FR3104942B1 - Deambulateur robotise et procede de prevention de chute associe - Google Patents

Deambulateur robotise et procede de prevention de chute associe Download PDF

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Publication number
FR3104942B1
FR3104942B1 FR1915381A FR1915381A FR3104942B1 FR 3104942 B1 FR3104942 B1 FR 3104942B1 FR 1915381 A FR1915381 A FR 1915381A FR 1915381 A FR1915381 A FR 1915381A FR 3104942 B1 FR3104942 B1 FR 3104942B1
Authority
FR
France
Prior art keywords
walker
robotic walker
robotized
wheels
fall prevention
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
FR1915381A
Other languages
English (en)
Other versions
FR3104942A1 (fr
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, FR
Original Assignee
Gema AG
Gema SA
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 FR1915381A priority Critical patent/FR3104942B1/fr
Application filed by Gema AG, Gema SA filed Critical Gema AG
Priority to EP20851287.1A priority patent/EP4076331A1/fr
Priority to KR1020227024193A priority patent/KR20220118477A/ko
Priority to US17/787,382 priority patent/US20230013606A1/en
Priority to AU2020408263A priority patent/AU2020408263A1/en
Priority to PCT/FR2020/052586 priority patent/WO2021123700A1/fr
Priority to CA3162527A priority patent/CA3162527A1/fr
Priority to JP2022538336A priority patent/JP2023507520A/ja
Publication of FR3104942A1 publication Critical patent/FR3104942A1/fr
Application granted granted Critical
Publication of FR3104942B1 publication Critical patent/FR3104942B1/fr
Expired - Fee Related 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

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)

Abstract

L’invention porte sur un déambulateur (1) robotisé comportant un châssis (10) présentant une partie avant (10a), une partie arrière (10b), des roues (11a, 11b, 12) agencées pour supporter la partie arrière (10b) et la partie avant (10a) du châssis (10), une des roues (11a, 11b, 12) étant couplée à un moteur de déplacement (20), le déambulateur (1) robotisé comportant un module de commande (40) configuré pour commander le moteur de déplacement (20), et pour : Déterminer un indicateur d’un mouvement non volontaire d’un utilisateur du déambulateur (1) robotisé pouvant conduire à une chute de l’utilisateur ; Identifier une position précédente à l’instant donné d’au moins deux roues (11a, 11b, 12) ; Transmettre une commande d’arrêt du déambulateur (1) robotisé ; et Transmettre une commande de déplacement du déambulateur (1) robotisé de façon à ce qu’il retrouve la position précédente. Figure à publier avec l’abrégé : FIGURE 9.
FR1915381A 2019-12-20 2019-12-20 Deambulateur robotise et procede de prevention de chute associe Expired - Fee Related FR3104942B1 (fr)

Priority Applications (8)

Application Number Priority Date Filing Date Title
FR1915381A FR3104942B1 (fr) 2019-12-20 2019-12-20 Deambulateur robotise et procede de prevention de chute associe
KR1020227024193A KR20220118477A (ko) 2019-12-20 2020-12-21 로봇식 보행기 및 이와 관련된 낙하 방지 방법
US17/787,382 US20230013606A1 (en) 2019-12-20 2020-12-21 Robotized walker and associated method for preventing falls
AU2020408263A AU2020408263A1 (en) 2019-12-20 2020-12-21 Robotized walker and associated method for preventing falls
EP20851287.1A EP4076331A1 (fr) 2019-12-20 2020-12-21 Déambulateur robotisé et procédé de prévention de chute associé
PCT/FR2020/052586 WO2021123700A1 (fr) 2019-12-20 2020-12-21 Déambulateur robotisé et procédé de prévention de chute associé
CA3162527A CA3162527A1 (fr) 2019-12-20 2020-12-21 Deambulateur robotise et procede de prevention de chute associe
JP2022538336A JP2023507520A (ja) 2019-12-20 2020-12-21 ロボット歩行器及びそれに関連する転倒防止方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1915381 2019-12-20
FR1915381A FR3104942B1 (fr) 2019-12-20 2019-12-20 Deambulateur robotise et procede de prevention de chute associe

Publications (2)

Publication Number Publication Date
FR3104942A1 FR3104942A1 (fr) 2021-06-25
FR3104942B1 true FR3104942B1 (fr) 2022-11-25

Family

ID=69903565

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1915381A Expired - Fee Related FR3104942B1 (fr) 2019-12-20 2019-12-20 Deambulateur robotise et procede de prevention de chute associe

Country Status (8)

Country Link
US (1) US20230013606A1 (fr)
EP (1) EP4076331A1 (fr)
JP (1) JP2023507520A (fr)
KR (1) KR20220118477A (fr)
AU (1) AU2020408263A1 (fr)
CA (1) CA3162527A1 (fr)
FR (1) FR3104942B1 (fr)
WO (1) WO2021123700A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113712788B (zh) * 2021-08-13 2022-06-28 浙江益恒悦医疗科技有限公司 智能助行器的防摔控制方法、智能助行器、控制器
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

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003047635A (ja) * 2001-08-06 2003-02-18 Kochi Univ Of Technology 歩行訓練機
US7708120B2 (en) 2007-08-17 2010-05-04 Eli Einbinder Electronically controlled brakes for walkers
US8418705B2 (en) * 2010-07-30 2013-04-16 Toyota Motor Engineering & Manufacturing North America, Inc. Robotic cane devices
CN103370039B (zh) * 2011-02-23 2015-10-14 株式会社村田制作所 步行辅助车
WO2014188726A1 (fr) * 2013-05-22 2014-11-27 ナブテスコ株式会社 Dispositif électrique d'aide à la marche, programme de commande de dispositif électrique d'aide à la marche, et procédé de commande de dispositif électrique d'aide à la marche
WO2016068141A1 (fr) 2014-10-28 2016-05-06 株式会社クラレ Composition de matériau d'étanchéité
CN107693316A (zh) 2017-11-27 2018-02-16 新昌县城关海顺机械厂 一种防摔倒助行器

Also Published As

Publication number Publication date
JP2023507520A (ja) 2023-02-22
WO2021123700A1 (fr) 2021-06-24
CA3162527A1 (fr) 2021-06-24
AU2020408263A1 (en) 2022-07-14
US20230013606A1 (en) 2023-01-19
KR20220118477A (ko) 2022-08-25
EP4076331A1 (fr) 2022-10-26
FR3104942A1 (fr) 2021-06-25

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PLSC Publication of the preliminary search report

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