority patent/WO2018060597A1/fr
Priority to US16/337,671 priority patent/US10603244B2/en
Priority to EP17787472.4A priority patent/EP3518858B1/fr
Priority to JP2019515851A priority patent/JP2019536498A/ja
Publication of FR3056434A1 publication Critical patent/FR3056434A1/fr
Application granted granted Critical
Publication of FR3056434B1 publication Critical patent/FR3056434B1/fr
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving 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
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary 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
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A61H2201/1223—Frequency controlled AC motor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5025—Activation means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5038—Interfaces to the user freely programmable by the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5043—Displays
    • 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
    • A61H2201/5069—Angle 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
    • A61H2201/5079—Velocity sensors

Landscapes

  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)

Abstract

L'invention a pour objet un robot mobile comprenant une base mobile (12) et un système d'appui (30) configuré pour être saisi par une personne, caractérisé en ce que le système d'appui (30) est configuré pour pivoter librement par rapport à la base mobile (12) selon un axe de rotation (A22) vertical.
FR1659321A 2016-09-29 2016-09-29 Robot mobile d'assistance comprenant au moins un systeme d'appui pivotant Expired - Fee Related FR3056434B1 (fr)

Priority Applications (7)

Application Number Priority Date Filing Date Title
FR1659321A FR3056434B1 (fr) 2016-09-29 2016-09-29 Robot mobile d'assistance comprenant au moins un systeme d'appui pivotant
CN201780060634.8A CN109862861B (zh) 2016-09-29 2017-09-27 包括至少一个枢转支持系统的辅助移动机器人
PCT/FR2017/052601 WO2018060597A1 (fr) 2016-09-29 2017-09-27 Robot mobile d'assistance comprenant au moins un systeme d'appui pivotant
US16/337,671 US10603244B2 (en) 2016-09-29 2017-09-27 Mobile assistance robot comprising at least one pivoting bearing system
ES17787472T ES2863666T3 (es) 2016-09-29 2017-09-27 Robot móvil de ayuda que comprende al menos un sistema de apoyo pivotante
EP17787472.4A EP3518858B1 (fr) 2016-09-29 2017-09-27 Robot mobile d'assistance comprenant au moins un système d'appui pivotant
JP2019515851A JP2019536498A (ja) 2016-09-29 2017-09-27 少なくとも１つの枢動支えシステムを含む介助用稼働ロボット

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1659321A FR3056434B1 (fr) 2016-09-29 2016-09-29 Robot mobile d'assistance comprenant au moins un systeme d'appui pivotant
FR1659321 2016-09-29

Publications (2)

Publication Number Publication Date
FR3056434A1 FR3056434A1 (fr) 2018-03-30
FR3056434B1 true FR3056434B1 (fr) 2020-02-07

Family

ID=57680405

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1659321A Expired - Fee Related FR3056434B1 (fr) 2016-09-29 2016-09-29 Robot mobile d'assistance comprenant au moins un systeme d'appui pivotant

Country Status (7)

Country Link
US (1) US10603244B2 (fr)
EP (1) EP3518858B1 (fr)
JP (1) JP2019536498A (fr)
CN (1) CN109862861B (fr)
ES (1) ES2863666T3 (fr)
FR (1) FR3056434B1 (fr)
WO (1) WO2018060597A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109381325B (zh) * 2018-10-10 2021-02-05 上海傅利叶智能科技有限公司 一种延续性强的五自由度混联下肢康复机器人

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10216183A (ja) * 1997-02-04 1998-08-18 Sony Corp 歩行補助装置と歩行補助方法
FR2796548B1 (fr) * 1999-07-19 2001-10-05 Burin Gilles Payet Ambulateur a moteur d'assistance a la marche
JP2007139710A (ja) * 2005-11-22 2007-06-07 Advanced Telecommunication Research Institute International 歩行補助ロボット
JP2007301071A (ja) * 2006-05-10 2007-11-22 Toyota Motor Corp 歩行介助装置
WO2008062408A2 (fr) * 2006-11-22 2008-05-29 Noga Nishry Dispositif de mobilité personnel
FR2916152B1 (fr) 2007-05-14 2010-03-05 Robosoft Robot polyvalent
KR100963276B1 (ko) * 2008-07-21 2010-06-11 이선경 전동식 보행기
DE102008049035A1 (de) * 2008-09-25 2010-04-01 Schaeffler Kg Stützhilfe zur Unterstützung einer Person
JP2011224294A (ja) * 2010-04-19 2011-11-10 Shiro Numata 歩行補助装置
CN102551994B (zh) * 2011-12-20 2013-09-04 华中科技大学 一种康复助行机器人及其控制系统
DE202012007865U1 (de) * 2012-08-16 2012-08-27 Gerd Wilsdorf Gehwagen
JP2014230681A (ja) * 2013-05-30 2014-12-11 船井電機株式会社 パワーアシスト装置及び歩行補助車
WO2015011839A1 (fr) * 2013-07-26 2015-01-29 富士機械製造株式会社 Robot d'assistance
JP6187049B2 (ja) * 2013-08-30 2017-08-30 船井電機株式会社 歩行アシスト移動体
JP5800110B2 (ja) * 2013-10-10 2015-10-28 株式会社村田製作所 手押し車
US9677774B2 (en) 2015-06-08 2017-06-13 Alto-Shaam, Inc. Multi-zone oven with variable cavity sizes
CN205108273U (zh) * 2015-11-26 2016-03-30 哈尔滨博强机器人技术有限公司 一种适应调节和互动辅助行走机器人
SE540001C2 (en) * 2016-04-05 2018-02-20 Kyttinge Invest Ab Self-propelling trolley assembly
CN208710425U (zh) * 2017-10-06 2019-04-09 原星股份有限公司 助行车的座面结构

Also Published As

Publication number Publication date
CN109862861B (zh) 2021-09-21
US20190269572A1 (en) 2019-09-05
US10603244B2 (en) 2020-03-31
EP3518858A1 (fr) 2019-08-07
WO2018060597A1 (fr) 2018-04-05
FR3056434A1 (fr) 2018-03-30
CN109862861A (zh) 2019-06-07
ES2863666T3 (es) 2021-10-11
EP3518858B1 (fr) 2020-12-23
JP2019536498A (ja) 2019-12-19

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