WO2008062408A2 - Dispositif de mobilité personnel - Google Patents

Dispositif de mobilité personnel Download PDF

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Publication number
WO2008062408A2
WO2008062408A2 PCT/IL2007/001434 IL2007001434W WO2008062408A2 WO 2008062408 A2 WO2008062408 A2 WO 2008062408A2 IL 2007001434 W IL2007001434 W IL 2007001434W WO 2008062408 A2 WO2008062408 A2 WO 2008062408A2
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WO
WIPO (PCT)
Prior art keywords
personal mobility
base
mobility device
seat
functional position
Prior art date
Application number
PCT/IL2007/001434
Other languages
English (en)
Other versions
WO2008062408A3 (fr
Inventor
Noga Nishry
Original Assignee
Noga Nishry
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 Noga Nishry filed Critical Noga Nishry
Publication of WO2008062408A2 publication Critical patent/WO2008062408A2/fr
Publication of WO2008062408A3 publication Critical patent/WO2008062408A3/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61G5/042—Front 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
    • A61G5/041—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
    • A61G5/14—Standing-up or sitting-down aids
    • 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
    • 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
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
    • 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
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1038—Manual lifting aids, e.g. frames or racks
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/002—Appliances for aiding patients or disabled persons to walk about with attached or incorporated article carrying means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/046—Wheeled walking aids for patients or disabled persons with braking means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1628—Pelvis
    • A61H2201/1633—Seat

Definitions

  • This invention relates to personal mobility devices, especially those adapted for residential/non-industrial use.
  • US 3,872,945 discloses a powered walker for use by disabled persons in a standing position therewithin.
  • the walker comprises a four-sided frame extending vertically upward from a platform with the frame being supported below the platform for transportational movement by a pair of front wheels, one of which is powered, and by a pair of rear wheels which can be turned for steering the walker.
  • the driven front wheel is powered by an electric motor, the operation of which is controlled by the walker user who operates a switch which is electrically connected to the motor through a control circuit. Steering is effected by movement of a hand-operated tiller which is connected through linkages to the rear wheels. Hand-operated brakes are also provided.
  • the walker carries its own rechargeable battery, as well as padded supports to aid the user.
  • US 5,451,193 discloses a combined wheelchair and walker which includes a frame, a seat attached to the frame, and a number of wheels rotatably attached to the frame.
  • a braking device is provided that is operatively associated with the seat.
  • the braking devices includes a first, braking state, and a second, non-braking state, the first state being a state in which the braking device restricts movement of one of the wheels when a force is applied to the seat, and the second, non-braking state is a state in which the braking device allows movement of the wheels when no force is applied to the seat.
  • a brake is provided that the user actuates at will, whether seated using the device in its wheelchair mode or standing, using the device in its walker mode.
  • US 5,168,947 discloses a motorized walker which includes a base upon which a person can stand, and wheels on the base for rollably supporting the base.
  • Variable speed reversible electric motors are provided for driving the wheels.
  • a walker frame within which a person can stand is detachably mounted on the base, and includes control switches for separately and independently actuating the electric motors such that the person can stand on the motorized walker and maneuver it in any desired direction.
  • FR 2 588 752 discloses an electric vehicle for a child with a motor handicap in an apparatus for holding the child vertical. It consists of a platform on two drive wheels and two stabilizer wheels. On this platform, the child stands in an apparatus held by a belt supported on a mast, on which is fixed, via a semicircle, the control manipulator.
  • the device according to the invention is in particular intended for children with motor handicaps from years having a medical apparatus for holding them vertical, and may also be used in the sitting position with a variable seat.
  • a personal mobility device comprising a base and a support system attached thereto, the base comprising an elevator mechanism adapted to raise and lower at least a portion of the base relative to the ground.
  • the device may be embodied by one, some, or all of the following:
  • the elevator mechanism may be adapted to lower the base to a lowered position, wherein it substantially contacts the ground. It also may be adapted to raise the base to a raised position, wherein the distance between the bottom of the base and the ground is sufficient to overcome household obstacles, such as small objects, thresholds of doorways, etc.
  • the device may further comprise a propelling mechanism adapted to locomote the device, the elevator mechanism being adapted to raise and lower the propelling mechanism relative to the base.
  • the support system may comprise a seat adapted to be articulated between a first functional position, in which it is adapted to support a user to in a sitting position, and a second functional position, wherein it does not obstruct a user who is standing on the base.
  • the device may further comprise a vertical actuator adapted to raise the seat as it is articulated from its first functional position to its second functional position, and to lower the seat as it is articulated from its second functional position to its first functional position.
  • the base may have a perimeter and a support system attached thereto, the device comprising at the perimeter a freely moving rotation system extending therebeyond and adapted to move independently of the base along the length of the perimeter.
  • the device may further comprise a controller having a memory adapted to store instructions for controlling the device, the memory being adapted to be reprogrammed with a new instruction set.
  • the device may further comprise sockets, each adapted to receive therein a set of controls for operating the device.
  • the support system may comprise a rack connected to a side thereof, the rack having a working surface and being moveable between a retracted position, in which the working surface in inaccessible, and an extended position, in which the working surface is accessible for use.
  • the device may further comprise a first drive wheel adapted to drive the device and to swivel about a vertical axis thereof between a first position, in which rotation of the wheel is within a plane which is substantially parallel with a direction of forward locomotion of the device, and a second position, in which rotation of the wheel is within a plane which is substantially perpendicular with a direction of forward locomotion of the device; means to control rotation and swiveling of the first drive wheel; and a pivot adapted for selective engagement with the ground at an axis rotation of the device; the device adapted to disengage the pivot with the ground when the drive wheel is in its first position, and to engage the pivot with the ground when the drive wheel is in its second position.
  • the base may be substantially circular, with the axi
  • the propelling mechanism may comprise a plurality of wheels, swivels or rollers, hereinafter collectively referred to as wheels, said wheels being located within the footprint.
  • the propelling mechanism may be or comprise a traction assembly.
  • At least one of the wheels may be a drive wheel.
  • At least one of the wheels may be a non-drive wheel (e.g., swivel) adapted to rotate freely.
  • the drive wheels may be arranged such that they are all the same distance from the axis of rotation.
  • At least some of the drive wheels and/or non-drive wheels may be adapted to pivot about an axis which is parallel to the axis of rotation of the device.
  • the device may comprise two drive wheels which are coaxially arranged, such that the axis of the drive wheels passes through the axis of rotation of the device.
  • the propelling mechanism may be adapted to rotate one of the drive wheels in a first sense, and to rotate the other wheel concurrently in a second sense being opposite said first sense. • The propelling mechanism may be adapted to rotate one of the drive wheels while maintaining the angular position of the other.
  • a personal mobility device comprising a base and an individual support system attached thereto, the individual support system comprising a seat adapted to be articulated between a first functional position, for supporting an individual sitting thereupon, and a second functional position, wherein it does not obstruct an individual who is standing on the base.
  • the seat when in the second functional position, may constitute a knee-support for a user standing on the base.
  • the personal mobility device may be adapted to locomote in a forward direction, the orientation of the forward direction being changeable between one of a first and second forward direction, according to the position of the seat.
  • the first forward position may be the direction which a user faces when seated upon the seat in its first functional position
  • the second forward direction may be the opposite direction, or the direction a user faces when he stands upon the base with the front of his knees bearing upon the seat in its second functional position.
  • the forward direction When the seat is in its first functional position, the forward direction may be the first forward direction, and when the seat is in its second functional position, the forward direction may be the second forward direction.
  • the device may be adapted to locomote in a reverse direction at a maximum speed which is slower than the maximum speed it is adapted to locomote in the forward direction.
  • a user sitting on the seat may be at a front-facing or a rear-facing position.
  • the seat may be adjustable for height, tilt and rotatable too.
  • a handrail assembly serves for supporting the individual while standing on the base and serves as a torso support (for supporting the individual at a front or back sitting position).
  • the device may comprise two sets of controls for operating the device, each located remotely from the other, a first of said sets being located such that a user sitting on the seat when it is in the first functional position can conveniently access it with at least one of his hands, and a second of said sets being located such that a user standing on the base can conveniently access it with at least one of his hands.
  • the device may comprise two additional sets of controls, a first of the additional sets being located such that a user sitting on the seat when it is in its first functional position can conveniently access it with the other of his hands, and a second of the additional sets being located such that a user standing on the base when the seat is in its second functional position can conveniently access it with the other of his hands.
  • This is useful, for example, for a user whose hands tire, or who is lacking one of his hands or the use thereof.
  • the device may further comprise a vertical actuator adapted to raise the seat as it is articulated from its first functional position to its second functional position, and to lower the seat as it is articulated from its second functional position to its first functional position.
  • the vertical actuator may be adapted to raise and lower the seat a distance of up to 30 cm.
  • an upwardly-facing edge of the seat may be positioned to allow leaning thereupon by a user.
  • a personal mobility device comprising a base and an individual support system attached thereto, the base having a top surface adapted for supporting a user during use, either standing or sitting, at least a portion of the top surface being adapted to be located adjacent the floor when the device is in use.
  • the base may be formed with a ramp at the portion, so as to facilitate easy ascending/descending onto/from the base.
  • a personal mobility device comprising a base having a perimeter and a support system attached thereto, the device comprising at said perimeter a freely moving rotation system extending therebeyond and adapted to move independently of the base along the length of the perimeter.
  • the rotation system allows the base to rotate even when the device immovably bears against an obstacle, such as a wall, etc.
  • the rotation system may comprise a belt encircling the base along the perimeter. It may comprise a plurality of rollers, each adapted to rotate about an axis which extends substantially perpendicularly from the ground. At least the portion of the rotation system which extends beyond the perimeter may be made from a viscoelastic material.
  • a personal mobility device comprising a base and a support system attached thereto, and further comprising a controller having a memory adapted to store instructions for controlling the device, the memory being adapted to be reprogrammed with a new instruction set.
  • the controller may be connected to a wireless receiver for receiving the new instruction set. It may be adapted to communicate according to at least one IEEE networking standard. It may further be connected to a data input port, which may be a USB port, for receiving thereby said new instruction set.
  • a personal mobility device comprising a base and a support system attached thereto, the device further comprising sockets, each adapted to receive therein a set of controls for operating the device.
  • the device may further comprise a controller adapted to receive and execute commands issued by the set of controls.
  • a personal mobility device comprising a base and a support system attached thereto, the support system comprising a rack connected to a side thereof, the rack having a working surface and being moveable between a retracted position, in which the working surface in inaccessible, and an extended position, in which the working surface is accessible for use.
  • the rack in its retracted position, may be contained within or under the base.
  • the rack may be connected to the base by a telescoping arrangement for facilitating the movement between the retracted and extended positions.
  • the device may further comprise a wheel, which may constitute a front drive wheel of the device, on a bottom surface of the rack.
  • the device may further comprise a vertical guardrail projecting from the rack.
  • the guardrail may be flush with another vertical portion of the device when the rack is in its collapsed position.
  • a personal mobility system comprising a personal mobility device comprising a base and a support system attached thereto, and an auxiliary platform separate from the device, the auxiliary platform comprising a device-receiving area and an elevator mechanism, adapted to raise and lower the device, projecting into the device-receiving area; the auxiliary platform adapted to carry the device and move in response to commands issued by a user.
  • the system may be adapted to establish a communication between the device and the auxiliary platform at least for the device to issue control commands to the auxiliary platform.
  • the communication is may be accomplished by a wireless connection.
  • the device and the auxiliary platform may comprise connecting elements disposed to establish, at least when the device is being carried by the auxiliary platform, a physical connection for facilitating the communication.
  • the system may be designed such that the device comprises wheels adapted to locomote the device, and the auxiliary platform comprises wheels adapted to locomote the auxiliary platform; the wheels of the auxiliary platform project downwardly to greater extent than the wheels of the device do.
  • a personal mobility device having a base and a support system attached thereto, the device comprising:
  • a first drive wheel adapted to drive the device and to swivel about a vertical axis thereof between a first position, in which rotation of the wheel is within a plane which is substantially parallel with a direction of forward locomotion of the device, and a second position, in which rotation of the wheel is within a plane which is substantially perpendicular with a direction of forward locomotion of the device;
  • a pivot adapted for selective engagement with the ground at an axis rotation of the device; the device being adapted to disengage the pivot with the ground when the drive wheel is in its first position, and to engage the pivot with the ground when the drive wheel is in its second position.
  • a personal mobility device having a base and a support system attached thereto, the device having a low center of gravity.
  • the base has a largest linear planar dimension or diameter, the center of gravity being located above the base at a distance therefrom which does not exceed the largest planar dimension.
  • the distance does not exceed a fraction of the largest planar dimension, the fraction being either three quarters, two thirds, one half, one third, or one quarter.
  • the center of gravity may be located within the base.
  • the base comprises functional elements of the propelling mechanism, such as, e.g., one or more motors, one or power cells (batteries), one or more transmissions, etc., separate from the individual support system, so as to maintain the center of gravity at a height substantially not exceeding the functional elements.
  • the functional elements may be contained within a housing such that the center of gravity of the device does not exceed the housing.
  • a personal mobility device comprising a base and an individual support system attached thereto, the base having a perimeter defining a footprint and comprising a propelling mechanism adapted to locomote the device; the propelling system being located within the footprint of the base.
  • a personal mobility device comprising a base having a perimeter and an individual support system attached thereto, the perimeter of the base defining the perimeter of a volume projecting perpendicularly therefrom, substantially all of said support system being contained within the volume.
  • the device may further comprise wheels contained within the volume.
  • a personal mobility device comprising a base and an individual support system attached thereto, the base having a largest linear dimension and a perimeter defining a footprint, and comprising a propelling mechanism adapted to locomote the device and rotate it about an axis of rotation such that, during rotation, the largest linear dimension of the device remains substantially within the footprint. This may be accomplished by locating the axis of rotation at the midpoint of the largest linear dimension.
  • a personal mobility device may further be embodied by the features on one or more of the other aspects, including their respective embodiments, mutatis mutandis.
  • FIGS. IA and IB are perspective views of a personal mobility device according to the present invention with a seat thereof at a first functional position, and at second functional position, respectively;
  • Fig. 1C is a top view of the personal mobility device as seen in Fig. IA;
  • Fig. 2 A is a bottom view of the personal mobility device illustrated in Figs. IA through 1C;
  • Fig. 2B and 2C are bottom views of the personal mobility device illustrated in Figs. IA through 1C, according to other examples;
  • Figs. 3A and 3B are perspective views of the personal mobility device as illustrated in Figs. IA and IB 5 respectively, in use;
  • Figs. 3C and 3D are side views of the personal mobility device according to an embodiment in first and second functional positions, respectively;
  • Fig. 4 is a perspective view of the personal mobility device illustrated in Fig. IB;
  • Fig. 5A is a perspective view of a control panel according to an embodiment of the present invention
  • Fig. 5B is a partial view of an individual support system of the personal mobility device, with a socket adapted to receive the control panel illustrated in Fig. 5 A;
  • Fig. 6A is a partial view of a base of the personal mobility device, illustrating a rotation system according to one embodiment of the present invention
  • Fig. 6B is a partial view of the base of the personal mobility device, illustrating a rotation system according to another embodiment of the present invention
  • Fig. 7A is a bottom view of the device according to one modification of the present invention.
  • Fig. 7B is a side view of a support system of the embodiment illustrated in Fig. 7 A;
  • Figs. 8A and 8B illustrate further embodiments of the personal mobility device
  • Fig. 9 illustrates the personal mobility device and a stair-life system adapted for use therewith;
  • Figs. 1OA and 1OB are perspective and top views, respectively, of an auxiliary platform for use with the personal mobility device; and Fig. 1OC illustrates the personal mobility device and the auxiliary platform illustrated in Figs. 1OA and 1OB in use.
  • a personal mobility device generally indicated at 10.
  • the device 10 comprises a circular base 12 and an individual support system 14.
  • the top surface 12a of the base 12 is located close to the ground, so as to facilitate easy ascending/descending onto/from the base of the device 10 by a user.
  • a user area 16 is defined in the space perpendicularly above the base 12, i.e., the volume of the user area is bound by a volume, i.e., an imaginary envelope, which projects perpendicularly upwardly from the perimeter 18 of the base.
  • the individual support system 14 is substantially contained within the user area 16, i.e., it does not substantially project beyond the imaginary envelope which projects perpendicularly upwardly from the perimeter 18 of the base (Fig. 1C), and it defines the boundaries of the user area.
  • the base 12 constitutes a platform for firm and balanced supporting the weight of a user who is either standing or sitting. It is provided adjacent the floor in order to facilitate easy access thereto by a user who finds walking difficult. For example, a ramped portion 12a of the base may be provided.
  • the base 12 may be flat, and be provided with an elevator mechanism (not illustrated) in order to allow it to be lowered to the ground to permit easy mounting thereon.
  • the elevator mechanism is also adapted to raise the base such that there is a clearance between the bottom thereof and the ground, sufficient to overcome typical obstacles in a home, such as small objects, thresholds of doorways, etc.
  • the device comprises at a bottom surface of the base a pair of drive wheels 20a and 20b, and additional wheels 22a and 22b, which may be driven or freely rotating (i.e. swivels).
  • AU wheels project just as may be required to facilitate locomoting of the device, however maintaining the base as low as possible.
  • Axes of the drive wheels 2 ⁇ a and 20b, indicated by lines 21, are collinear, and are equally spaced from a central axis 24 vertically extending from the base 12.
  • the axes 21 intersect the central axis 24.
  • the drive wheels 20a, 20b may each rotate in the same direction with respect to the base 12 (i.e., either both in a counterclockwise direction with respect to the base, or both in a clockwise direction with respect to the base), so that the device 10 rotates about the axis 24.
  • the drive wheels may both rotate in the same direction, such that the device 10 moves along a substantially straight trajectory in either a forward direction or a backward direction.
  • Wheels 22a and 22b are free to rotate and swivel, and may be, e.g., spherical casters or any other appropriate swivel wheel. Wheels 22a and 22b are adapted to balance the device 10. However, instead of drive wheels, there may be provided two endless traction belts 25, as seen in Fig. 2B.
  • a front wheel 20c adapted to rotate about an axis which is parallel to the axis 24 of the device 10, and at least two other side wheels 2Od may be provided.
  • Drive and steering motors (not illustrated) are provided to, respectively, drive the front wheel 20c and control its rotation.
  • a pivot 23 is provided in the center of the base 12. The pivot 23 is adapted to be selectively engaged so that it impedes lateral movement of the device.
  • This may be accomplished, e.g., by being adapted to be selectively raised and lowered to be in contact with the ground (for example by engagement of the elevator mechanism which is adapted to lower the base to the ground to permit easy mounting thereon, as described above, or by a separate elevator mechanism), or by being freely rotatable in all directions and selectively lockable in a fixed position.
  • the steering motor may rotate the front wheel 20c so that it is generally perpendicular to the direction of motion, and the pivot 23 is engaged as described above.
  • the device 10 thereby rotates about its axis 24.
  • the pivot 23 is disengaged.
  • a housing 26 projecting upwardly from the base 12 and configured so as to retain a center of gravity as low as possible and to not interfere with the user area 16.
  • the housing 26 may have a horseshoe-like shape, with the outer perimeter thereof corresponding with the contour of the base 12.
  • the controller may comprise a memory which contains instructions for controlling the device 10.
  • the controller may be upgraded, e.g., by reprogramming it with a new instruction set.
  • the controller comprises a receiver for receiving the new instruction set.
  • This may be a wireless receiver, and/or it may be adapted to communicate according to one of the IEEE networking standards. For example, if the controller is in the vicinity of a wireless network, it may automatically utilize that network to connect to a server or a similar service from which it downloads the new instruction set and subsequently upgrades itself therewith.
  • a data input port such as a USB port, may be provided, so that a user or a technician can manually upgrade the controller.
  • the individual support system 14 is designed for supporting the user in different positions during use, i.e., sitting and standing, as seen in Figs. 3A and 3B, respectively. It comprises a central support 30 carrying a handrail system 32 and a seat 34 pivotable between a first functional position, wherein it is horizontal, providing a seat for a seated user (seen in Fig. IA and 3B), and a second functional position, wherein it is vertical, i.e., wherein it will not interfere with a user standing on the base 12 (seen in Fig. IB and 3B).
  • the seat when in its second functional position, may constitute a knee-support for a user standing on the base 12 (e.g., as in Fig. 3B).
  • the device 10 is adapted to move in a forward direction, i.e., in the direction that a user faces, either seated or standing. Therefore, a detector may be provided associated with the seat to determine which functional position it is in. When it is in the first functional position, the forward direction is the direction a seated user faces. When it is in the second functional direction, the forward direction is the direction a standing user, with the front of his knees bearing against the seat 34, faces.
  • the maximum speed in the forward direction may be faster than the maximal speed when the device 10 moves in the reverse of the forward direction.
  • the handrail system 32 comprises a vertical rail portion 32a, which is disposed at a height such that when a user is standing on the base 12, his hands may rest comfortably thereupon, and also for assisting the user to mount on the device, to stand up and sit down, etc.
  • the handrail system 32 further comprises two rail portions 32b, which extend downwardly from the vertical rail portion 32a, and which are disposed such that they may be comfortably grasped by a user when seated on the seat 34 in its lowered position.
  • the handrail system 32 serves as a backrest for the seated individual, where the rails embrace the user so as to support the user and impart a secure feeling.
  • the handrail system 32 may further comprise control panels 36a and 36b adapted to control the motion of the device 10, located such that a standing user may easily and comfortably access control panel 36a, and a seated user may easily and comfortably access control panel 36b. This allows the device 10 to be easily controlled and maneuvered whether the user is sitting or standing.
  • two additional control panels 36c, 36d may be provided, for users who lack the use of one hand, or who must frequently switch between using different hands.
  • each control panel 36 may comprise a connection array 38, adapted for being received within a socket 40 formed within the individual support system 14.
  • Extensions 42 (only one seen in Fig. 5A), each having a through-going aperture 44, may be provided, and corresponding apertures 46 are formed on the individual support system 14 adjacent each socket 40 in locations corresponding to the apertures 44 of the control panel 36.
  • connection array 38 when the connection array 38 is received within the socket 40, the control panel 36 may be secured thereto.
  • sockets 40 may be formed on the individual support system
  • control panel 36 or panels can be customized to fit a user's needs.
  • the device 10 may be provided with a voice-recognition system as an alternative or as a supplement to the control panels 36a, 36b. In such a case, a microphone (not illustrated) is provided.
  • the seat 32 may comprise two substantially flat surfaces, as illustrated in Figs. IA and IB, or, as illustrated in Fig. 4, at least one surface 34a thereof may be molded into a shape which is comfortable for sitting thereupon.
  • the seat 34 may be articulated to the vertical support 30 such that is pivots between the first and second functional (i.e., collapsed) positions.
  • the seat 34 be articulated to the vertical support 30 such that its height is adjustable and may further be rotatable among several first functional positions wherein the different sides thereof each face upwardly.
  • both sides of the seat 34 may be differently molded, e.g., to accommodate different users.
  • this edge 34b may be the edge which faces forward or rearward when then seat is in is first functional (i.e., sitting) position.
  • the seat 34 may be articulated to a vertical actuator 90, which is slideably articulated to a seat support post 92 which projects substantially vertically from the base 12.
  • the vertical actuator is adapted to raise (e.g., between 25-30 centimeters from its original position) the seat 34 when it is brought from its first functional (sitting) position to its second functional (collapsed) position, and, conversely, to lower the seat when it is returned from its second functional position to its first functional position. In this way, when the user stands up, he is assisted is rising by the seat 34 being raised with him.
  • the perimeter of the base 12 may be provided with a rotation system, generally indicated at 50 in each of Figs. 6A and 6B.
  • the rotation system 50 comprises freely moving elements, so that when the base 12 bears against an obstacle, such as a wall, it slips thereagainst and will not be trapped thereby.
  • the rotation system 50 comprises a viscoelastic belt 52 which encircles the perimeter of the base 12.
  • the belt 52 is free to rotate about the base 12, so that when the device 10 impacts an obstacle, while the belt may be rendered immovable with respect to the obstacle, the device can continue moving.
  • the embodiment illustrated in Fig. 6B works on a similar principle. However, it comprises a series of rollers 54, each freely rotatable about an axis 56. According to both embodiment, at least a portion of the rotation system 50 projects from the base 12 around substantially the entire perimeter thereof. As illustrated in Fig. 7A 5 the device may be fitted with a five- wheel configuration.
  • each side of the base 12 is fitted with a front and rear side-wheel 60a, 60b.
  • a front-wheel 60c is provided at the front center of the base to provide additional stability.
  • each front and rear side- wheel 60a, 60b constitutes part of a support system 62.
  • the support system comprises a pivot arm 64 to which a side-wheel 60a, 60b is rotatably affixed at each end.
  • the pivot arm is pivotally articulated to housing 66, which is fixedly attached to the base 12 of the device 10, about point 68.
  • the pivot arm 64 is responsive to slight changes in the surface upon which the device 10 is traveling. This enables the front and rear side-wheels 60a, 60b to traverse an uneven surface relatively smoothly.
  • the device 10 may be provided with a rack 70, which is connected to the front of the device and movable between a retracted position and an extended position by an extendable support 72, e.g., a telescoping arrangement.
  • the rack 70 comprises a working surface 74, which is useful, e.g., for placement thereupon of packages, etc., and a wheel (not seen) on the bottom, which facilitates its extension and retraction, and permits the device 10 to move easily when the rack is extended.
  • the wheel may be a freely rotating wheel, such as a caster, or it may constitute a drive wheel of the device 10.
  • the wheel may be dedicated to the rack 70, or, in the event that the device 10 comprises a wheel on the underside of its base 10 at the front thereof, that wheel may double as the wheel of the rack.
  • the rack 70 may comprise a vertical guardrail 76 to prevent packages from falling therefrom.
  • the vertical guardrail 76 may be designed such that it is flush with another vertical portion of the device when the rack 70 is in its retracted position.
  • a stair-lift system may be provided for use with the device, in order to facilitate ascending and descending stairs.
  • a system may be installed, e.g., at a user's home or in a public area.
  • the stair-lift system 80 comprises a conveyer 82 and a track 84, which are co-designed so that the conveyer is adapted to move along the track.
  • the conveyer comprises a docking mechanism 86 which is adapted to grasp the device.
  • a controller for the stair-lift system 80 may be integrated into the device's 10 controls.
  • a remote control therefore may be integrated into the device's controls.
  • the docldng mechanism 86 may be further adapted to make an electronic connection with the device 10, so that control commands can be passed from the device to the stair-lift system.
  • an auxiliary platform 100 may be provided.
  • the auxiliary platform 100 comprises a C-shaped housing 102, defining an open center 104 constituting a device-receiving area, having an opening 106 sized so as to allow the device 10 to enter into the open center 104 of the auxiliary platform.
  • the auxiliary platform 100 comprises an elevator mechanism 108 projecting into the open center, which is adapted to raise and lower the device 10 when it is within the open center 104.
  • the elevator mechanism 108 is adapted to maintain the device 10 in a substantially horizontal position when it is carried by the auxiliary platform 100.
  • the device 10 and/or the auxiliary platform 100 may be provided with an inclinometer (not shown) which is used to determine to what degree the horizontal position of the device within the auxiliary platform needs to be corrected.
  • it comprises wheels 110, which are typically larger then those of the device 10 itself, and functional elements (not illustrated), such as a battery, controller, transmissions, a socket for charging the battery, etc., for facilitating motion of the auxiliary platform 100 are provided therewithin.
  • two guards 112 are provided at either side of the opening 106. Each guard 112 is pivotable between a raised position, in which they do not obstruct the opening 106 so that the device 10 cannot pass therethrough, and a lowered position.
  • a user directs the device 10 through the opening 106 into the open center 104 of the auxiliary platform 100, while the guards 112 are each in their respective raised position.
  • the elevator mechanism 108 is engaged, and lifts the device 10 off the ground.
  • the auxiliary platform 100 carries the device.
  • Fig. 1OC illustrates the device 10 so engaged by the auxiliary platform 100.
  • the auxiliary platform 100 may receive control commands from the device 10, with controls therefor being integrated with the device.
  • the device 10 may communicate with the auxiliary platform 100, i.e., to issue thereto commands and receive feedback therefrom, via a secure wireless connection, which may be Bluetooth, or any other wireless protocol.
  • a secure wireless connection which may be Bluetooth, or any other wireless protocol.
  • a physical connection for issuing commands may be established between the device 10 and the auxiliary platform 100 when the device is received therewithin.
  • auxiliary platform 100 facilitates the use of a device 10 which has been proportioned and sized for indoor use to be used outdoors. While the device 10 may be designed, e.g., to overcome small household obstacles, such as the threshold of a doorway, designing it to overcome larger obstacles, such as from the street to a sidewalk, would result in a larger device which would not necessarily be suitable for household use.
  • the use of the device 10 with the auxiliary platform 100 as described above facilitates outdoor use as well as indoor use.
  • the configuration of the wheels 20a, 20b, 22a, 22c allows the device to rotate about its central axis 24. During such a rotation, the base 12 does not substantially deviate from its original footprint. Since the support system 14 is substantially contained within the user area 16 which is completely above the base, during rotation of the device 10, it sweeps out a limited space. Thus, the device 10 may maneuver in tight spaces, such as residential bathrooms, hallways, etc., without being damaged or causing damage, and while protecting the user. Accordingly, the device may easily be used to enter even through a relatively narrow domestic door pass, e.g. into a bathroom.
  • the locomotion mechanism is configured to facilitate rotation of the device about its centerline 24 . (e.g. by rotating the wheels at opposite senses), this configuration also allows the device to make turns of a larger radius. This may be accomplished by one of the drive wheels 20a rotating, while the other drive wheel 20b is either held in place, or rotates at a different speed than the first. • By providing the device 10 in a small size, it permits the user to carry out typical household tasks, i.e., cooking, cleaning, etc., without having to modify household furnishings to accommodate its size.
  • the user may, for example, sit at a table or in a salon without having to dismount therefrom. This saves the user the effort and inconvenience of having to go in and out of, e.g., a wheelchair or a walker, as the case may be.
  • the device functions as a seat as well as a device which provides locomotion, once a user is seated, there is no need for storage thereof.
  • the width thereof is reduced. This further allows it to be used in a relatively confined space such as a residential building. • By providing the device 10 with the possibility to be used by a user in either the sitting or standing position, a user may move about when seated in order to rest, as well as while standing, which allows him to accomplish tasks which require an extended range of movement, such as cleaning, cooking, etc.

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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)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Rehabilitation Tools (AREA)
  • Types And Forms Of Lifts (AREA)
  • Cage And Drive Apparatuses For Elevators (AREA)

Abstract

L'invention concerne un dispositif de mobilité personnel comprenant une base et un système de support fixé à celle-ci, la base comprenant un mécanisme élévateur conçu pour élever et abaisser au moins une partie de la base par rapport au sol.
PCT/IL2007/001434 2006-11-22 2007-11-21 Dispositif de mobilité personnel WO2008062408A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US86049006P 2006-11-22 2006-11-22
US60/860,490 2006-11-22

Publications (2)

Publication Number Publication Date
WO2008062408A2 true WO2008062408A2 (fr) 2008-05-29
WO2008062408A3 WO2008062408A3 (fr) 2008-09-12

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Application Number Title Priority Date Filing Date
PCT/IL2007/001434 WO2008062408A2 (fr) 2006-11-22 2007-11-21 Dispositif de mobilité personnel

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2484206A (en) * 2010-10-01 2012-04-04 Ian Gray A stand-up personal mobility vehicle with thigh supports mounted on folding column
DE102009024478B4 (de) * 2009-06-10 2015-01-15 Joachim Fehr Ein kompakter mobiler Pflegehelfer für den universellen Einsatz, der sowohl im Innen- als auch im Außenbereich verwendbar ist
EP2561849A4 (fr) * 2010-04-22 2015-04-29 Rosana Antunes De Sousa Appareil de locomotion multifonctionnel
FR3056434A1 (fr) * 2016-09-29 2018-03-30 Kompai Robotics Robot mobile d'assistance comprenant au moins un systeme d'appui pivotant

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4518057A (en) * 1983-06-08 1985-05-21 Mccallum Michael Wheelchair transporting with selectively raisable platform means
US4679810A (en) * 1986-06-30 1987-07-14 Kimball James F Powered step assembly for vehicles
US5137102A (en) * 1986-08-25 1992-08-11 Retec Pr, Inc. Combination wheelchair and walker apparatus

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4518057A (en) * 1983-06-08 1985-05-21 Mccallum Michael Wheelchair transporting with selectively raisable platform means
US4679810A (en) * 1986-06-30 1987-07-14 Kimball James F Powered step assembly for vehicles
US5137102A (en) * 1986-08-25 1992-08-11 Retec Pr, Inc. Combination wheelchair and walker apparatus

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009024478B4 (de) * 2009-06-10 2015-01-15 Joachim Fehr Ein kompakter mobiler Pflegehelfer für den universellen Einsatz, der sowohl im Innen- als auch im Außenbereich verwendbar ist
EP2561849A4 (fr) * 2010-04-22 2015-04-29 Rosana Antunes De Sousa Appareil de locomotion multifonctionnel
GB2484206A (en) * 2010-10-01 2012-04-04 Ian Gray A stand-up personal mobility vehicle with thigh supports mounted on folding column
GB2484206B (en) * 2010-10-01 2014-05-14 Rollerscoot Ltd Personal mobility vehicles
FR3056434A1 (fr) * 2016-09-29 2018-03-30 Kompai Robotics Robot mobile d'assistance comprenant au moins un systeme d'appui pivotant
WO2018060597A1 (fr) * 2016-09-29 2018-04-05 Kompaï Robotics Robot mobile d'assistance comprenant au moins un systeme d'appui pivotant
CN109862861A (zh) * 2016-09-29 2019-06-07 科姆派机器人公司 包括至少一个枢转支持系统的辅助移动机器人
US10603244B2 (en) 2016-09-29 2020-03-31 Kompaï Robotics Mobile assistance robot comprising at least one pivoting bearing system

Also Published As

Publication number Publication date
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