WO1995005141A1 - Ensemble roue pour fauteuil-roulant - Google Patents

Ensemble roue pour fauteuil-roulant Download PDF

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Publication number
WO1995005141A1
WO1995005141A1 PCT/SE1994/000741 SE9400741W WO9505141A1 WO 1995005141 A1 WO1995005141 A1 WO 1995005141A1 SE 9400741 W SE9400741 W SE 9400741W WO 9505141 A1 WO9505141 A1 WO 9505141A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheel
wheelchair
power
force
drive
Prior art date
Application number
PCT/SE1994/000741
Other languages
English (en)
Inventor
Thomas Harald Johannes Andersson
Johan Magnus Carlsson
Original Assignee
Andersson Thomas Harald Johann
Johan Magnus Carlsson
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 claimed from SE9302644A external-priority patent/SE9302644D0/xx
Application filed by Andersson Thomas Harald Johann, Johan Magnus Carlsson filed Critical Andersson Thomas Harald Johann
Publication of WO1995005141A1 publication Critical patent/WO1995005141A1/fr

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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
    • A61G5/045—Rear 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
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/048—Power-assistance activated by pushing on hand rim or on handlebar
    • 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
    • A61G5/1054—Large wheels, e.g. higher than the seat portion
    • 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
    • A61G5/1083—Quickly-removable wheels
    • 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
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/14—Joysticks

Definitions

  • the present invention is concerned with the provision of an electric powerservo on conventional, manually activated wheelchairs, and also with the provision of a wheelchair measuring function on conventional types of wheelchairs in which a drive ring is coupled to each of the chair drive wheels for the purpose of measuring the forward propulsion force applied to the drive ring by the user.
  • Wheelchairs are either powered manually or electrically. Electrical wheelchairs are needed when the handicapped person is unable to propel a wheelchair manually by himself/herself. There are a large number of people who are bound to a wheelchair and who have control over their arm movements but lack the physical strength to propel a wheelchair manually. All of those belonging to this group are compelled to use electric wheelchairs that are equipped with joystick controls, since no other type of electric wheelchair that can better satisfy the need of such people is available commercially.
  • U.S. 5,234,006 describes a wheelchair which includes the possibility of applying additional forward propulsion to the drive wheels of a wheelchair, by virtue of power sensors mounted on all attachments between drive ring and wheel.
  • This wheel drive is mounted on the actual wheelchair itself, and thus not on each separate wheel.
  • the additional propulsion force, or booster force is calculated with the aid of conventional circuits which cannot be adjusted automatically on the basis of the working performance of the handicapped persons themselves.
  • the equipment described is bulky and results in relatively wide wheels. The solution does provide for some manual adjustment possibilities, however.
  • One object of the present invention is to provide a robust, simple and inexpensive arrangement for measuring the force that is applied to the drive wheels of a wheelchair by the user, wherein it is possible to use the wheelchair as a measuring instrument.
  • Another object of the invention is to provide an arrangement by means of which the force applied by the user under different driving conditions during the course of wheelchair movement can be noted and recorded.
  • Another object of the invention is to provide a wheel arrangement which can be readily substituted for the normal wheel assembly of a conventional wheelchair.
  • Still another object of the invention is to provide a wheel arrangement for an electric wheelchair with which the user's own resources are utilized, and with which the wheelchair solely adds the additional force required to propel the wheelchair forwards in all conceivable situations, i.e. an individually controllable powerservo.
  • the user controls the wheelchair in the same way as when controlling a conventional, manually activated wheelchair and will feel stronger as a result of the additional force delivered by the wheelchair and therewith be able to propel the wheelchair to places which were earlier out of range.
  • Another object of the invention is to provide a wheel arrangement for an electric wheelchair provided with a controllable powerservo which can be changed automatically in accordance with the prevailing, individual requirements of the person seated in the wheelchair.
  • Still another object of the invention is to enable the user himself/herself to determine the magnitude of the additional force, when so desired. Different users will have different levels of strength and fitness and may wish to develop a certain degree of ability by training.
  • Two different types of attachments between driving ring and wheel rim enable the use of a number of power sensors, for instance only two such sensors, that are governed by what is required to obtain the necessary calculation basis. Power or force measuring attachments are expensive.
  • Power measuring devices measuring electronics, signal transmission means, speed gauges and current-supply slip-rings are mounted on the wheel and can be fitted to different wheelchairs by virtue of quick-couplings.
  • the wheel is provided with an additional, controllable powerservo and can be readily substituted for a conventional wheel.
  • the wheelchair is provided with a computer which is able to present a driving result through the medium of a display unit, such as the force exerted by the person using the wheelchair, the speed at which the wheelchair is propelled, the total power used in propelling the wheelchair, the distance travelled and the time taken to cover said distance, and so on, therewith providing the user of the wheelchair with feedback regarding his/her driving of the wheelchair as the chair is driven.
  • the computer includes memory devices which enable measurement data to be collected and processed to some extent as the wheelchair is propelled by the user.
  • the computer fitted to the wheelchair has a capacity sufficient to present the driving result.
  • the calculating capacity of the chair-mounted computer can be increased, however, by transferring stored series of signals from the chair-mounted computer to a stationary, external computer of greater capacity with regard to software and display screen, for instance to a personal computer.
  • the information can be stored so as to enable it to be recovered on later occasions and compared with the results of fresh test runs.
  • the measuring wheelchair provides an objective and correct assessment of the strength of the test person and his/her technique in propelling a wheelchair, it can be used advantageously in conjunction with the rehabilitation of wheelchair-bound people.
  • it can be used by therapists and physiotherapists as an instrument for planning a proper training program for each individual, and also to provide a concrete basis for the type of wheelchair that a user may be given in order for the user to utilize his/her own power and individual driving technique to the best extent.
  • the inventive wheelchair can also be used as a stimulant for injured persons, since they are able to see in plain figures the extent of their improvement during rehabili- tation.
  • the measuring function is also of interest to wheelchair athletes.
  • FIG. 1 is an overview from the front of a wheelchair, with one drive wheel sectioned through the wheel axle and shown in position for fitting the wheel to the wheelchair;
  • Fig. 2A is a side view of a first embodiment of a drive wheel, and shows schematically the attachment of the drive ring to the wheel rim, the positioning of the power sensors and a signal transmission unit;
  • Fig. 2B is a sectional view of the drive wheel shown in
  • FIG. 2A taken on the line A-A in said Figure
  • Fig. 2C illustrates a slip ring unit having guide tracks for the drive wheel shown in Figs. 3A and 3B
  • Fig. 3 illustrates an embodiment of an attachment which lacks the provision of a power or force sensor
  • Fig. 4A is a side view of an attachment which includes a detector and a power sensor, and which shows the attachment secured between a wheel rim and a drive ring;
  • Fig. 4B illustrates the attachment means in Fig. 4A from beneath;
  • Fig. 4C illustrates the coupling of power sensors on two attachment means according to Figs. 4A and 4B;
  • Fig. 5 illustrates an embodiment of a wheel provided with a drive package or assembly, as seen in the same sectional view as that shown in Fig. 2B;
  • Fig. 6A is a sectional view of one embodiment of an inventive wheel arrangement provided with quick- coupling means and slip-ring transmission means;
  • Fig. 6B is a sectional view taken on the line B-B in Fig. 6A, in larger scale;
  • Fig. 7A is a schematic overview of the signal flow through the system;
  • Fig. 7B illustrates a microprocessor unit for the system shown in Fig. 7A; and
  • Figs. are diagrams which illustrate different control 8A-8D possibilities relating to wheel-mounted drive assemblies.
  • the wheelchair shown in Fig. 1 can be fitted with a new drive wheel 1 with the aid of an attachment means 2 placed between a drive ring 3 and a wheel rim 4 as a module, such as to render the invention independent of the type of wheelchair concerned.
  • the wheels can be substituted for the conventional wheels of a wheelchair in accordance with the invention.
  • Signals produced by power or force sensors on part of the attachments on and the sensed wheel speed are transmitted to a calculating unit, preferably in the form of a computer, such as a microcomputer housed in a box 5 together with batteries, etc., and fitted to the chair.
  • the result of the calculations made by the unit 5 can be shown on a display unit 6, which may be fitted to the wheelchair so as to enable the result to be easily seen by the user.
  • the wheels may also be fitted with a drive motor 7 which functions to deliver additional power to the wheels when necessary, in response to a control from the calculating unit.
  • the display unit 6 may be housed in a setting control box 8 provided with knobs or keys 9 and 10, for instance, by means of which the user is able to set that power level for each wheel from which the additional power shall be delivered.
  • the calculating unit may also be provided with software or the like which will allow the user to switch to a control lever 11, or joystick, when desiring to use this type of forward propulsion control means instead of the drive rings.
  • Figs. 2A-2C illustrate a first embodiment of an inventive wheel which can be substituted for a normal wheel of a conventional wheelchair.
  • the inventive wheel is provided solely with measuring equipment, i.e. the wheel is intended to function as a measuring instrument.
  • the attachments between the drive ring 3 and the rim 4 are of two different kinds, of which one kind 2.1 functions to hold the drive ring and the wheel rim so that force from the drive ring 3 will be transmitted in all directions and then also tangentially to the wheel rim 4, and where the second type of attachment 2.2 functions to hold the drive ring in relation to the rim so that force from the drive ring will be transmitted to the wheel rim essentially solely in the direction of the wheel axle, i.e. it will not take-up load in the plane perpendicular to the wheel axle 15.
  • Fig. 2B illustrates one embodiment of the attachment 2.2.
  • the attachment is pivotal in all directions with regard to both drive ring 3 and wheel rim 4, through the medium of two pivotal or universal connections 13.
  • Fig. 3 illustrates another embodiment of the attachment which lacks a power sensor.
  • an attachment 2.20 which has a modulus of elasticity which is negligible in comparison with the modulus of elasticity of the attachment(s) 2.1 having power sensors. This means that the force transmitted by the attachment(s) 2.20 in the forward drive direction between drive ring 3 and wheel rim 4 is negligible in comparison with the force taken-up by the attachment(s) 2.1 provided with the power sensors. This is achieved when the attachment(s) 2.20 includes or include a rubber bushing 14, for instance.
  • the drive ring 3 is fixed to the wheel rim 4 by means of two supports 19 whose mutual connecting line passes through the wheel axle 15 and extends at right angles to the connecting line that extends between two power sensors 18 placed on a detector 17 that extends parallel with the supports 19, as illustrated in Figs. 4A and 4B.
  • the power sensors 18 are mutually connected in a manner to form a measuring bridge, as illustrated in Fig. 4C.
  • the measuring bridge will then produce an output signal ⁇ U which is a linear function of the torque between drive ring 3 and wheel with regard to the wheel axle 15, it being desired to measure this torque moment.
  • the detector 17 is a mechanical device which changes its properties, e.g. its shape, when subjected to force, whereas the power sensors 18 have the form of a device which measures the force-dependent changes in the properties of the detector 17.
  • the power sensors may, for instance, have the form of resistive strain gauges 18, piezo-resistive or piezo-electric sensor elements glued to the detector or holder part 17.
  • the detector 17 is journalled on the drive-ring support 25 for movement in the direction of the mutual connecting line, whereby the drive ring 3 is pivotally hinged at 21 through the connecting line.
  • the support 25 is shown to be straight in Fig. 4A, since the illustrated drive ring has generally the same diameter as the wheel rim 4.
  • the measuring bridge is connected to a measurement signal amplifier and to a bridge supply circuit 22, which is also connected by a cable 23 to a unit 24 mounted on the wheel hub and provided with means for slip-ring transmission of voltage supply and of measurement signals from the power sensors 18, and which is provided with a speedometer.
  • the circuit 22 will also preferably perform signal processing operations, with conversion of the detected or sensed analog signal ⁇ U to a pulse signal of different frequency, said frequency being dependent on the magnitude of the signal ⁇ U.
  • one part 26 of the unit 24 is provided with slip ring tracks in accordance with Fig. 2C and is placed so as to be co-rotational with the wheel, while another part 27 of said unit is placed so as to be held stationary on the wheelchair.
  • This can be achieved by using the hollow bolt and its polygonal screw head, which is stationary on the majority of wheelchairs, such as to hold the wheel axle 15, with its screw head as an anvil surface or counterpressure surface, and by providing the part 27 with a central opening having a configuration adapted to the configuration of the screw head.
  • the wheel, drive ring 3, power sensor 2, signal transmission means thus form a replaceable module 1.
  • the module 1 may also include a drive assembly or drive package 41 described below with reference to Fig. 5.
  • This module construction which can be coupled to the wheel of the wheelchair both quickly and simply enables the inventive wheel to be readily fitted to and removed from different wheelchairs. This provides the user with the freedom of choosing to keep his own wheelchair intact or to himself dismantle the wheelchair into easily-handled units, for instance when transporting the wheelchair by car.
  • the slip ring transmission includes three conductive tracks 28, for instance gold- plated copper tracks, which are insulated from one another for transmission of voltage supply to the strain gauges 18 and for transmission of the pulse signals from the circuit 22. Also found in the outer part is a portion which includes alternately conductive parts 29 and non-conductive parts 30, of which the conductive parts are mutually connected for simple measurement of the speed at which the wheelchair moves in accordance with well known methods, wherein the brushes move in a path along the conductive and non-conductive parts.
  • Fig. 5 illustrates another embodiment of exchangeable wheelchair wheels, this embodiment including a drive assembly 41 which, as shown in Fig. 7A, includes a motor 64, brake means 65, transmission means 66 and a measuring sensor (not shown) which indicates the speed of the motor and its direction of rotation.
  • the speed of the motor 64 is controlled by a microcomputer unit 56, described in more detail below, either directly or through the medium of a motor control circuit.
  • the brake 65 can be applied and disengaged electrically and will guarantee that the wheelchair will not move away from a stationary position in an uncontrolled fashion.
  • the measuring sensor may be a tachometer, regenerator or Hall effect sensor.
  • a drive assembly 41 which is mounted on each wheel and which includes a motor which is controlled on the basis of the signals produced by respective power sensors 18.
  • the wheel may be provided with a quick-coupling, so as to enable the wheel to be readily substituted for a conventional wheel of a wheelchair.
  • the signals produced by the power sensors may be transmitted with the aid of a slip ring contact also in the case of this embodiment, although in the illustrated case the pulses obtained from the circuit 22 (see Fig. 2A) are shown to be coupled to an IR light-emitting diode 121 which transmits the pulses in the form of IR light which is received by an IR phototransistor 122 fitted to the wheelchair S.
  • the pulse signals received by the IR phototransistor 122 are converted to signals which can be read into the microcomputer unit 56.
  • the circuit 22 includes a battery for powering the power sensors.
  • Figs. 6A and 6B illustrate in detail another embodiment of the slip ring transmission system and the quick-coupling unit used in accordance with the invention.
  • this type of transmission can be used with both types of wheel, i.e. with or without the drive assembly.
  • a chair-holding unit 42 (not described in detail) having a stationary bolt 43, for instance a hollow bolt, provided with a polygonal head 44 is provided for accommodating the wheel axle of the wheelchair drive wheel.
  • Each wheel 45 is provided with a hollow axle 46 which is connected to the wheel through the medium of ball bearings.
  • the axle 46 is held in place by balls 48 or the like which are moved outwardly of the inner end of the rod by the end of said rod and which rest against the inner end of the bolt 43.
  • the axle is under a spring bias which serves to hold an inner part of larger diameter than the remainder of the axle pressed against the balls.
  • the spring bias is obtained with the aid of a rod 49 inserted in the hollow space of the axle 46 and having in the illustrated case a spring arrangement 50 mounted at the inner end of the rod so as to press the rod outwards.
  • the outer end of the rod 49 protrudes slightly outwards. This slightly protruding end of the rod is pressed inwards when fitting and removing the wheel, therewith enabling the balls 48 to move inwards while passing the wheel axle through the bolt 43, and then return to their outward position when the pressure on the outer end of the rod is removed.
  • the slip ring arrangement is placed in circumferentially extending and mutually parallel tracks 41 on the outer surface, or mantle surface, of a ring 52 fitted firmly to the wheel hub.
  • a bearing 53 such as a ball bearing or roller bearing, is mounted in the ring 52.
  • the inner part of the bearing has a polygonal cavity whose shape corresponds to the polygonal shape of the bolt head 44, which is fitted into the cavity when fitting the wheel 45 to the wheelchair, so that this inner part will be stationary with the wheelchair.
  • a unit 54 which includes slip contacts 54' is also attached to the inner part of the bearing 53.
  • a drive assembly 41 having a freewheel or release capacity of the kind similar to that shown in Fig. 5 may be provided for rotating the wheel 45 in relation to the axle 46, which is stationary in relation to the wheelchair. Arrangements for achieving this are well known to the art and will not therefore be described here. For instance, the wheel axle can be clamped in the vicinity of the bolt 43.
  • the torque signal 55 obtained i.e. the converted measurement signal ⁇ U
  • the microcomputer unit 56 also receives information 57 relating to the speed of each drive wheel 1 and information 58 relating to the settings made on the instrument panel 8.
  • the microcomputer unit 56 performs the selected function on the basis of these signals as input data.
  • the microcomputer unit 56 When choosing to use the wheelchair in its measuring capacity, the microcomputer unit 56 will store at least the measurement signals 55, 57 in its memory.
  • the memory can then be read and the memory contents trans ⁇ ferred by the microcomputer unit 56 to a conventional personal computer 59 for further processing, through the medium of a multi-pole contact device 60.
  • control signals for the display unit 6 on the instrument panel are delivered through the cable or line 67.
  • microcomputer unit 56 Precisely what is expected of the microcomputer unit 56 is determined by the program which accompanies the unit. There is nothing to prevent the microcomputer unit 56 having several programs. This will enable selection of a particular program desired at that time.
  • Conceivable programs for instance, are programs with which the chair can be used as a measuring instrument, and different control programs.
  • the control programs include different motor control strategies.
  • the reason why different control programs are desirable is because different users will have different capacities for driving a wheelchair which includes a powerservo effect. This enables the user to find the control program which suits his/her strength, technique and fitness.
  • the user is also able to change the parameters of each program, thereby enabling the motor to be finely adjusted to personal requirements. Examples of such parameters are time delays and the magnitude of the effect of the powerservo.
  • Figs. 8A-8D illustrate a number of different control strategies.
  • Fig. 8A illustrates the application of an additional force when the torque measured from the drive ring exceeds a given level, which can be set by the user of the wheelchair. The additional force thereafter increases linearly with the torque measured.
  • Fig. 8B shows a force addition, or force booster, which varies exponentially between the set level beneath which no force booster is produced, and a level of maximum force on the drive rings. This control strategy produces approximately the same force on the drive ring irrespective of the resistance offered by the surface along which the wheelchair moves.
  • FIG. 8C illustrates the performance of a control strategy intended to provide linear amplification with integration of the force in those instances when the wheelchair does not begin to roll forwards.
  • This control strategy can be applied when negotiating obstacles, such as raised thresholds, pits or depressions in the floor, etc.
  • the additionally applied drive torque is increased until a wheel speed is detected at time point ⁇ 3 .
  • the additionally applied torque is then lowered to the torque value that prevailed during the first time period.
  • the applied drive is reduced to a lower value, which is maintained until the wheel speed has decreased to zero, i.e.
  • Fig. 8D illustrates a control strategy in which a mean value is formed with the intention of reducing the effect of vibrations in those instances when the wheelchair is used by spastics.
  • the torque measured at a given instance and shown in the upper diagram is divided into a time window with time T.
  • a mean value of the drive torques within respective windows is formed and results in the measured torques illustrated in the lower diagram, which is used to calculate the additional force required on a drive wheel, for instance in accordance with the principle shown in Fig. 8A.
  • the measuring chair program and the control program can be combined and operated in parallel, therewith enabling the wheelchair to be driven with a powerservo effect while, at the same time, measuring the torque applied and the movement of the wheelchair.
  • the man-machine communication is effected conveniently via the instrument panel 8 with its units 6, 9, 10, 11 which are readily accessible to the user-and in which information is exchanged between user and microcomputer unit 56.
  • the user is able to request a desired program through the instrument panel 8, for instance by pressing a key or button 62, so as to change between the various program parameters.
  • the user is able to obtain information relating to program and parameter selection, applied torque, chair speed, his/her own work development, battery resources, distance travelled, etc., all of which is presented on the display unit 6.
  • the input signals 58 from the user and carrying the settings commanded by the user, the torque signals 55 and the signals 57 relating to wheel movement are the basis on which the microcomputer unit 56 operates.
  • the work performed by the microcomputer unit 56 can be divided into several units. For instance, several microprocessors having mutually different functions can be used.
  • the motor may be controlled by individual units which include a microprocessor or some other motor control circuit means.
  • Fig. 7B illustrates an exemplifying embodiment of one microcomputer which includes a microprocessor 17 that is connected to different interfaces for the infeed and outfeed of data, such as a motor control unit 71, a unit 72 for communication with an external personal computer, a unit 73 for processing the incoming measurement signals 55 and 57, and a unit 74 for communicating with the instrument panel.
  • the microcomputer 70 is also connected to a fixed, but preferably re-programmable memory 75 containing software, and also to a read/write memory 76 for temporary data storage.
  • signal transmission is to transmit the amplified measurement signal in the form of a pulse train having a frequency which is linearly dependent on ⁇ U.
  • the microcomputer 56, the instrument panel 8 and the drive assembly 41 are powered electrically by batteries placed in the box 5 on the wheelchair.
  • the means for measuring torque and transmitting signals may be powered by the wheelchair batteries, as illustrated with the slip ring unit shown in Fig. 2C, or by a separate battery, or by means of some other electric current source mounted on the wheel, for instance in the unit 22.
  • the inventive powerservo effect for manual wheelchairs will be experienced as a "conventional" manual wheelchair, but with the difference that the user will feel stronger in the arms.
  • the powerservo function will satisfy the whole of the human spectrum found in the ranges of those who can almost manage a manual wheelchair and those which are able to control their arms but are unable to propel a manual wheelchair.
  • the measuring chair function afforded by the present invention provides a correct and an objective measuring instrument which can be used to map the strength, fitness and technique of a wheelchair user when driving the wheelchair.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Handcart (AREA)

Abstract

L'objet de l'invention est de pourvoir un fauteuil roulant d'une fonction de mesure permettant la mesure de la force de propulsion appliquée à une main-courante par l'utilisateur dudit fauteuil roulant, et également de pourvoir des fauteuils roulants classiques, entraînés manuellement, d'un servomoteur électrique. Des capteurs de force ou de puissance (2.1) sont placés à côté d'un élément de fixation respectif, entre la main-courante (3) et la roue (4), et ont pour fonction de mesurer la force de propulsion appliquée sur la main courante par l'utilisateur. La main courante est également maintenue en place par d'autres types d'éléments de fixation (2.2) non pourvus de capteurs de force ou de puissance, et qui ne produisent qu'un effet de force dans une direction axiale, tout en exerçant le plus petit effet possible dans la direction périphérique de la main courante. Chaque roue peut remplacer la roue classique d'un fauteuil roulant et est pourvue, à cet effet, d'éléments de montage rapides. En outre, chaque roue peut être pourvue d'un ensemble d'entraînement (41) comprenant un moteur (64) qui peut être commandé en réponse aux signaux de mesure fournis par les capteurs de puissance. Un ordinateur (56) reçoit le signal de puissance (55) émis par chaque roue, ainsi que des informations relatives à la vitesse de la roue (57) et aux réglages définis par l'utilisateur et entrés par celui-ci au moyen d'un panneau de commande (8). Ledit ordinateur calcule les informations utiles relatives à l'utilisateur, et, lorque le dispositif comprend un moteur, commande celui-ci en fonction d'un programme variable.
PCT/SE1994/000741 1993-08-16 1994-08-15 Ensemble roue pour fauteuil-roulant WO1995005141A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
SE9302644-1 1993-08-16
SE9302644A SE9302644D0 (sv) 1993-08-16 1993-08-16 Kraftservo för manuell rullstol
SE9400869-5 1994-03-15
SE9400869A SE9400869L (sv) 1993-08-16 1994-03-15 Rullstol med kraftservo samt mätfunktion

Publications (1)

Publication Number Publication Date
WO1995005141A1 true WO1995005141A1 (fr) 1995-02-23

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PCT/SE1994/000741 WO1995005141A1 (fr) 1993-08-16 1994-08-15 Ensemble roue pour fauteuil-roulant

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SE (1) SE9400869L (fr)
WO (1) WO1995005141A1 (fr)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0756856A2 (fr) * 1995-07-31 1997-02-05 SANYO ELECTRIC Co., Ltd. Fauteuil roulant
WO1997005010A1 (fr) * 1995-07-28 1997-02-13 Efa Gmbh Entwicklungsgesellschaft Für Antriebe Vehicule a roues entraine par la force musculaire et par un mecanisme auxiliaire d'entrainement electrique
EP0776647A1 (fr) * 1995-06-20 1997-06-04 Yamaha Hatsudoki Kabushiki Kaisha Chaise roulante manuelle et electrique
EP0861648A3 (fr) * 1997-02-28 1998-12-16 Otto Bock Orthopädische Industrie Besitz- und Verwaltungs-Kommanditgesellschaft Véhicule à roues mû par la force musculaire
EP0945113A3 (fr) * 1998-03-21 2000-03-29 Ulrich Alber GmbH & Co. KG Dispositif de propulsion auxiliaire pour fauteuil roulant propulsé par le patient
WO2001015960A1 (fr) 1999-08-31 2001-03-08 Deltaglide, Inc. Vehicule a entrainement assiste
WO2005037168A1 (fr) * 2003-10-09 2005-04-28 Invacare Corporation Affichage de levier de commande integre pour fauteuil roulant a moteur
NL2002322C2 (nl) * 2008-12-12 2010-06-15 Indes Holding Bv Door menskracht aangedreven voertuig en werkwijze voor het aandrijven van een dergelijk voertuig.
EP2340799A3 (fr) * 2009-12-31 2011-09-07 Hsiang-Ling Hsu Ensemble de commande auxiliaire pour fauteuils roulants
EP2277487A3 (fr) * 2009-07-22 2012-10-03 AAT Alber Antriebstechnik GmbH Dispositif de détection pour une roue de chaise roulante
EP2277488A3 (fr) * 2009-07-21 2012-10-03 AAT Alber Antriebstechnik GmbH Dispositif de transmission pour une roue, notamment une roue de chaise roulante, pour la transmission d'une grandeur électrique à partir d'un dispositif côté roue vers un dispositif côté corps de véhicule ou inversement
CN102846063A (zh) * 2012-09-11 2013-01-02 吴江市聚力机械有限公司 一种智能电动椅子
CN102119891B (zh) * 2010-01-12 2015-02-18 许湘菱 轮椅的辅助驱动结构
EP3017798A4 (fr) * 2013-07-04 2016-08-10 Yamaha Motor Co Ltd Dispositif alimenté électriquement pour fauteuils roulants, fauteuil roulant électrique comprenant ledit dispositif alimenté électriquement pour fauteuils roulants, et procédé de surveillance d'entraînement pour fauteuils roulants électriques

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Cited By (24)

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Publication number Priority date Publication date Assignee Title
EP0776647A4 (fr) * 1995-06-20 1999-09-22 Yamaha Motor Co Ltd Chaise roulante manuelle et electrique
EP0776647A1 (fr) * 1995-06-20 1997-06-04 Yamaha Hatsudoki Kabushiki Kaisha Chaise roulante manuelle et electrique
WO1997005010A1 (fr) * 1995-07-28 1997-02-13 Efa Gmbh Entwicklungsgesellschaft Für Antriebe Vehicule a roues entraine par la force musculaire et par un mecanisme auxiliaire d'entrainement electrique
EP0756856A3 (fr) * 1995-07-31 1997-08-13 Sanyo Electric Co Fauteuil roulant
US5927414A (en) * 1995-07-31 1999-07-27 Sanyo Electric Co., Ltd. Wheelchair
EP0756856A2 (fr) * 1995-07-31 1997-02-05 SANYO ELECTRIC Co., Ltd. Fauteuil roulant
EP0861648A3 (fr) * 1997-02-28 1998-12-16 Otto Bock Orthopädische Industrie Besitz- und Verwaltungs-Kommanditgesellschaft Véhicule à roues mû par la force musculaire
US6092615A (en) * 1997-02-28 2000-07-25 Otto Bock Orthopaedische Industrie Besitz-und Verwaltungs-Kommandit-Gesel lschaft Power assisted manually propelled vehicle and wheel assembly thereof
CN1070045C (zh) * 1997-02-28 2001-08-29 奥托·伯克矫形工业所有与管理两合公司 膂力驱动的轮式车辆
EP0945113A3 (fr) * 1998-03-21 2000-03-29 Ulrich Alber GmbH & Co. KG Dispositif de propulsion auxiliaire pour fauteuil roulant propulsé par le patient
EP2206640A3 (fr) * 1999-08-31 2010-10-20 Deltaglide, Inc. Véhicule assisté
WO2001015960A1 (fr) 1999-08-31 2001-03-08 Deltaglide, Inc. Vehicule a entrainement assiste
EP1216184A1 (fr) * 1999-08-31 2002-06-26 Deltaglide, Inc. Vehicule a entrainement assiste
EP1216184B1 (fr) * 1999-08-31 2013-01-02 Deltaglide, Inc. Vehicule a entrainement assiste
WO2005037168A1 (fr) * 2003-10-09 2005-04-28 Invacare Corporation Affichage de levier de commande integre pour fauteuil roulant a moteur
US7003381B2 (en) 2003-10-09 2006-02-21 Invacare Corporation Integral joystick display for a powder driven wheelchair
NL2002322C2 (nl) * 2008-12-12 2010-06-15 Indes Holding Bv Door menskracht aangedreven voertuig en werkwijze voor het aandrijven van een dergelijk voertuig.
EP2277488A3 (fr) * 2009-07-21 2012-10-03 AAT Alber Antriebstechnik GmbH Dispositif de transmission pour une roue, notamment une roue de chaise roulante, pour la transmission d'une grandeur électrique à partir d'un dispositif côté roue vers un dispositif côté corps de véhicule ou inversement
EP2277487A3 (fr) * 2009-07-22 2012-10-03 AAT Alber Antriebstechnik GmbH Dispositif de détection pour une roue de chaise roulante
EP2340799A3 (fr) * 2009-12-31 2011-09-07 Hsiang-Ling Hsu Ensemble de commande auxiliaire pour fauteuils roulants
CN102119891B (zh) * 2010-01-12 2015-02-18 许湘菱 轮椅的辅助驱动结构
CN102846063A (zh) * 2012-09-11 2013-01-02 吴江市聚力机械有限公司 一种智能电动椅子
EP3017798A4 (fr) * 2013-07-04 2016-08-10 Yamaha Motor Co Ltd Dispositif alimenté électriquement pour fauteuils roulants, fauteuil roulant électrique comprenant ledit dispositif alimenté électriquement pour fauteuils roulants, et procédé de surveillance d'entraînement pour fauteuils roulants électriques
US9731784B2 (en) 2013-07-04 2017-08-15 Yamaha Hatsudoki Kabushiki Kaisha Wheelchair electric device, electric wheelchair with wheelchair electric device and drive monitoring method for electric wheelchair

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SE9400869D0 (sv) 1994-03-15

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