KR20200107780A - Power-Assisted Wheelchair Platform - Google Patents

Abstract

Disclosed are a handle assembly and a wheelchair platform for reinforcing muscular power including the same. According to the present invention, the wheelchair platform for reinforcing muscular power comprises: a body unit on which a user can sit; a driving wheel unit placed on the body unit to move the body unit based on signals; the handle assembly placed to be apart from the body unit; a first sensor unit placed in a first direction to connect the handle assembly to the body unit; and a second sensor unit placed in a second direction crossing the first direction, and connecting the handle assembly to the body unit. Driving of the driving wheel unit is controlled based on the results detected by the first sensor unit and the second sensor unit. The handle assembly and the wheelchair platform for reinforcing muscular power are able to be easily used even by the elderly.

Description

Power-Assisted Wheelchair Platform}

Embodiments of the present invention relate to a device, and more particularly, to a strength-enhancing wheelchair platform.

In developed countries, the rate of population aging is accelerating and the demand for wheelchairs is increasing. In an aging society, wheelchairs are used not only for medical purposes, but also for mobility, and it is expected that a wheelchair that is more suitable for the physical condition of elderly users is required.

Existing wheelchairs have various problems. According to the data from Consumer Agency, about 403% of electric wheelchair occupants answered that they had an accident. The main cause of accidents was the physical environment, which was the highest at 482%, and 412% of all accidents occurred on slope driving. Meanwhile, about 98% of nursing care workers were found to suffer from musculoskeletal symptoms, and the most frequently performed task was the wheelchair movement task.

Prior research on this has been the development of a wheelchair that safely interacts with the human body through a hand rim to assist the occupant's strength and a haptic interaction.

Embodiments of the present invention provide a strength-enhancing wheelchair platform.

An embodiment of the present invention includes a body part in which a user can be seated, a driving wheel part disposed on the body part and moving the body based on a signal, a handle assembly disposed to be spaced apart from the body part, and a first A first sensor part arranged in a direction and connecting the handle assembly and the body part, and a second sensor part arranged in a second direction crossing the first direction and connecting the handle assembly and the body part, The driving wheel unit initiates a muscle strength enhancing wheelchair platform in which driving is controlled based on a result detected by the first sensor unit and the second sensor unit.

In another embodiment of the present invention, a body part that a user can sit on and can run, a driving wheel part disposed on the body part and driving the body based on a signal, and a first handle body part coupled to the body part And, a handle assembly including a second handle body portion connected to the first handle body portion at an angle with the first handle body portion, and arranged in a first direction, and connects the first handle body portion and the body portion A second sensor unit arranged in a second direction crossing the first direction and connecting the first handle body unit to the body unit; and the first handle body unit and the second handle unit A third sensor unit connected to the body unit and configured to sense a torque of the second handle body unit, and the driving wheel unit increases muscle strength in which driving is controlled based on a result detected by the first sensor unit and the second sensor unit. Initiate a wheelchair platform.

In this embodiment, the first direction and the second direction may be oblique lines with respect to the straight direction of the body part.

In the present embodiment, a gripping part coupled to the handle assembly and capable of being gripped by a user from a side of the body part may be further included.

In this embodiment, both ends of the first sensor unit and both ends of the second sensor unit may be fixed to the handle assembly and the body.

In this embodiment, the equivalent force and the equivalent moment at the center of the handle assembly may be calculated based on the result sensed by the first sensor unit and the force sensed by the second sensor unit.

In the present embodiment, the driving force of the driving wheel may be determined based on the equivalent force and the equivalent moment.

In another embodiment of the present invention, a first handle body part, a second handle body part connected to the first handle body part at a predetermined angle, and a first direction between the second handle body part and an external object And a first sensor unit connecting the first handle body and the external object, and arranged in a second direction between the first handle body and the external object, and the first handle body and the external object Disclosed is a handle assembly including a second sensor unit connecting an object.

In another embodiment of the present invention, a first handle body part, a second handle body part connected to the first handle body part at a predetermined angle with the first handle body part, and the second handle body part A first sensor unit that is arranged between objects in a first direction, connects the first handle body to the external object, and is arranged in a second direction between the first handle body and the external object, and the second A handle including a second sensor unit connecting the first handle body and the external object, and a third sensor unit connecting the first handle body and the second handle body and sensing torque of the second handle body Initiate assembly.

In this embodiment, each of both ends of the first sensor part and both ends of the second sensor part may be fixed to the first handle body part and the body part of an external object.

In this embodiment, the first direction and the second direction may be diagonal with respect to the longitudinal direction of the first handle body.

In the present embodiment, the handle assembly may further include a gripping part that can be gripped by a user from a side of the body part of the external object.

Other aspects, features, and advantages than those described above will become apparent from the following drawings, claims, and detailed description of the invention.

These general and specific aspects may be practiced using a system, method, computer program, or any combination of systems, methods, and computer programs.

Embodiments of the present invention can be easily used by the elderly. Embodiments of the present invention can solve the muscle burden and safety problems in driving when assisting the existing wheelchair by providing a technology for enhancing muscle strength and a technology for automatically stopping and enhancing straightness.

Embodiments of the present invention are suitable for various interface applications and performance experiments.

1 is a perspective view showing a muscle strength enhancement wheelchair platform according to an embodiment of the present invention.
FIG. 2 is a plan view schematically showing the muscle enhancing wheelchair platform shown in FIG. 1.
3 is a conceptual diagram showing the handle assembly shown in FIG. 1.
4 is a perspective view showing the gripping portion shown in FIG. 3.
5 is a conceptual diagram showing a handle assembly of a muscle strength enhancing wheelchair platform according to another embodiment of the present invention.

Since the present invention can apply various transformations and have various embodiments, specific embodiments are illustrated in the drawings and will be described in detail in the detailed description. Effects and features of the present invention, and a method of achieving them will be apparent with reference to the embodiments described later in detail together with the drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various forms.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and when describing with reference to the drawings, the same or corresponding constituent elements are assigned the same reference numerals, and redundant descriptions thereof will be omitted. .

In the following embodiments, terms such as first and second are not used in a limiting meaning, but are used for the purpose of distinguishing one component from another component.

In the following examples, the singular expression includes the plural expression unless the context clearly indicates otherwise.

In the following embodiments, terms such as include or have means that the features or elements described in the specification are present, and do not preclude the possibility of adding one or more other features or elements in advance.

In the drawings, components may be exaggerated or reduced in size for convenience of description. For example, the size and thickness of each component shown in the drawings are arbitrarily shown for convenience of description, and the present invention is not necessarily limited to what is shown.

In the following embodiments, the x-axis, y-axis, and z-axis are not limited to three axes on a Cartesian coordinate system, and may be interpreted in a broad sense including them. For example, the x-axis, y-axis, and z-axis may be orthogonal to each other, but may refer to different directions that are not orthogonal to each other.

When a certain embodiment can be implemented differently, a specific process order may be performed differently from the described order. For example, two processes described in succession may be performed substantially simultaneously, or may be performed in an order opposite to the described order.

1 is a perspective view showing a muscle strength enhancement wheelchair platform according to an embodiment of the present invention. FIG. 2 is a plan view schematically showing the muscle enhancing wheelchair platform shown in FIG. 1. 3 is a conceptual diagram showing the handle assembly shown in FIG. 1. 4 is a perspective view showing the gripping portion shown in FIG. 3.

1 to 4, the muscle strength enhancement wheelchair platform 1 may include a body part 100, a driving wheel part 300, a wheel part 400, an auxiliary wheel part 500, and a handle assembly 200. .

The body part 100 may be seated by the user, and the driving wheel part 300 may be disposed to move according to the operation of the driving wheel part 300.

The body portion 100 as described above includes a first frame portion 110, a second frame portion 120, a seating portion 130, an armrest portion 140, a first suspension portion (not shown), and a second suspension. A unit 150, a link unit 160, a tipping lever unit 170, a footrest unit 180, and a driving unit 190 may be included.

The first frame part 110 may support the entire body part 100. In this case, a plurality of frames, plates, etc. may be coupled to each other in the first frame unit 110. At this time, the first frame unit 110 may support the user's back, and various devices may be disposed.

One end of the second frame unit 120 may be connected to the first frame unit 110 to enable linear movement. In this case, the second frame unit 120 may be connected to be foldable with respect to the first frame unit 110. In addition, the seating unit 130 may be rotatably connected to the second frame unit 120. The second frame part 120 may have a space therein.

The second frame unit 120 as described above may include a main frame 121 slidably connected to the first frame unit 110 and a sliding frame 122 linearly moving to the main frame 121. In this case, a space may be formed inside the main frame 121, and a part of the sliding frame 122 may be inserted into the main frame 121. In addition, the wheel 400 may be rotatably connected to the sliding frame 122.

The seating unit 130 may be rotatably connected to the first frame unit 110. In addition, the seating unit 130 may be rotatably connected to the second frame unit 120. In this case, the seating unit 130 may be formed in a plate shape so that the user can seat.

The armrest part 140 may be rotatably connected to the second frame part 120. In this case, the armrest part 140 may be formed to be selectively fixed in position. For example, the armrest part 140 may form a certain angle with the surface of the second frame part 120 when the user uses it, and the second frame when the user does not use or the strength-enhancing wheelchair platform 1 is folded. The outer surface of the second frame part 120 may be in contact with the outer surface of the part 120 so as to be substantially parallel to the outer surface of the part 120. In this case, one of the armrest part 140 or the second frame part 120 may be provided with a sensor that detects whether the armrest part 140 is folded.

The first suspension unit (not shown) may connect the main frame 121 and the sliding frame 122. In this case, when the sliding frame 122 is inserted into the main frame 121 and performs a sliding movement, the first suspension unit may limit the movement distance of the sliding frame 122 and reduce vibration of the sliding frame 122. . In addition, when vibration is transmitted to the wheel unit 400, the first suspension unit may prevent the vibration of the wheel unit 400 from being transmitted to the first frame unit 110 and the seating unit 130. The first suspension unit may include a damper such as a cylinder or a spring connecting the main frame 121 and the sliding frame 122.

The second suspension unit 150 may connect the first frame unit 110 and the link unit 160. In this case, the second suspension unit 150 may reduce vibration transmitted from the driving wheel unit 300. The second suspension unit 150 as described above may include at least one of a second damper (not shown) and a second elastic member (not shown). The second damper may be in the form of a hydraulic cylinder. The second elastic member may be disposed to be spaced apart from the second damper, and may be disposed between the first frame unit 110 and the link unit 160. In this case, the second elastic member may include a coil spring, a plate spring, and the like.

The link unit 160 is rotatably connected to the first frame unit 110 or the driving unit 190 and may include a link 161 rotatably connected to the driving wheel unit 300. In this case, the link 161 may be connected to the second suspension unit 150.

The tipping lever unit 170 may be connected to the first frame unit 110. In this case, the tipping lever unit 170 may be disposed to protrude in a direction opposite to the traveling direction of the body unit 100. Particularly, the tipping lever unit 170 may have a flat upper surface so that a user can step on it with a foot, and a portion of the upper surface may have irregularities.

The footrest part 180 may be connected to the second frame part 120. The footrest part 180 may include a connection frame 181 protruding from the second frame part 120 and a footrest plate 182 rotatably disposed on the connection frame 181. In this case, the connection frame 181 may be fixed to the main frame 121. In this case, one of the connection frame 181 or the footrest plate 182 may be provided with a sensor that detects whether the footrest plate 182 is folded.

The driving unit 190 is disposed on the first frame unit 110 and is connected to the second frame unit 120 to linearly move the end of the second frame unit 120. At this time, the driving unit 190 is connected to the driving force generation unit (not shown), the driving force generation unit and the movement unit (not shown) connected to the ends of the second frame unit 120 to perform linear movement, and is connected to the movement unit, and the first frame A roller part (not shown) may be inserted into the part 110 to perform linear motion, and connect the exercise part and the second frame part 120 to each other. In this case, the driving force generating unit may include a cylinder or may include a motor and a ball screw. In another embodiment, the driving force generating unit may include a linear motor connected to the moving unit.

The driving wheel part 300 may be disposed on the first frame part 110. In this case, the driving wheel unit 300 may generate a driving force according to an external signal. In this case, the driving wheel unit 300 may include a wheel disposed outside and an in-wheel motor disposed inside the wheel.

The wheel part 400 may be rotatably connected to the second frame part 120. That is, the wheel part 400 may be disposed between the lower surface of the second frame part 120 and the ground, and may rotate based on the height direction. In addition, the wheel part 400 may be rotated based on a center of rotation parallel to the ground. In this case, the wheel part 400 may rotate to face the moving direction of the body part 100, and at the same time, it may rotate according to the movement of the body part 100. The wheel unit 400 does not generate a separate driving force, and may serve to support the muscle strength enhancing wheelchair platform 1 against the ground according to the operation of the driving wheel unit 300. In this case, the wheel part 400 may be formed in various shapes such as a caster wheel and an omni wheel.

The auxiliary wheel part 500 may be rotatably disposed on the first frame part 110. At this time, the auxiliary wheel part 500 may rotate based on a rotation axis parallel to the ground. The direction of the auxiliary wheel part 500 may not change according to the direction change of the body part 100. The auxiliary wheel part 500 may support the body part 100 when the user applies a force to the tipping lever part 170 to lift the wheel part 400 or when climbing or descending a stepped part such as a staircase.

The handle assembly 200 may be connected to the body portion 100 in various ways. For example, the handle assembly 200 may be disposed to be spaced apart from the body part 100 and connected to the body part 100 through the sensor part at least two parts.

The strength-enhancing wheelchair platform 1 may drive the strength-enhancing wheelchair platform 1 based on an input value input from the handle assembly 200. For example, when the user applies a force to the handle assembly 200 from the rear of the muscle strength wheelchair platform 1, the user's force applied to the handle assembly 200 may be measured. In this case, the handle assembly 200 may measure the user's force in at least two portions and move the muscle strength enhancing wheelchair platform 1 forward or rotate based on the difference in the user's force.

Specifically, when the user's force measured in at least two portions is the same, the strength-enhancing wheelchair platform 1 may go straight or go backward. In addition, when the user's forces measured in at least two portions are different from each other, the muscle strength enhancing wheelchair platform 1 may be rotated through the difference in force. In this case, the rotation speed may be determined by a difference in the magnitude of the force, and the rotation direction may be determined as a direction of the resultant force according to the sum of the force vectors. As another embodiment, it is also possible to determine the driving direction and driving speed of the strength-enhancing wheelchair platform 1 by converting the vector of force measured in at least two parts into a vector and a moment of the resultant force applied at the center of the handle assembly. .

The strength-enhancing wheelchair platform 1 may be operated from the side of the strength-enhancing wheelchair platform 1 in addition to the case where the guardian operates from the rear of the strength-enhancing wheelchair platform 1. In this case, the muscle strength-enhancing wheelchair platform 1 may detect the side manipulation of the guardian and control the driving.

The handle assembly 200 as described above will be described in detail below.

On the other hand, the muscle strength enhancement wheelchair platform 1 as described above may be foldable. Specifically, when the driving force generating unit is operated, the end of the second frame unit 120 may be moved while the movement unit is moving.

When the end of the second frame part 120 moves linearly, the second frame part 120 rotates around the end of the second frame part 120 to move linearly, so that the second frame part 120 may become close to the first frame part 110. have. In this case, the wheel part 400 may be close to the driving wheel part 300. In addition, the seating portion 130 rotates around the first frame portion 110 according to the motion of the second frame portion 120, and the end of the seating portion 130 moves upward to the first frame portion 110. Can adhere to. In this case, the first frame unit 110 or the second frame unit 120 may be provided with a sensor that detects whether the first frame unit 110 and the second frame unit 120 are close to each other. In another embodiment, a sensor for detecting the position of the moving part may be provided inside the first frame part 110. The operation of the driving force generating unit may be stopped based on a result detected by such a sensor. Through this, the degree of folding of the second frame unit 120 may be determined.

Therefore, the strength-enhancing wheelchair platform 1 can be automatically folded, thereby increasing portability. In addition, the strength enhancement wheelchair platform 1 can be operated by a guardian from the user's side.

The strength-enhancing wheelchair platform 1 can move smoothly in various directions.

The handle assembly 200 may include a first handle body part 210, a second handle body part 220, a first sensor part 230, a second sensor part 240, and a gripping part 250. .

The first handle body 210 may be arranged in a direction perpendicular to the straight direction of the strength enhancing wheelchair platform 1 when the strength enhancing wheelchair platform 1 goes straight. The first handle body part 210 may have a shape that can be gripped by a user, and may be formed in a rod shape.

The second handle body 220 may be arranged with the first handle body 210 at a predetermined angle. In this case, the second handle body part 220 may be bent from the first handle body part 210. In such a case, the second handle body unit 220 may allow the user to manipulate the strength-enhancing wheelchair platform 1 while standing on the side of the strength-enhancing wheelchair platform 1.

The first sensor unit 230 and the second sensor unit 240 may measure a force applied from the first handle body part 210 or the second handle body part 220. In this case, the first sensor unit 230 and the second sensor unit 240 may protrude from the second handle body unit 220 toward the body unit 100. In this case, the handle assembly 200 may be connected to the body part 100 through the first sensor part 230 and the second sensor part 240. In this case, the first sensor unit 230 and the second sensor unit 240 may be connected to the first frame unit 110. In particular, in the above case, the handle assembly 200 may be completely separated from the body portion 100.

The first sensor unit 230 and the second sensor unit 240 may be arranged in a first direction and a second direction, respectively. In this case, the first sensor unit 230 and the second sensor unit 240 may be arranged diagonally with respect to the length direction of the first handle body unit 210. For example, the longitudinal direction of the first sensor unit 230 forms a first angle (α _L ) with the outer surface of the first handle body unit 210, and the longitudinal direction of the second sensor unit 240 is a first The outer surface of the handle body 210 and a second angle α _R may be formed. In this case, the first angle α _L and the second angle α _R may each be an acute angle. In this case, the first sensor unit 230 and the second sensor unit 240 may be disposed in a shape and position symmetrical to each other with respect to the center of the first handle body unit 210.

The gripping part 250 may be connected to the second handle body part 220. In particular, the gripping part 250 may be connected to one end of the second handle body part 220. In this case, one end of the gripping part 250 may be different from the other end of the second handle body part 220 connected to the first handle body part 210. The gripping part 250 as described above may include a connection part 251 connected to the second handle body part 220 and a rotation part 252 rotatably coupled to an end of the connection part 251. In this case, the connection part 251 may be vertically arranged with respect to the length direction of the second handle body part 220. In particular, the connection part 251 may protrude from the second handle body part 220 in the height direction.

Looking at the operation of the muscle strength-enhancing wheelchair platform 1 as described above, it is possible for the user to move the body part 100 on which the patient is seated by applying a force to the handle assembly 200.

In the above case, when a user applies a force to the first handle body 210, the first sensor unit 230 and the second sensor unit 240 can measure the force applied to the first handle body unit 210, respectively. I can. The strength-enhancing wheelchair platform 1 may be controlled based on the force measured by the first sensor unit 230 and the second sensor unit 240. For example, when a user grasps the first handle body part 210 and applies a force to the first handle body part 210, the result detected by the first sensor part 230 and the second sensor part 240 is As a basis, it is possible to control the movement of the strength-enhancing wheelchair platform 1 at the center of the first handle body part 210. For example, based on the first force (f _S,L ) measured by the first sensor unit 230 and the second force (f _S,R ) measured by the second sensor unit 240, each driving wheel unit ( 300) can be controlled. The driving force of each driving wheel unit 300 may be calculated by the following equation.

[Equation 1]

Here, F _TL and F _TR are the driving force of the driving wheel unit 300 adjacent to the first sensor unit 230, the driving force of the driving wheel unit 300 adjacent to the second sensor unit 240, Gain is a constant, and T is a matrix. Can be In addition, F _E,y is the sum of the forces of the components in the moving direction of the muscle strength enhancing wheelchair platform 1 measured by each sensor unit, and M _E is when the user grips the first handle body 210 and applies the force. It may mean a moment at which the first handle body part 210 rotates with respect to the center of the first handle body part 210 by at least two or more forces applied to the first handle body part 210. In this case, when the driving force of each driving wheel unit 300 is calculated, the matrix T is not indicated above, but the unit of the moment may be converted into force. That is, in Equation 1 above, a conversion for unit conversion is not necessary in a portion multiplied by a force, but a unit of a moment can be converted into a unit of force in a portion multiplied by a moment. For example, the unit of column 1, 2 rows and 2 columns of T may be 1/m. As another example, the unit of column 1, row 1 and column 2 of T may be m.

In order to calculate Equation 1 as above, the driving force of each driving wheel unit 300 is the force measured by the first sensor unit 230 and the second sensor unit when a user applies a force to the first handle body unit 210. The force measured at 240 may be converted into a force and a moment applied to the center of the first handle body 210.

In this case, the resultant force and the equivalent moment F _{E, y} and M _E can be calculated by Equation 2 below.

[Equation 2]

Here, α _L means an angle between the length direction of the first handle body 210 and the length direction of the first sensor unit 230, and α _R is the length direction of the first handle body 210 It may mean an angle formed by the length direction of the second sensor unit 240. In this case α _L and α _R are the same or may be different from one another, but in the following description for convenience of α _L and α _R is will be described in detail mainly equal to each other. In particular, it will be described in detail focusing on the case where α _L and α _R are 45 degrees. f _S,L may be a force measured by the first sensor unit 230, and f _S,R may be a force measured by the second sensor unit 240. In this case, f _S,L and f _S,R can assume that the compression direction is +. In addition, D _S is the distance from the point at which the first sensor unit 230 and the first handle body unit 210 are connected to the point at which the second sensor unit 240 and the first handle body unit 210 are connected. I can.

It is also possible to control the strength-enhancing wheelchair platform 1 by the user gripping only the gripping unit 250 while controlling the strength-enhancing wheelchair platform 1 based on the force applied to the first handle body unit 210 as described above. Do. In this case, it may be controlled differently from the case in which the user grips the first handle body 210.

Specifically, when the user applies a force to the gripping unit 250, the first handle body unit 210 as shown in Equation 3 below may generate an equivalent force and a moment equivalent to the following by this force.

[Equation 3]

는 파지부(250)에 사용자가 가하는 힘의 벡터일 수 있으며,

는

를 제1핸들바디부(210)의 중심에 가해진다고 가정할 때의 등가 힘의 벡터일 수 있다. L_H1은 제1핸들바디부(210)의 전체 길이를 의미할 수 있으며, L_h2는 제2핸들바디부(220)의 전체 길이를 의미할 수 있다. F_h,y는

중 제2핸들바디부(220)의 길이 방향의 힘 성분, F_h,x는

중 제1핸들바디부(210)의 길이 방향의 힘 성분일 수 있다. 또한, M_E는 파지부(250)에 가해지는 힘에 의하여 직접 제1핸들바디부(210)의 중심에서 회전하려고 하는 모멘트일 수 있다. 상기와 같은 경우 근력 증강 휠체어 플랫폼(1)은 환자가 안착하는 경우 제1핸들바디부(210)의 중심과 무게 중심이 거의 일치할 수 있다. 따라서 상기와 같이 파지부(250)에 사용자가 힘을 가하는 경우 사용자의 힘에 의하여 회전하려는 모멘트가 발생할 수 있다. 이러한 경우 사용자가 가하는 힘에 의하여 회전하는 성분을 제거하여야만 사용자자가 파지부(250)를 파지하여 힘을 가하는 경우에도 사용자의 힘에 따라 정확한 제어를 수행하는 것이 가능하다. 특히 사용자의 힘 중 제1핸들바디부(210)의 힘에 의하여 발생하는 모멘트를 얼마나 효과적으로 제거하는지가 중요한 문제일 수 있다. here,

May be a vector of force exerted by the user on the gripping part 250,

Is

It may be a vector of the equivalent force assuming that is applied to the center of the first handle body part 210. L _H1 may refer to the total length of the first handle body part 210, and L _h2 may refer to the total length of the second handle body part 220. F _h,y is

Among them, the force component in the longitudinal direction of the second handle body 220, F _h,x is

Among them, it may be a force component in the longitudinal direction of the first handle body part 210. In addition, M _E may be a moment that attempts to rotate directly at the center of the first handle body 210 by a force applied to the gripping portion 250. In the above case, the center of gravity of the first handle body 210 and the center of gravity of the muscle strength enhancing wheelchair platform 1 may substantially coincide when the patient is seated. Therefore, when a user applies a force to the gripping part 250 as described above, a moment to rotate by the user's force may occur. In this case, only when the rotating component is removed by the force exerted by the user, it is possible to perform precise control according to the user's force even when the user grasps the gripping unit 250 and applies the force. In particular, how effectively a moment generated by the force of the first handle body 210 is removed among the user's forces may be an important issue.

In order to perform the above-described operation, the driving force of both of the driving wheel units 300 may be controlled through Equation 4 below.

[Equation 4]

는 제1핸들바디부(210)의 중심에서 F_h,x만을 사용하는 경우 발생하는 가상의 모멘트일 수 있다. 이러한

는 하기의 수학식 5를 통하여 산출될 수 있다. Where F _{E, y} can be calculated via the F _{h, y} through the equation (6) below or the same as the output F _{h, y} through the equation (2). remind

May be a virtual moment generated when only F _{h, x} is used at the center of the first handle body 210. Such

Can be calculated through Equation 5 below.

[Equation 5]

Meanwhile, Equation 3 may be used to calculate M _E of Equation 4 as described above. In this case, F _h,x and F _h,y of Equation 3 may be calculated through Equation 6 below based on values measured by the first sensor unit 230 and the second sensor unit 240.

[Equation 6]

를 산출할 수 있다. 이후 수학식 4를 근거로 구동휠부(300)의 각 구동력을 산출하여 근력 증강 휠체어 플랫폼(1)의 운동을 제어할 수 있다. M _E may be calculated by substituting F _h,x and F _h,y calculated as described above into Equation 3. Also, by substituting F _h,x in Equation 5

Can be calculated. Thereafter, each driving force of the driving wheel unit 300 may be calculated based on Equation 4 to control the movement of the muscle strength-enhancing wheelchair platform 1.

When the user is controlled through the first handle body part 210, the driving force of each driving wheel part 300 of the muscle strength-enhancing wheelchair platform 1 may be controlled through Equation 1 above.

When the user controls the strength-enhancing wheelchair platform 1 through the gripper 250, it may be controlled in two ways as follows. In this case, when the user grips the gripper 250 to control the muscle strength enhancing wheelchair platform 1, the input unit 260 may determine whether the gripper 250 is used by the user. The input unit 260 may be formed in various shapes. For example, the input unit 260 may include a touch sensor such as a touch sensor. As another exemplary embodiment, the input unit 260 may include a non-contact sensor, such as an optical sensor or an ultrasonic sensor, that detects the user in a non-contact manner when the user is within a certain distance. As another embodiment, the input unit 260 may be in the form of a switch or button through which a user inputs an input signal. In this case, the input unit 260 is not limited to the above, and may include all devices and all structures that detect whether the user has gripped the gripping unit 250.

As described above, when the user applies a force to the gripping unit 250 to control the muscle strength enhancing wheelchair platform 1, the user may apply a force in the same direction as the length direction of the second handle body unit 220. In another embodiment, the user may apply a force to the gripping part 250 in a diagonal direction with respect to the longitudinal direction of the second handle body part 220.

는 0이 될 수 있다. First, when the user applies a force to the gripping unit 250 in the same direction as the length direction of the second handle body unit 220, the muscle strength enhancement wheelchair platform is based on the force applied by the user based on Equations 3 to 6 (1) can be controlled. In this case, F _h,x in Equations 3 to 5 may be 0. In the above case

Can be 0.

In this case, F _TL and F _TR may be Equation 6 below.

[Equation 7]

Here, when the driving force of each driving wheel unit 300 is calculated as described above, the control unit (not shown) may control the driving force of the driving wheel unit 300 based on these contents. In this case, the control unit may control the driving force of each driving wheel unit 300 differently from each other. Specifically, as described above, even if the user applies a force to the gripping unit 250 only in the longitudinal direction of the second handle body unit 220, the muscle strength enhancing wheelchair platform 1 may try to rotate due to this force. have. In this case, the driving force of each driving wheel unit 300 may be controlled differently from each other so as to prevent the muscle strength enhancing wheelchair platform 1 from rotating due to the force applied by the user to the gripping unit 250. In particular, when M _E calculated by Equation 3 in Equation 7 is substituted, the driving force of each driving wheel unit 300 is determined by the gripping unit 250 at the center of the first handle body unit 210 with reference to FIG. 1. Since it is disposed on the left as a reference, the left side may be smaller than the right side based on FIG. 1. In this case, the strength-enhancing wheelchair platform 1 may not rotate due to the force applied by the user to the gripping unit 250.

In addition to the above cases, when a user applies a force to the gripping part 250 in a diagonal direction having a predetermined angle with respect to the length direction of the second handle body 220, the user's force applied to the gripping part 250 is the first handle It may have a force component corresponding to the length direction of the body part 210 and the length direction of the second handle body part 220.

In this case, as disclosed in Equations 3 to 6, F _TL and F _TR may be determined. In the above case, the strength-enhancing wheelchair platform 1 is strengthened by the force applied by the user when the strength-enhancing wheelchair platform 1 does not remove the moment to rotate itself by the force applied by the user to the gripping unit 250 Due to the rotation of the wheelchair platform 1 and the rotational force of the muscle strength enhancing wheelchair platform 1 by the driving force of each driving wheel unit 300, the muscle strength enhancing wheelchair platform 1 may rotate excessively. In this case, the rotation of the muscle strength enhancing wheelchair platform 1 by each driving wheel unit 300 may be calculated through Equation 2 above.

As described above, in order to rotate the muscle strength-enhancing wheelchair platform 1 so as to correspond to the force applied to the gripping part 250 in the same manner as when the user applies the force to the first handle body part 210, the gripping part 250 is applied. The amount of rotation by which the muscle-enhancing wheelchair platform 1 rotates by the user's force should be considered. To this end, in consideration of the amount of rotation by which the muscle strength enhancing wheelchair platform 1 rotates by the user's force applied to the gripping unit 250 through Equations 3 to 6 as described above, the driving wheel unit 300 You can control the driving force.

Specifically, values corresponding to each component are obtained through Equation 3, Equation 4, and Equation 6, and these values are substituted into Equation 5 to calculate the driving force of each driving wheel unit 300. In this case, the driving force of each driving wheel unit 300 may be different from each other as described above. For example, the driving force of the driving wheel unit 300 disposed closer to the gripping unit 250 may be less than the driving force of the driving wheel unit 300 disposed farther to the gripping unit 250.

In the above-described case, even when the user applies a force through the gripping unit 250, the strength-enhancing wheelchair platform 1 may be controlled almost the same as when the force is directly applied to the first handle body unit 210.

Therefore, it is possible to change or control the direction of the muscle enhancing wheelchair platform 1 with little force.

In addition, the strength-enhancing wheelchair platform 1 is controlled by applying a force to the first handle body 210 even when the user applies a force through the gripping portion 250 from the side of the strength-enhancing wheelchair platform 1 It is possible to control the same or similar.

The strength-enhancing wheelchair platform 1 can be controlled through a force input by a user through a simple structure.

5 is a conceptual diagram showing a handle assembly of a muscle strength enhancing wheelchair platform according to another embodiment of the present invention.

Referring to FIG. 5, the muscle strength enhancing wheelchair platform (not shown) includes a body part (not shown), a driving wheel part (not shown), a wheel part (not shown), an auxiliary wheel part (not shown), and a handle assembly 200. I can. In this case, since the body part, the driving wheel part, the wheel part, and the auxiliary wheel part are the same as or similar to those described in FIGS. 1 to 3, a detailed description will be omitted below.

The handle assembly 200 includes a first handle body part 210, a second handle body part 220, a first sensor part 230, a second sensor part 240, and a third sensor part 270. I can. At this time, since the first handle body 210, the second handle body 220, the first sensor unit 230 and the second sensor unit 240 are the same or similar to those described in FIGS. 1 to 3, detailed Description will be omitted.

In this case, the third sensor unit 270 may connect the first handle body part 210 and the second handle body part 220 to each other. In this case, the third sensor unit 270 may detect a torque caused by the user's force applied to the second handle body unit 220 when the user grips the second handle body unit 220.

Specifically, since the third sensor unit 270 is connected to the body through the first sensor unit 230 and the second sensor unit 240, the value detected when the user grips the first handle body unit 210 Can be zero. On the other hand, when the user grips the second handle body 220 and applies a force, the second handle body 220 is connected to the third sensor unit 270, and the third sensor unit 270 is the first handle. Since it is fixed to the body part 210, a torque can be sensed according to the direction the user applies to the second handle body part 220.

As described above, when the torque is not detected by the third sensor unit 270 and the force is detected by the first sensor unit 230 and the second sensor unit 240, the user grips the first handle body unit 210 It is determined that a force is applied, and the muscle strength enhancing wheelchair platform 1 may be controlled based on Equations 1 and 2 described in FIGS. 1 to 3.

On the other hand, when a torque is sensed by the third sensor unit 270 and a force is sensed by the first sensor unit 230 and the second sensor unit 240, the user has gripped the second handle body unit 220. It is possible to determine and control the muscle strength enhancing wheelchair platform 1 based on Equations 3 to 6 described in FIGS. 1 to 3. In this case, the following Equation 8 may be used to determine the position at which the user grips the second handle body 220.

[Equation 8]

는 제3센서부(270)에서 측정된 토크, F_h,x는 사용자가 제2핸들바디부(220)에 가한 힘 중 제1핸들바디부(210)의 길이 방향으로의 힘 성분일 수 있다. 이러한 F_h,x는 상기의 수학식 6을 통하여 산출될 수 있다. Here, LH2 is the distance from the portion of the second handle body part 220 connected to the first handle body part 210 to the position where the user grips the second handle body part 220,

Is the torque measured by the third sensor unit 270, and F _{h, x} may be a force component in the longitudinal direction of the first handle body part 210 among the force applied _by the user to the second handle body part 220 . This F _h,x can be calculated through Equation 6 above.

In the above case, when the user's force on the second handle body 220 is the same as the length direction of the second handle body 220, the torque applied by the third sensor unit 270 may be substantially zero. In this case, the control unit (not shown) may control the muscle strength enhancing wheelchair platform 1 in the same manner as the user applies force to the first handle body 210 through Equation 7 described above. In this case, in order to determine whether the user grips the second handle body 220, it may be checked whether the third sensor unit 270 senses the force.

On the other hand, when the user applies force in the oblique direction so as to have a certain angle other than 0 degrees with respect to the longitudinal direction of the second handle body 220, Equation 8 may be used to calculate the gripped position by the user. Thereafter, the muscle strength enhancing wheelchair platform 1 may be controlled as described above through Equations 3 to 6.

In addition to the above cases, when the user applies a force to the second handle body part 220 in the longitudinal direction of the second handle body part 220, use of Equations 3 to 6 and Equation 8 It may be unclear whether or not. In order to solve this problem, it is possible to check through the input unit 260 to confirm whether the user has gripped the second handle body unit 220. In this case, the input unit 260 may include the above-described sensor or the like, and may include a device for inputting a signal input through a separate communication module from the control unit.

Therefore, the muscle strength enhancement wheelchair platform 1 can change or control the direction with little force.

In addition, the strength-enhancing wheelchair platform is the same as the case in which the user applies a force to the first handle body part 210 to control the strength through the second handle body part 220 from the side of the strength-enhancing wheelchair platform. Or similarly control.

The strength-enhancing wheelchair platform can be controlled through a force input by a user through a simple structure.

As described above, the present invention has been described with reference to an embodiment shown in the drawings, but this is only exemplary, and those of ordinary skill in the art will understand that various modifications and variations of the embodiment are possible therefrom. Therefore, the true technical scope of the present invention should be determined by the technical spirit of the appended claims.

1: strength enhancing wheelchair platform 200: handle assembly
100: body part 210: first handle body part
110: first frame part 220: second handle body part
120: second frame unit 230: first sensor unit
130: seating unit 240: second sensor unit
140: armrest part 250: gripping part
150: second suspension unit 260: input unit
160: link unit 270: third sensor unit
170: tipping lever part 300: driving wheel part
180: footrest part 400: wheel part
190: driving unit 500: auxiliary wheel unit

Claims (12)

A body part in which the user can be seated;
A driving wheel part disposed on the body part and moving the body based on a signal;
A handle assembly disposed to be spaced apart from the body portion;
A first sensor unit arranged in a first direction and connecting the handle assembly and the body unit; And
A second sensor unit arranged in a second direction crossing the first direction and connecting the handle assembly and the body unit; and
The driving wheel unit is a muscle strength enhancement wheelchair platform in which driving is controlled based on a result detected by the first sensor unit and the second sensor unit. A body part that the user can seat and run;
A driving wheel part disposed on the body part and driving the body part based on a signal;
A handle assembly including a first handle body portion coupled to the body portion and a second handle body portion connected to the first handle body portion at an angle with the first handle body portion;
A first sensor part arranged in a first direction and connecting the first handle body part and the body part;
A second sensor unit arranged in a second direction crossing the first direction and connecting the first handle body and the body; And
Including; a third sensor unit for connecting the first handle body portion and the second handle body portion, and sensing the torque of the second handle body portion,
The driving wheel unit is a muscle strength enhancement wheelchair platform in which driving is controlled based on a result detected by the first sensor unit and the second sensor unit. The method according to claim 1 or 2,
The first direction and the second direction are oblique lines with respect to the straight direction of the body part. The method of claim 1,
A gripping part coupled to the handle assembly and capable of being gripped by a user from a side of the body part. The method according to claim 1 or 2,
Both ends of the first sensor unit and both ends of the second sensor unit are fixed to the handle assembly and the body unit. The method according to claim 1 or 2,
A muscle strength enhancement wheelchair platform for calculating an equivalent force and an equivalent moment at the center of the handle assembly based on a result sensed by the first sensor unit and the force sensed by the second sensor unit. The method of claim 6,
The muscle strength enhancement wheelchair platform for determining the driving force of the driving wheel unit based on the equivalent force and the equivalent moment. A first handle body;
A second handle body connected to the first handle body at a predetermined angle;
A first sensor unit arranged in a first direction between the first handle body and an external object, and connecting the first handle body and the external object; And
A second sensor unit arranged in a second direction between the first handle body and the external object, and connecting the first handle body and the external object. A first handle body;
A second handle body part connected to the first handle body part at an angle with the first handle body part;
A first sensor unit arranged in a first direction between the first handle body and an external object, and connecting the first handle body and the external object;
A second sensor unit arranged in a second direction between the first handle body and the external object, and connecting the first handle body and the external object; And
And a third sensor unit that connects the first handle body to the second handle body and senses the torque of the second handle body. The method of claim 8 or 9,
Each of both ends of the first sensor unit and both ends of the second sensor unit is fixed to the first handle body and the body of an external object. The method of claim 8 or 9,
The first direction and the second direction are diagonal lines with respect to the longitudinal direction of the first handle body assembly. The method of claim 8,
The handle assembly further comprises a; a grip portion coupled to the handle assembly, the user can grip the side of the body of the external object.

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