WO2011115318A1 - Dispositif d'assistance à la marche et son procédé de commande - Google Patents

Dispositif d'assistance à la marche et son procédé de commande Download PDF

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Publication number
WO2011115318A1
WO2011115318A1 PCT/KR2010/001726 KR2010001726W WO2011115318A1 WO 2011115318 A1 WO2011115318 A1 WO 2011115318A1 KR 2010001726 W KR2010001726 W KR 2010001726W WO 2011115318 A1 WO2011115318 A1 WO 2011115318A1
Authority
WO
WIPO (PCT)
Prior art keywords
inclination
walking
driving motor
driving
operation member
Prior art date
Application number
PCT/KR2010/001726
Other languages
English (en)
Korean (ko)
Inventor
권재국
Original Assignee
대진기술정보
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 대진기술정보 filed Critical 대진기술정보
Priority to PCT/KR2010/001726 priority Critical patent/WO2011115318A1/fr
Publication of WO2011115318A1 publication Critical patent/WO2011115318A1/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
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors

Definitions

  • An embodiment of the present invention relates to a walking aid.
  • the elderly are not easy to support themselves by walking alone when walking, and often move by walking aids such as canes or wheelchairs.
  • walking aids such as canes or wheelchairs.
  • patients with discomfort such as a lot of need to move to rely on the device.
  • the walking stick of the conventional walking aid may function to support the user's weight to some extent, but since the supporting force may be transmitted to the user as it is, it may be difficult and inconvenient when used for a long time. there was.
  • the wheelchair has the advantage of being able to sit and move, but when driving the wheelchair manually takes a lot of force, there are a lot of problems in the place to move, for example, the way the jaw is present.
  • An embodiment of the present invention is to provide a pedestrian assistance device that can be conveniently moved by pedestrians.
  • the walking assistance apparatus movable on a flat or inclined road surface, the frame having a plurality of moving wheels; A handle portion extending from the frame to enable gripping; A drive motor providing a driving force for the movement of the moving wheel; An operation member provided on one side of the handle part and configured to control a movement of the wheel; An inclination sensor for detecting a degree of inclination of the road surface; And a control device for controlling the driving of the driving motor according to the inclination value detected by the inclination sensor or whether the operation member is operated.
  • the control method of the walking aid device in the walking aid device movable on a flat or inclined road surface, the power is applied to the walking aid device, the power transmission unit is connected to the drive motor ; Determining the inclination mode or the flat mode according to whether the inclination change detected by the inclination sensor lasts for more than a predetermined time; Determining whether the operation member for driving the driving motor is operated when the change of the inclination satisfies a preset inclination range in the inclination mode; And when the operation member is operated, power is supplied to the driving motor, and the speed of the driving motor is changed in response to the detected slope.
  • the user has an advantage that it is easy and safe to walk on the walking aid device.
  • the inclination value at which the driving unit starts to be driven or a speed corresponding thereto may be set in advance so that a user-specific customized device may be implemented.
  • the walking assistance device is configured to stop when the operation of the operation member stops, there is an advantage that even if an unexpected situation during walking, the user can prevent the safety accident, etc. just by stopping the operation of the operation member.
  • FIG. 1 is a front perspective view of a walking aid according to an embodiment of the present invention.
  • Figure 2 is a rear perspective view of the walking aid according to an embodiment of the present invention.
  • Figure 3 is an exploded perspective view of the walking aid according to an embodiment of the present invention.
  • Figure 4 is a block diagram showing the configuration of a walking aid according to an embodiment of the present invention.
  • 5 and 6 is a flow chart showing a control method of the walking assistance apparatus according to an embodiment of the present invention.
  • FIG. 1 is a front perspective view of a walking aid according to an embodiment of the present invention
  • Figure 2 is a rear perspective view of a walking aid according to an embodiment of the present invention
  • Figure 3 is a walking aid according to an embodiment of the present invention Exploded perspective view.
  • the walking assistance apparatus 10 includes a frame 110 forming an appearance, and moving wheels 120 and 130 provided below the frame 110.
  • a driving box 150 for providing a driving force for driving the walking assistance device 10 and a control box 160 for controlling the walking assistance device 10 are provided at a rear side of the driving box 150. Included.
  • the frame 110 forms a skeleton of the walking assistance device 10, and a plurality of pipes may be coupled to each other.
  • the moving wheels 120 and 130 include a first wheel 120 provided at the front lower side of the frame 110 and a second wheel 130 provided at the rear lower side of the frame 110. Each of the first wheel 120 and the second wheel 130 is provided in plural on both sides.
  • the drive box 150 is provided between the plurality of first wheels 120.
  • a drive motor 151 for generating a driving force
  • a power transmission unit 152 for transmitting the driving force of the drive motor 151 to the first wheel 120 and the power transmission.
  • a rotating shaft 153 connecting between the portion 152 and the first wheel 120 is included.
  • the power transmission unit 152 may include an electronic clutch that is selectively connected (connected) to the drive motor 151.
  • the driving force of the driving motor 151 is the rotation shaft 153 through the power transmission unit 152. Is delivered).
  • the rotation shaft 153 is rotated, the first wheel 120 may be rolled.
  • the first wheel 120 is a drive wheel rotated by the driving force of the drive motor 151
  • the second wheel 130 is driven wheel rotated by the rotation of the first wheel 120. It may be defined as.
  • the drive box 150 further includes a rechargeable battery 154 (see FIG. 4) for supplying power to the walking assistance device 10.
  • an auxiliary power supply unit 155 for supplying auxiliary power is provided at an upper portion of the driving box 150.
  • the auxiliary power supply unit 155 may include a solar cell that converts sunlight into electric power.
  • the auxiliary power supply 155 may provide auxiliary power when the battery 154 is discharged.
  • the control box 160 may be supported on the frame 110 by the support frame 165.
  • the control box 160 includes components for controlling the operation of the walking assistance device 10, that is, a tilt sensor 240, a timer 250, a setting unit 260, and a control device 200. (See Figure 4).
  • the setting unit 260 may include a speed adjusting unit 161 for setting a moving speed of the walking assistance device 10, and an inclination adjusting unit 162 for setting an inclination threshold for driving the driving motor 151. And a mode adjusting unit 163 for selecting at least one of the flat / tilt mode.
  • the inclination value at which the driving motor 151 starts to be driven may be preset through the inclination adjusting unit 162.
  • the inclination controller 162 may be set to start the driving motor 151 when the inclination value becomes 5 ° or more.
  • the speed of the device 10 corresponding to the inclination value in the inclination mode or the speed of the device 10 in the flat mode may be preset through the speed adjusting unit 161.
  • the walking assistance device 10 is set to be moved at a constant speed regardless of the inclination value.
  • the mode adjusting unit 163 when the mode adjusting unit 163 is selected as the inclined mode, when the walking assistance apparatus 10 moves flat, power of the driving motor 151 is cut off and manually walked to minimize power consumption. .
  • the walking aid 10 when the walking aid 10 moves the slope, the walking aid 10 is set so that the speed can be moved in response to the inclination value.
  • the setting unit 260 that is, the speed adjusting unit 161, the tilt adjusting unit 162 and the mode adjusting unit 163, the first time the user purchases the device, the user's walking speed or health condition or uphill / downhill It may be preset in consideration of the resistance to the.
  • the setting unit 260 may be readjusted as necessary.
  • the setting unit 260 is provided on the lower surface of the control box 160 is not easily exposed to the outside, thereby reducing the risk of failure due to the operation during use of the device 10.
  • the user has an advantage that it is easy to know the operating state of the walking aid 10 and whether the tilt movement. In particular, depending on whether the inclination lamp 169 is on or off, it may be necessary to readjust the inclination of the inclination control unit 162 or whether the inclination sensor 240 is an error.
  • the frame 110 includes a handle unit 170 for the user to grip.
  • the handle unit 170 may be disposed at a height easy for a user to grip, and may be configured to be bent backward from a portion of the frame 110 extending upward from the moving wheels 120 and 130. By this configuration of the handle portion 170, the user can conveniently grip the handle portion 170.
  • a user can press the operation member 175 and the hinge portion 178 to be rotatably operated to control the driving of the first wheel (120). ) Is included.
  • the hinge portion 178 is provided at both sides of the handle portion 170, the operation member 175 may be configured to rotate by a predetermined distance in the vertical direction with respect to the hinge portion 178.
  • manipulation member 175 may be disposed at a position that can be naturally pressed when the user grasps the handle portion 170. That is, the user does not need to take a separate action to operate the operation member 175 while holding the handle unit 170.
  • the hinge portion 178 is provided with an elastic member (not shown), when the external force is not applied to the operation member 175, the operation member 175 is restored to the original position by the elastic member Can be.
  • the drive motor 151 may be selectively driven. For example, when the user grasps the operation member 175 and the operation member 175 is moved downward, the driving motor 151 is supplied with the battery 154 power so that the driving motor 151 is applied. Can be driven.
  • the device 10 may be braked.
  • the power is automatically cut off when the operation member 175 is released, the walking assistance
  • the device 10 is stopped in place and accordingly there is an effect that can prevent the safety accident of the user.
  • Figure 4 is a block diagram showing the configuration of a walking aid according to an embodiment of the present invention.
  • a walking assistance device 10 includes an operation member 175 operable by a user to control rotation of the first wheel 120, and the device 10.
  • An inclination sensor 240 for detecting the inclination state of the road surface is moved and a timer 250 for counting the change time of the inclination of the inclination sensor 240 is included.
  • the timer 250 starts to operate.
  • the device 10 can be switched to the inclination mode if the inclination value of the predetermined angle or more lasts for a predetermined time.
  • the walk assistance apparatus 10 includes a receiver 210 that receives sensing information of the inclination sensor 240 and operation information of the operation member 175, and information received by the receiver 210.
  • a traction force is applied to the first wheel 120 by controlling whether the driving unit 270 is driven according to a comparison result of the comparing unit 220 and the comparing unit 220 determining whether the driving condition of the device 10 is satisfied.
  • An operation control unit 230 for providing an over braking force is included.
  • the receiver 210 determines whether the manipulation member 175 is pressed, that is, whether the manipulation member 175 is turned on or off, and whether the inclination sensor 240 senses an inclination value by a predetermined angle. Receive or not.
  • the comparison unit 220 determines that the operation member 175 is turned on (if pressed) as a driving command of the driving motor 151.
  • the comparison unit 220 may determine whether the inclination degree of the road surface or the road surface is uphill or downhill according to the angle change value of the inclination sensor 240.
  • the comparison unit 220 determines whether the driving motor 151 is driven by comparing a predetermined inclination value for driving the driving motor 151 with the inclination value detected by the inclination sensor 240.
  • the comparison unit 200 may determine whether the driving motor 151 is driven by comparing the time counted by the timer 250 with a preset time. That is, when the time counted by the timer 250 continues for more than the predetermined time, it is determined that the driving condition of the driving motor 151 is satisfied.
  • the operation control unit 230 may determine whether the driving unit 270 should be driven or a speed to be driven to control the operation of the driving unit 270.
  • the driving unit 270 includes the driving motor 151, the power transmission unit 152, the rotation shaft 153, and the like described above.
  • the first wheel 120 connected to the driving unit 270 may be rotated at a predetermined speed.
  • a state of the setting unit 260 may be set in advance in consideration of a walking speed, a health state, or a resistance to uphill / downhill.
  • the slope threshold of the road surface on which the device 10 should be electrically driven and the speed of the driving motor 151 or the first wheel 120 corresponding to the change of the slope of the road surface may be set in advance.
  • the operation control unit 230 does not drive the driving unit 270, the user Manual walking (normal walking) is possible.
  • the comparator 220 may determine whether the road surface is uphill or downhill.
  • the operation control unit 230 causes the driving unit 270 to generate the traction force to drive the first wheel 120, and thus the device 10 pulls the user and Assist walking
  • the operation control unit 230 reduces the speed of the driving unit 270, that is, generates the braking force to drive the first wheel 120, so that the user has a burden to walk quickly. You can walk safely without feeling.
  • the first wheel 120 can be driven at a speed slightly lower than the flat walking speed of the user on the uphill or downhill, the user is holding the handle without applying a large force to the device 10 You can get walking assistance while relying on.
  • 5 and 6 are flowcharts illustrating a control method of a walking assistance apparatus according to an exemplary embodiment of the present invention.
  • the power switch 167 is turned on and the power transmission unit 152 is connected to the drive motor 151.
  • This state may be defined as a ready state in which the driving motor 151 and the power transmission unit 152 may be operated when power is applied by the operation of the operation member 175. (S11, S12).
  • step S13 when it is detected by the inclination sensor 240 that a change in inclination has occurred for a predetermined time or more, inclination mode control is performed (S14).
  • the inclination mode control it is determined whether the inclination value detected by the inclination sensor 240 satisfies a preset inclination range, that is, whether the detected inclination value is greater than or equal to the inclination range (S15). If the detected inclination value satisfies a preset inclination range, whether the manipulation member 175 is manipulated is detected (S16).
  • the speed of the driving motor 151 may be controlled in response to the inclination value detected by the inclination sensor 240.
  • the speed of the driving motor 151 is controlled to be low.
  • the speed of the driving motor 151 is controlled. It may be controlled somewhat higher (S19).
  • step S17 if the operation member 175 is not operated, the power of the drive motor 151 is maintained in the OFF state, accordingly the device 10 can be maintained in a stopped state (S20).
  • step S15 if the inclination value does not satisfy the preset inclination range, whether the operation member 175 is detected.
  • the first wheel may be rotated by the user pushing force (S21, S22, S23, S24).
  • the operation member 175 is not operated in the step S22, the power of the drive motor 151 is maintained in the OFF state, accordingly the device 10 can be maintained in a stopped state (S25).
  • step S13 when it is not sensed that the change of inclination has occurred for more than a predetermined time by the inclination sensor 240, the flat mode control is performed (S26).
  • the operation of the operation member 175 is detected.
  • the operation member 175 is operated, power is supplied to the driving motor 151, and accordingly, the first wheel 120 is automatically rotated.
  • the user may walk automatically through the walking assistance device 10 (S27, S28, S29, S30).
  • the steps S11 to S13 are performed while the walking assistance device 10 is stopped on the road surface.
  • the user may operate the operation member 175 to drive the driving motor 151, and the operation S13 may be performed while the first wheel 120 is rotated.
  • control method performed at step S13 and below may be performed regardless of whether the walking assistance device 10 is in a stopped state or being moved, and the tilt change detection of the tilt sensor 240 is performed by the power switch 167. ) Can be turned on in real time.
  • the power transmission unit 152 may be disconnected from the drive motor 151.
  • the user can walk easily and safely by relying on the walking assistance device, so the industrial applicability is remarkable.

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

Dans un mode de réalisation, l'invention concerne un dispositif d'assistance à la marche, plus précisément, un dispositif d'assistance à la marche dont les fonctionnements peuvent être automatiquement commandés selon que le chemin est plat ou incliné. Selon le mode de réalisation, l'utilisateur peut avantageusement marcher aisément et en sécurité tout en étant aidé par le dispositif d'assistance à la marche.
PCT/KR2010/001726 2010-03-19 2010-03-19 Dispositif d'assistance à la marche et son procédé de commande WO2011115318A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/KR2010/001726 WO2011115318A1 (fr) 2010-03-19 2010-03-19 Dispositif d'assistance à la marche et son procédé de commande

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/KR2010/001726 WO2011115318A1 (fr) 2010-03-19 2010-03-19 Dispositif d'assistance à la marche et son procédé de commande

Publications (1)

Publication Number Publication Date
WO2011115318A1 true WO2011115318A1 (fr) 2011-09-22

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PCT/KR2010/001726 WO2011115318A1 (fr) 2010-03-19 2010-03-19 Dispositif d'assistance à la marche et son procédé de commande

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100862058B1 (ko) * 2008-03-17 2008-10-09 다빈치메디텍주식회사 전동식 보행보조차
KR20090074315A (ko) * 2008-01-02 2009-07-07 김상훈 노인/장애인의 안전 보행을 지원하는 지능적 전동 보행기
JP2009148312A (ja) * 2007-12-18 2009-07-09 Toyota Motor Corp 歩行補助装置
JP2009183405A (ja) * 2008-02-05 2009-08-20 Toyota Motor Corp 歩行補助装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009148312A (ja) * 2007-12-18 2009-07-09 Toyota Motor Corp 歩行補助装置
KR20090074315A (ko) * 2008-01-02 2009-07-07 김상훈 노인/장애인의 안전 보행을 지원하는 지능적 전동 보행기
JP2009183405A (ja) * 2008-02-05 2009-08-20 Toyota Motor Corp 歩行補助装置
KR100862058B1 (ko) * 2008-03-17 2008-10-09 다빈치메디텍주식회사 전동식 보행보조차

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