US20160158079A1 - Inverted pendulum type vehicle - Google Patents

Inverted pendulum type vehicle Download PDF

Info

Publication number
US20160158079A1
US20160158079A1 US14/905,950 US201414905950A US2016158079A1 US 20160158079 A1 US20160158079 A1 US 20160158079A1 US 201414905950 A US201414905950 A US 201414905950A US 2016158079 A1 US2016158079 A1 US 2016158079A1
Authority
US
United States
Prior art keywords
vehicle
seat
rod
pivot
locomotion
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.)
Abandoned
Application number
US14/905,950
Other languages
English (en)
Inventor
Lorenzo POMPEI
Mario VIGENTINI
Massimo Ghidelli
Stefano MARTINELLI
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.)
MARIOWAY Srl
Original Assignee
MARIOWAY 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 MARIOWAY Srl filed Critical MARIOWAY Srl
Publication of US20160158079A1 publication Critical patent/US20160158079A1/en
Abandoned legal-status Critical Current

Links

Images

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
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • 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
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • 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
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/043—Mid wheel drive
    • 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
    • A61G5/1051—Arrangements for steering
    • 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
    • A61G5/1056—Arrangements for adjusting the seat
    • 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
    • A61G5/1089—Anti-tip devices
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J1/00—Saddles or other seats for cycles; Arrangement thereof; Component parts
    • B62J1/08—Frames for saddles; Connections between saddle frames and seat pillars; Seat pillars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
    • B62K3/007—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K3/00—Bicycles
    • B62K3/16—Bicycles specially adapted for disabled riders
    • A61G2005/1051—
    • 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
    • A61G2200/00—Information related to the kind of patient or his position
    • A61G2200/30—Specific positions of the patient
    • A61G2200/34—Specific positions of the patient sitting
    • 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
    • A61G2200/00—Information related to the kind of patient or his position
    • A61G2200/30—Specific positions of the patient
    • A61G2200/38—Specific positions of the patient kneeling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J1/00—Saddles or other seats for cycles; Arrangement thereof; Component parts
    • B62J1/08—Frames for saddles; Connections between saddle frames and seat pillars; Seat pillars
    • B62J2001/085—Seat pillars having mechanisms to vary seat height, independently of the cycle frame
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2204/00—Adaptations for driving cycles by electric motor

Definitions

  • the present invention relates to an electric locomotion means, more particularly relates to an electric locomotion means suitable for people with walking problems and/or paraplegics.
  • none of the devices described in the documents of the prior art are suitable for transporting a person with a disability of the lower limbs, as some of these devices require that the user stand up.
  • Other devices allow the user to sit, but still require the use of the legs to steer, as they require a rotation of the seat with respect to a vertical axis.
  • the aim of the present invention is to provide for a new concept electric locomotion means, in particular suitable for people with walking problems and/or paraplegics, which allows the person position themselves at a height equal to that of a standing person, and which can also move at the same time.
  • Another aim is to provide for an electric locomotion means that can allow the user, through a specific seated position, to unload part of their own weight onto the knees thus lightening the load on the coccyx, which using the muscles of the lower limbs.
  • Another aim is to provide for an electric locomotion means that can be used in both indoor and outdoor environments and that can vary its height to adapt to the altered conditions.
  • a further aim is to provide for an electric locomotion means that can adapt to different user dimensions in a simple way.
  • This locomotion means comprises a dynamically stabilised vehicle comprising two wheels.
  • the vehicle has a transverse axis that is defined by an axis of rotation of the wheels.
  • the vehicle also has a longitudinal axis that is perpendicular to the transverse axis and that defines a direction of advancement of the vehicle.
  • the vehicle comprises a pivot arranged along the longitudinal axis and that is rotatable about the longitudinal axis.
  • the pivot is configured to transfer a steering command to the wheels.
  • the locomotion means further comprises a seat positioned on the vehicle.
  • the seat is configured to accommodate a user affected by motor disability of the lower limbs.
  • the seat is laterally tiltable by a lateral displacement of the user's weight.
  • the locomotion means further comprises transmission means arranged between the seat and the pivot. The transmission means are configured to transfer a tilting movement of the seat to the pivot.
  • a slight lateral displacement of the user's weight is sufficient to control the steering of the locomotion means.
  • This movement can also be easily performed by people affected by disability of the lower limbs, making the locomotion means suitable for their transport.
  • FIG. 1 shows a schematic side view of an electric locomotion means according to the present invention
  • FIG. 2 schematically shows a front view of an electric locomotion means according to the present invention
  • FIG. 3 schematically shows a side view of a lower portion, without the wheels, of an electric locomotion means according to the present invention
  • FIG. 4 schematically shows a front view of a lower portion of an electric locomotion means according to the present invention
  • FIG. 5 schematically shows a side view of a seating system of an electric locomotion means according to the present invention
  • FIG. 6 schematically shows a portion of an electric locomotion means, a side view of which is shown in FIG. 3 , according to the present invention.
  • an electric locomotion means comprises a dynamically stabilised vehicle 10 having two wheels 11 .
  • a base plate 13 is superposed to the upper surface 12 of the vehicle 10 .
  • the plate 13 is in rest position, raised from the surface 12 due to the presence of elastic dampers 14 .
  • switches 15 On the surface 12 are the switches 15 (usually four) that enable the vehicle 10 to start. Shims suitable for facilitating the pressure of the switches 15 can be found opposite the switches 15 .
  • the plate 13 further comprises an actuator, anteriorly and posteriorly.
  • this actuator is a hydraulic piston 16 , electrically or manually controlled by a hydraulic system.
  • the hydraulic pistons 16 extend to touch the ground and to stabilise the vehicle so that the user can get on, indeed the pistons 16 and the two wheels 11 form four ground points.
  • Anteriorly and posteriorly from the surface 12 rise two support plates, respectively 20 and 21 , which are substantially triangular in shape frontally and L-shaped laterally.
  • the rear plate 21 supports a further plate 23 by means of a pivot 22 .
  • the plate 23 can rotate about the pivot 22 with respect to the plate 21 .
  • the front plate 20 supports a further plate 25 by means of a pivot 24 .
  • the plate 25 can rotate about the pivot 24 with respect to the plate 20 . In this case, however, the plate 25 is fixed to the pivot 24 and thus a rotation of the plate 25 rotates the pivot 24 .
  • the rotation of the plates 25 and 23 is, however, limited to small angles by the presence, between the base of the L, of the plates 25 and 23 , and the base plate 13 of the elastic shims 26 and 27 , which allow rotation in that they are deformable, being made of rubber.
  • the elastic shims 26 and 27 can be fixed to the plates 25 and 23 in different positions, by means of screws, i.e. more or less sideways with respect to the pivot 24 , by means of an arrangement of holes 28 in the plates 25 and 23 .
  • the plates 25 and 23 supporting a guide 31 within which a feed screw 30 can rotate.
  • Fixing of the guide 31 onto the plates 25 and 23 can be performed so as to adjust the relative position thereof in order to maintain the user's centre of gravity (associated with that of the seat) in the correct position with respect to the dynamically stabilised vehicle 10 .
  • the feed screw 30 is electrically driven by a motor 32 . It is alternatively possible to use other mechanisms such as a hydraulic piston or linear actuators.
  • the slider 33 comprises in its interior a bearing 34 and a spring 35 to ensure an elastic force reaction to possible thrusts contrary to the movement.
  • a movable plate 36 comprising a series of holes 37 is arranged on the slider 33 .
  • a fixed back plate 38 having at least one hole 39 is fixed to the guide 31 , posteriorly to the portion of feed screw 30 on which the slider 33 can slide.
  • a front rod 40 is movably pivoted in one of the holes 37 .
  • a rear rod 41 is movably pivoted in the hole 39 .
  • the two rods 40 and 41 are movably joined together by means of a pivot 42 passing through both the rods at a point that is intermediate thereto.
  • the rods 40 and 41 have a plurality of holes so that the pivot 42 can be inserted into the most suitable hole.
  • a knee/shin rest 43 is positioned on the front end of the rod 41 , opposite to the pivot 39 .
  • Two short bars (lengthways-adjustable) fixed to the front end of the rod 41 is support two folding anatomical half-shells that support the knees/shins of the user.
  • a seat 44 can slide along the rod 40 itself on the rear end of the rod 40 , opposite the slider 33 . Its position is optimally determined by means of a first bar 45 that is fixed on to the seat 44 on one side and to a second bar 46 on the other side that is fixed to the rod 41 in the central portion thereof.
  • the second bar 46 comprises a plurality of holes 47 .
  • the first bar 45 is pivoted with the second bar 46 in one of the holes 47 .
  • the seat 44 also has the ability to tilt with respect to the rod 40 . Indeed, underneath it and passing through the rod 40 , it comprises a threaded bar 48 having an adjustment knob 49 . Other movement means of the seat 44 can be used.
  • the vehicle preferably comprises a further battery (not shown), as well as a control (not shown) for operating the motor 32 in one direction and in the opposite direction, operating means (not shown) of the hydraulic cylinders 16 .
  • the user suitably fixes all the present adjustments onto the locomotion means.
  • the user in particular fixes the elastic shims 26 and 27 in a position according to his weight and according to the desired steering sensitivity; he positions the pivot 42 between the two rods 40 and 41 to adjust the height of the seat 44 and optimise motor torque (if the pivot 42 is moved towards the slider 33 , uphill speed is increased but the motor struggles more and vice versa); position the rod 45 on the second bar 46 to maintain the correct proportion of movements with respect to the seat 44 during movement of the rods 40 and 41 ; arrange the positioning of the rod 40 on the slider 33 to adjust the maximum lowering of the rod 40 ; adjust the tilt of the seat 44 by means of the knob 49 .
  • the user operates the hydraulic pistons 16 by lowering them and stabilising the locomotion means. He can then get on and sit on the seat 44 and rest his knees on the knee/shin rest 43 without any problem.
  • the user's weight sufficiently lowers the base plate 13 , as permitted by the elastic dampers 14 , towards the surface 12 and the switches 15 are pressed and the dynamically stabilised vehicle can then be started.
  • the user starts the motor 32 , which drives the feed screw, bringing the motor 32 closer to the slider 33 and the entire rod system rises and consequently raises the seat 44 , until the desired height is reached.
  • the electric locomotion means is thus ready to be used.
  • the body's weight rotates the plates 23 and 25 .
  • the plate 25 rotates the pivot 24 which is nothing other than the pivot that is normally fixed to the steering wheel of dynamically stabilised vehicles.
  • the seat on the electric locomotion means is ergonomic and dynamic, i.e. its height is adjustable. This allows a relational symmetry of the user i.e. the user is at the same height as the people in front of him, and thus improves interpersonal relations, improves blood circulation, improves the functioning of the digestive system, limits compression of the diaphragm, eliminates overloading of the lumbosacral region, prevents pressure sores, osteopenia and osteoarthritis, promotes musculoskeletal elasticity, permits passive exercise therapy (by operating the motor 32 for example), limits overloading of the musculoskeletal system.
  • the dynamic ergonomic seat is always balanced and constantly maintains the user's centre of gravity in axis, allowing movement in any direction at any height selected.
  • the seat is also damped, with respect to ground roughness, thanks to the springs 35 .
  • the geometry of the electric locomotion means adapts to the user's skeletal measurements.
  • the seat can be varied through a micrometric adjustment on the basis of the length of the femur, the shin, the delta (femur/shin ratio and geometry of the centre of gravity), longitudinal axis, steering sensitivity and LH and RH asymmetry corrections.
  • An application for Apple and Android devices that can wirelessly control suitable physical exercises for the user can be envisaged, by raising and lowering the seat, or other arranged movements for example, so as to prevent related diseases.

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)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Steering Controls (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Rehabilitation Tools (AREA)
  • Seats For Vehicles (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
US14/905,950 2013-08-09 2014-08-05 Inverted pendulum type vehicle Abandoned US20160158079A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
IT000021A ITBG20130021A1 (it) 2013-08-09 2013-08-09 Mezzo di locomozione elettrico
ITBG2013A000021 2013-08-09
PCT/IB2014/063703 WO2015019281A1 (en) 2013-08-09 2014-08-05 Inverted pendulum type vehicle

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2014/063703 A-371-Of-International WO2015019281A1 (en) 2013-08-09 2014-08-05 Inverted pendulum type vehicle

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US15/385,251 Continuation US10258521B2 (en) 2013-08-09 2016-12-20 Inverted pendulum type vehicle

Publications (1)

Publication Number Publication Date
US20160158079A1 true US20160158079A1 (en) 2016-06-09

Family

ID=49519013

Family Applications (2)

Application Number Title Priority Date Filing Date
US14/905,950 Abandoned US20160158079A1 (en) 2013-08-09 2014-08-05 Inverted pendulum type vehicle
US15/385,251 Active US10258521B2 (en) 2013-08-09 2016-12-20 Inverted pendulum type vehicle

Family Applications After (1)

Application Number Title Priority Date Filing Date
US15/385,251 Active US10258521B2 (en) 2013-08-09 2016-12-20 Inverted pendulum type vehicle

Country Status (14)

Country Link
US (2) US20160158079A1 (hr)
EP (1) EP3016627B1 (hr)
CY (1) CY1121011T1 (hr)
DK (1) DK3016627T3 (hr)
ES (1) ES2685271T3 (hr)
HR (1) HRP20181336T1 (hr)
HU (1) HUE040065T2 (hr)
IT (1) ITBG20130021A1 (hr)
LT (1) LT3016627T (hr)
PL (1) PL3016627T3 (hr)
PT (1) PT3016627T (hr)
RS (1) RS57682B1 (hr)
SI (1) SI3016627T1 (hr)
WO (1) WO2015019281A1 (hr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9598136B1 (en) * 2015-11-02 2017-03-21 Robo3 Co., Ltd. Self balancing scooter steered with thigh
US10376432B2 (en) * 2015-04-14 2019-08-13 Jaimie Borisoff Kneeling wheelchair frame
US10772774B2 (en) 2016-08-10 2020-09-15 Max Mobility, Llc Self-balancing wheelchair
US10792200B1 (en) 2019-04-06 2020-10-06 RapAdapt LLC Assistive mobility device
US11813212B2 (en) 2019-04-06 2023-11-14 Rapadapt Corporation Assistive mobility device

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3023160B1 (fr) * 2014-07-04 2021-06-11 Univ Versailles Saint Quentin En Yvelines Fauteuil articule comprenant un mecanisme de verticalisation pour un vehicule roulant.
DE102015217342B4 (de) * 2015-09-10 2023-06-29 Uwe Bernhard Dynamisch balancierendes Fahrzeug
DE102015217341A1 (de) * 2015-09-10 2017-03-16 Uwe Bernhard Dynamisch balancierendes Fahrzeug
DE102016116371A1 (de) * 2016-09-01 2018-03-01 Fabio Giuseppe Gulino Selbstbalancierende Transportvorrichtung, insbesondere Rollstuhl mit Dämpfung
DE102016116370A1 (de) 2016-09-01 2018-03-01 Fabio Giuseppe Gulino Selbstbalancierende Transportvorrichtung, insbesondere Rollstuhl mit Stützvorrichtung
IT201900023247A1 (it) * 2019-12-06 2021-06-06 Mirco Zecchi Dispositivo di seduta
JP7307706B2 (ja) * 2020-06-24 2023-07-12 本田技研工業株式会社 移動体

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4231614A (en) * 1978-10-27 1980-11-04 Shaffer Gene P Wheelchair
US4581778A (en) * 1981-01-23 1986-04-15 Flemming Hvidt Mobelarkitektfrima A/S Mechanism for raising and lowering a seat especially designed for handicapped persons
US4614246A (en) * 1985-07-15 1986-09-30 Masse James H Powered wheel chair
US5669620A (en) * 1995-10-18 1997-09-23 Robbins; Dennis L. Wheel chair and platform device for movment of a disabled person from a wheel chair to a chair seat support in a vehicle and aircraft
US5927679A (en) * 1997-04-21 1999-07-27 Milsco Manufacturing Company Adjustable vehicle seat suspension
US6142568A (en) * 1997-03-10 2000-11-07 Lyle Allred Pivoting linkage elevating chair
US20020149168A1 (en) * 2001-04-17 2002-10-17 Brown David Keith Elevating manual wheelchair
US20040227331A1 (en) * 2003-05-12 2004-11-18 Jia-Wine Chen Multi-functional wheelchair
US20050046129A1 (en) * 2003-08-15 2005-03-03 Antonishak Stephen J. Constant center of gravity lift and tilt mechanisms for a wheelchair seat
US7434824B2 (en) * 2002-09-04 2008-10-14 Air Movement Technologies, Inc. Automatic wheelchair brake system and wheelchair including same
US8340869B2 (en) * 2010-09-13 2012-12-25 Panasonic Corporation Riding type vehicle and method of controlling riding type vehicle
US8585004B1 (en) * 2009-01-26 2013-11-19 Atwood Mobile Products Llc Air ride seat pedestal with independent height adjustment
US9156516B2 (en) * 2011-04-05 2015-10-13 Ulrich Kahlert Two-wheeled battery-powered vehicle

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4809804A (en) * 1986-08-25 1989-03-07 Falcon Rehabilitation Products, Inc. Combination wheelchair and walker apparatus
US6561294B1 (en) * 1995-02-03 2003-05-13 Deka Products Limited Partnership Balancing vehicle with passive pivotable support
US7275607B2 (en) * 1999-06-04 2007-10-02 Deka Products Limited Partnership Control of a personal transporter based on user position
US7740099B2 (en) * 1999-06-04 2010-06-22 Segway Inc. Enhanced control of a transporter
US7363993B2 (en) * 2003-11-04 2008-04-29 Toyota Jidosha Kabushiki Kaisha Traveling apparatus and method for controlling thereof
FR2890855B1 (fr) * 2005-09-20 2007-12-14 Lifestand Vivre Debout Soc Res Siege verticalisateur a moyens de reglage de l'inclinaison du repose-pieds en position verticalisee.
KR100702188B1 (ko) * 2006-04-18 2007-04-02 유제우 3륜 이상의 차에 적용되는 무게중심 이동장치
JP4924179B2 (ja) * 2007-04-25 2012-04-25 トヨタ自動車株式会社 倒立車輪型移動体、及びその制御方法
JP4849103B2 (ja) * 2007-10-22 2012-01-11 トヨタ自動車株式会社 同軸二輪車
US8170780B2 (en) * 2008-11-06 2012-05-01 Segway, Inc. Apparatus and method for control of a vehicle
US7988172B2 (en) * 2008-12-16 2011-08-02 Max Mobility, Llc Power-supplemented manual height-adjusting wheelchair
WO2011103362A1 (en) * 2010-02-17 2011-08-25 Johansen N Layne Mobility and accessibility device and lift
KR101079755B1 (ko) * 2010-06-14 2011-11-03 김준형 핸즈프리형 전동스쿠터
WO2012025969A1 (ja) * 2010-08-27 2012-03-01 トヨタ自動車株式会社 乗降判定装置及び乗降判定方法
US9241851B2 (en) * 2011-10-03 2016-01-26 University Of South Florida Hands-free user interface devices
JP5712103B2 (ja) * 2011-10-13 2015-05-07 カヤバ工業株式会社 電動アシスト台車
AU2013285622A1 (en) * 2012-02-09 2014-07-31 Kevin Thomas Halsall Powered mobility device
CA2906599C (en) * 2013-03-15 2020-10-27 Pride Mobility Products Corporation Lift mechanism and tilt mechanism for a power wheelchair
CN103385791B (zh) * 2013-08-01 2015-09-02 济南大学 一种残疾人姿态控制多功能轮椅及控制方法

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4231614A (en) * 1978-10-27 1980-11-04 Shaffer Gene P Wheelchair
US4581778A (en) * 1981-01-23 1986-04-15 Flemming Hvidt Mobelarkitektfrima A/S Mechanism for raising and lowering a seat especially designed for handicapped persons
US4614246A (en) * 1985-07-15 1986-09-30 Masse James H Powered wheel chair
US5669620A (en) * 1995-10-18 1997-09-23 Robbins; Dennis L. Wheel chair and platform device for movment of a disabled person from a wheel chair to a chair seat support in a vehicle and aircraft
US6142568A (en) * 1997-03-10 2000-11-07 Lyle Allred Pivoting linkage elevating chair
US5927679A (en) * 1997-04-21 1999-07-27 Milsco Manufacturing Company Adjustable vehicle seat suspension
US20020149168A1 (en) * 2001-04-17 2002-10-17 Brown David Keith Elevating manual wheelchair
US7434824B2 (en) * 2002-09-04 2008-10-14 Air Movement Technologies, Inc. Automatic wheelchair brake system and wheelchair including same
US20040227331A1 (en) * 2003-05-12 2004-11-18 Jia-Wine Chen Multi-functional wheelchair
US20050046129A1 (en) * 2003-08-15 2005-03-03 Antonishak Stephen J. Constant center of gravity lift and tilt mechanisms for a wheelchair seat
US8585004B1 (en) * 2009-01-26 2013-11-19 Atwood Mobile Products Llc Air ride seat pedestal with independent height adjustment
US8340869B2 (en) * 2010-09-13 2012-12-25 Panasonic Corporation Riding type vehicle and method of controlling riding type vehicle
US9156516B2 (en) * 2011-04-05 2015-10-13 Ulrich Kahlert Two-wheeled battery-powered vehicle

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10376432B2 (en) * 2015-04-14 2019-08-13 Jaimie Borisoff Kneeling wheelchair frame
US9598136B1 (en) * 2015-11-02 2017-03-21 Robo3 Co., Ltd. Self balancing scooter steered with thigh
US10772774B2 (en) 2016-08-10 2020-09-15 Max Mobility, Llc Self-balancing wheelchair
US10792200B1 (en) 2019-04-06 2020-10-06 RapAdapt LLC Assistive mobility device
US11813212B2 (en) 2019-04-06 2023-11-14 Rapadapt Corporation Assistive mobility device

Also Published As

Publication number Publication date
US10258521B2 (en) 2019-04-16
CY1121011T1 (el) 2019-12-11
ES2685271T3 (es) 2018-10-08
SI3016627T1 (sl) 2018-10-30
WO2015019281A1 (en) 2015-02-12
PT3016627T (pt) 2018-10-12
PL3016627T3 (pl) 2018-11-30
EP3016627B1 (en) 2018-05-30
HRP20181336T1 (hr) 2018-11-02
LT3016627T (lt) 2018-09-25
US20170100290A1 (en) 2017-04-13
EP3016627A1 (en) 2016-05-11
HUE040065T2 (hu) 2019-02-28
DK3016627T3 (en) 2018-09-10
ITBG20130021A1 (it) 2015-02-10
RS57682B1 (sr) 2018-11-30

Similar Documents

Publication Publication Date Title
US10258521B2 (en) Inverted pendulum type vehicle
EP2939646B1 (en) Lower limbs rehabilitation training robot
CN101678226B (zh) 运动辅助设备
US9565947B2 (en) Standing-up trainer
EP0907343B1 (en) Support unit
EP2401995A1 (en) Sit down and stand up walker with seat assembly
US20040227331A1 (en) Multi-functional wheelchair
JPH06125829A (ja) ベッド
CN109068856B (zh) 斜倚式床
JP6957600B2 (ja) 介助装置
WO2014138128A1 (en) Tilt-in-space wheelchair using multiple controlling paths
EP1617794B1 (en) Calf and foot support and adjustment assembly
EP4072496A1 (en) Vehicle with transforming seat
CN210384350U (zh) 一种设置有下肢康复器的角度可调式训练床
JP5382508B2 (ja) 起立補助装置
EP3373878B1 (en) Robotic mobile and modifiable bed with verticalization
CN112353643A (zh) 踝关节康复装置
KR101829827B1 (ko) 골반 및 체간근육을 강화시키기 위한 재활 의자
WO2024048616A1 (ja) ハンドル付き支援装置、及びこれを用いた移動装置
WO2018163308A1 (ja) 介助装置
WO2020208700A1 (ja) 介助装置
CN118680762A (zh) 轮椅及轮椅的控制方法
JP3122939B2 (ja) 健康座具
KR101126410B1 (ko) 보행 보조 시스템
KR20100136511A (ko) 운동 보조 장치

Legal Events

Date Code Title Description
STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION