WO2012118263A1 - Système d'aide à la marche - Google Patents

Système d'aide à la marche Download PDF

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Publication number
WO2012118263A1
WO2012118263A1 PCT/KR2011/009189 KR2011009189W WO2012118263A1 WO 2012118263 A1 WO2012118263 A1 WO 2012118263A1 KR 2011009189 W KR2011009189 W KR 2011009189W WO 2012118263 A1 WO2012118263 A1 WO 2012118263A1
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WO
WIPO (PCT)
Prior art keywords
assistance system
support
walk assistance
user
driving unit
Prior art date
Application number
PCT/KR2011/009189
Other languages
English (en)
Inventor
Jaehoon Lee
Original Assignee
Lg Electronics Inc.
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 Lg Electronics Inc. filed Critical Lg Electronics Inc.
Publication of WO2012118263A1 publication Critical patent/WO2012118263A1/fr

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    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • 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
    • A61H2003/006—Appliances for aiding patients or disabled persons to walk about with forearm rests, i.e. for non-used arms
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0161—Size reducing arrangements when not in use, for stowing or transport
    • 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
    • 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
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5048—Audio interfaces, e.g. voice or music controlled
    • 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
    • A61H2201/5064—Position sensors
    • 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

  • Embodiments may relate to a walking assistance system that can support the elderly and the inform or the disabled to walk, sit and stand and do everyday activities and that can assist a muscular strength, more particularly to, a walk assistance system that can assist a user to sit and stand and to move with sitting thereon.
  • a conventional walk assistance system may include wheels, a driving unit and a handle unit such that a user may push the system with holding the handle unit to walk toward a desired direction.
  • a forward-major-stepped walk assistance system configured of a mobile robot driven and steered by an electric motor has been used.
  • an object of the embodiments is to provide a walk assistance system that can support a user’s sitting and standing safely and efficiently and that can move with the user sitting thereon, when he or she is exhausted from walking.
  • a walk assistance system includes an operation unit comprising a support to support a user’s arms; a driving unit comprising a plurality of wheels and a plurality of driving unit frames configured to connect the plurality of the wheels with each other; an ascending/descending unit comprising a plurality of support connecting frames configured to connect the support with the driving unit frames; and a chair connected with the support and the driving unit frames, to sit the user thereon, wherein the height of the support is adjusted by adjusting the lengths of the support connecting frames.
  • the operation unit may include a sensor configured to measure a slope of the support.
  • the length of the support connecting frame may be adjustable based on the slope of the support measured by the sensor.
  • the walk assistance system may further include a sensor and the sensor may be configured to measure a distance between the walk assistance system and the user.
  • the driving unit may be configured to drive the wheels based on the distance between the walk assistance system and the user that is measured by the sensor, for walk assistance system to maintain a preset distance from the user.
  • the wheel may be configured of an in-wheel motor type or an Omni-wheel type.
  • the driving unit may further include a locking member configured to lock the wheels.
  • the walk assistance system may further include a sunshade attached to a surface of the support.
  • the operation unit may include a switch attached to a surface of the support, to enable the user to operate the walk assistance system.
  • the driving unit may be configured to drive the wheels to move walk assistance system along a direction input to the switch.
  • the length of the support connecting frame may be adjustable based on the height of the walk assistance system input to the switch.
  • the walk assistance system may further include a handle attached to a surface of the support, to be grasped by the user such that the user may be supported by the support.
  • the chair may be foldable after a surface of the chair connected with the support or the driving unit is separated.
  • the embodiments have following advantageous effects.
  • the walk assistance system may support the user’s sitting and standing safely and efficiently. Also it may provide the same function as the conventional walker and also provide the function of moving via a simple operation, even with the user’s sitting thereon. In other words, the walk assistance system may have the functions of both the conventional walker and a riding type moving device.
  • the walk assistance system may include the operation unit and the chair that are movable based on the moving direction of the user’s center of gravity, when the user is sitting thereon and standing up there from. Because of that, the force used only by the shoulders and arms may be dispersed and the user may do sitting or standing stably.
  • the foldable sunshade provided in the walk assistance system may be used to protect the user in the event of rain or intense ultraviolet radiation.
  • the walk assistance system may include the gyro-sensor or the angular velocity sensor to measure the slope of the walk assistance system may move the driving unit connecting frame upward and downward.
  • the walk assistance system may have an effect of moving safely even in the atypical area or the slope way.
  • the walk assistance system may provide the autonomous driving function capable of keeping a preset distance from the user by recognizing the position of the user.
  • FIG. 1 is a perspective view illustrating a walk assistance system according to an embodiment
  • FIG. 2 is a side view illustrating the walk assistance system, to explain each of components composing the walk assistance system;
  • FIG. 3 is a side view illustrating the walk assistance system according to the embodiment, when a user stands up;
  • FIG. 4 is a diagram illustrating a sitting mechanism of the walk assistance system according to the embodiment.
  • FIG. 5 is a diagram illustrating a standing mechanism of the walk assistance system according to the embodiment.
  • FIG. 6 is a diagram illustrating a mechanism using the walk assistance system according to the embodiment as a conventional walk assistant, when the user stands up;
  • FIG. 7 is a diagram illustrating a moving mechanism in a status of the user’s sitting on the walk assistance system according to the embodiment.
  • FIG. 8 is a diagram illustrating autonomous driving of the walk assistance system according to the embodiment.
  • any reference in this specification to “one embodiment,” “an embodiment,” “example embodiment,” etc. means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention.
  • the appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment.
  • FIG. 1 is a perspective view illustrating a walk assistance system 10 according to an embodiment.
  • the walk assistance system may be a system that supports a user to walk, sit and stand and do everyday activities and to assist the user’s muscle strength.
  • the walk assistance system 10 may include wheels employed for driving of the system, a support used for the user leaning on or the user operating the system and a plurality of frames configured to connect the wheels with the support.
  • the walk assistance system 10 may be configured to be pushed and moved toward a desired direction, while the user is walking with holding a handle. Because of that, the walk assistance system 10 may have the function of the conventional walker.
  • the walk assistance system 10 according to the embodiment may have a function of moving with the user sitting thereon.
  • the conventional walker supports only the user’s walking after standing up.
  • the walk assistance system 10 according to the embodiment is able to be moved with the user sitting thereon, when he or she is exhausted after walking with the walk assistance system 10
  • the walk assistance system 10 may assist the user to sit thereon or stand there from safely and efficiently.
  • the walk assistance system 10 according to the embodiment may include a chair for the user to sit on.
  • the length of each frame used to connect the wheels with the support may be adjustable. Combination of those component parts may assist the user to sit on and stand up safely and efficiently.
  • the walk assistance system 10 may measure the slope of the support or the ground and the height of the wheels may be adjusted to keep the support horizontal with the user. As a result, the user may safely move even in the atypical area or the slope way.
  • the walk assistance system 10 may recognize a distance with the user and it may provide an autonomous driving function, with keeping a predetermined distance with the user, when the user desires to walk for a while.
  • the configuration of the component parts composing the walk assistance system mentioned above and a function enabling mechanism will be described in detail.
  • FIG. 2 is a side view illustrating the walk assistance system 10 according to the embodiment, to explain each of the component parts composing the walk assistance system 10.
  • FIG. 2 is a side view illustrating the walk assistance system 10 that can support the user’s safe and efficient walking.
  • the walk assistance system 10 may include an operation unit 100, an ascending/descending unit 200 and a driving unit 300.
  • the user may operate a moving direction or a speed of the walk assistance system 10 via the operation part 100 or the user may operate the operation unit 100, to keep a posture or move, with leaning on the walk assistance system 10.
  • the operation unit 100 may include a support 110, a switch 120, a handle 130 and a sensor 140.
  • the support 110 may be located on a top of the walk assistance system 10 and the user may put his or her arm on the support 110 and hold the support 110. As shown in FIG. 1, the support 110 may be “U”?shaped to allow the user to put his or her arm thereon. Of course, it is obvious that the support 110 may be embodied in various shapes only if it supports the user’s body part naturally.
  • the switch 120 may be attached to an upper surface of the support 110 and it may be an operational switch used for operating the walk assistance system 10.
  • the switch 120 may be a joystick or a compliance controller using various sensors.
  • the user may use the switch 120 to control a moving direction or a speed of the walk assistance system 10 or to control the height of the support 110.
  • the user may operate the walk assistance system 10 via the support 110 or the switch 120.
  • the user may push the support 110 to control the moving direction and the speed of the walk assistance system 10 and he or she may operate the joystick of the switch 120 to control the moving direction and the speed of the walk assistance system 10.
  • the handle 130 may be attached to the upper surface and the user may grasp the handle 130 to allow the support 110 to support the user. The user may restrain the walk assistance system 10 by grasping the handle 130.
  • the sensor 140 may be attached to another surface of the support 110, to measure a slope of the support 110 or the ground.
  • the sensor 140 according to the embodiment may measure the slope of the ground where the walk assistance system 10 is located.
  • the sensor 140 may be a gyro-sensor or an angular velocity sensor.
  • the sensor 140 may be installed in the ascending/descending unit 200 or the driving unit 300, rather than the operation unit 100.
  • the senor 140 may be configured to measure a distance between the walk assistance system 10 and the user.
  • the sensor 140 may figure out the positions of the walk assistance system 10 and the user via communication with a sensor held by the user.
  • the ascending/descending unit 200 may be a main body that supports the walk assistance system 10 by connecting the operation unit 100 and the driving unit 300 with each other.
  • the ascending/descending unit 200 according to the embodiment may include support connecting frame 210 and 220 and a driving unit connecting frames 230.
  • the support connecting frame 210 and 220 may be configured of a plurality of frames used to connect the support 110 of the operation unit 100 with the driving unit 300. Specifically, the support connecting frame 210 and 220 may connect the support 110 of the operation unit 100 with a driving unit frame 310 of the driving unit 300, to fix the support 110.
  • the support connecting frame 210 and 220 may include a first support connecting frame 210 configured to support a front surface of the support 110 and a second support connecting frame 220 configured to support a middle portion of a back side of the support 110, as shown in FIG. 2.
  • the first support connecting frame 210 and the second support connecting frame 220 may be connected with the support 110 diagonally, such that the support 110 may be secured horizontal with the ground.
  • the lengths of the support connecting frame 210 and 220 may be adjustable.
  • the support connecting frame 210 and 220 may be configured of a sliding type or linear actuator and it may include supporting rods 210a and 220a and sliding rods 210b and 220b sliding from the supporting rods 210a and 220a, with an automatically adjustable length.
  • the height of the support 110 may be changeable. Because of that, when the user operates the height of the support 110 via the switch 120, the length of the support connecting frame 210 and 220 provided in the ascending/descending unit 200 may be adjusted and the height of the support 110 may be changed.
  • the walk assistance system 10 may control the height to be fitted to the user’s height, such that it may support the user’s activities such as sitting and standing.
  • the driving unit connecting frame 230 may be configured to connect the second support connecting frame 220 with the driving unit frame 310 of the driving unit 300 as shown in the drawing.
  • the driving unit connecting frame 230 may have an adjustable length.
  • the driving unit connecting frame 230 may be configured of a sliding type or linear actuator and it may include a supporting rod 230a and a sliding rod 230b sliding from the supporting rod 230a, with an automatically adjustable length.
  • the position of the driving unit frame 310 connected with the driving unit connecting frame 230 may be changed.
  • a third driving unit frame 310c connected with the driving unit connecting frame 230 may be ascending.
  • the third driving unit frame 310c connected with the driving unit connecting frame 230 may be descending.
  • angles between the driving unit frames 310a, 310b, 310c and 310d and the ground may be changed. Because of that, the height of the wheels 320 connected with the driving unit frame 310a, 310b, 310c and 310d may be changed.
  • the driving unit 30 may be configured to move the walk assistance system 10 and it may include the plurality of the driving unit frames 310a, 310b, 310d and 310d, the plurality of the wheels 320 and a locking member 330.
  • the driving unit frames 310a, 310b, 310c and 310d may include first and second driving unit frames 310a and 310b connected with the support connecting frame 210 and 220 of the ascending/descending unit 200, a third driving unit frame 310c fixed to a side of the driving unit connecting frame 230 and a fourth driving unit frame 310d connected with the third driving unit frame 310c.
  • the wheels may be attached to the first and second driving unit frames 310a and 310b.
  • the driving unit frame 310 may be configured of a frame inclined toward a front surface of the driving unit 300 and a frame inclined toward a rear surface of the driving unit 300.
  • the wheels 320 may be attached to sides of those frames, respectively.
  • the wheel 320 according to the embodiment may be an in-wheel motor type integrally formed with a motor, or it may be an Omni-wheel drivable in all directions within a preset angle range.
  • the locking member 330 may be attached to the wheel 320 to lock the wheel from moving.
  • the locking member 330 may be attached to each of the wheels.
  • the locking member 330 may be attached a front wheel 320 or a rear wheel 320. In the drawing, it is shown that the locking member 330 is attached only to the rear wheel 320.
  • the walk assistance system 10 may include a chair 400 connected with the support 110 and the driving unit frame 310, to seat the user thereon.
  • the chair 400 may include a fabric saddle sheet or an approximately rectangular flat plastic sheet.
  • the chair 400 may provide the user with a place to seat.
  • the chair 400 may have a separable surface that can be fold, with connected with the support 110 or the driving unit frame 310. When the user makes move after standing, the chair 400 may be unnecessary and it may be separated and folded.
  • the walk assistance system 10 a sunshade 500 to sunscreen a sunlight or an ultraviolet ray shone on the user.
  • the sunshade 500 may be separable and foldable. As a result, the walk assistance system 10 may protect the user by using the foldable sunshade 500, in the event of rain or intense ultraviolet radiation.
  • FIG. 2 is a side view illustrating the walk assistance system 10, that is, only the side. The same component parts as those shown in FIG. 2 will be provided in the other side obviously.
  • FIG. 2 illustrates the walk assistance system 10 when the user sits thereon.
  • FIG. 3 is a side view illustrating the walk assistance system 10 when the user stands up there from, in other words, a standing mechanism.
  • the sitting mechanism and the standing mechanism of the walk assistance system 10 may be performed in opposite.
  • the specification will disclose the standing mechanism as standard.
  • the height of the support 110 has to be adjusted to be fitted to the user’s height to enable the user to move in standing.
  • the length of the support connecting frame 210 and 220 may be adjusted to adjust the height of the support 110 for the user’s height.
  • the sliding rods 210a and 220a of the support connecting frames 210 and 220 may be extended.
  • the height of the support 110 fixed to the support connecting frame 210 and 220 may be increased as much as the extended distance of the support connecting frame 210 and 220.
  • the length of the driving unit connecting frame 230 may be not changed but fixed.
  • the user may operate or drive the walk assistance system 10, while leaning on the support 110 fitted to his or her height.
  • the third driving unit frame 310c connected with the end of the driving unit connecting frame 230 may be pulled to make the distance between the front and rear wheels 320 become narrow such that the height of the support 110 may be increased.
  • the length of the support connecting frame 210 and 220 may be not changed but fixed.
  • the length of the support connecting frame 210 and 220 or the driving unit connection frame 230 may be fixed, not changed.
  • the support connecting frame 210 and 220 and the driving unit connecting frame 230 may be changed simultaneously and the lengths of the two may be changed to adjust the height of the support 110.
  • the configuration of the walk assistance system 10 is described above. As follows, mechanism of the functions of the walk assistance system 10 that can be provided to the user via the configuration of the walk assistance system 10 will be described in detail.
  • FIG. 4 is a diagram illustrating the sitting mechanism of the walk assistance system 10 according to the embodiment.
  • FIG. 5 is a diagram illustrating the sunshade 500 that can be fixed after folded, before driving the walk assistance system 10.
  • the user may operate the switch 120 and a command for the standing may be input to the walk assistance system 10.
  • a command for the standing may be input to the walk assistance system 10.
  • the user may input the command of the standing via operation of the switch or sound recognition, in a status of putting the hands and elbows on the support 110.
  • the length of the support connecting frame 210 and 220 may be adjusted by controlling the ascending/descending unit 200 in the walk assistance system 10. As the length of the support connecting frame 210 and 220 is increased, the height of the support 110 fixed to the support connecting frame 210 and 220 may be increased.
  • the support connecting frame 210 and 220 is attached to the support 110 in a diagonal direction. Because of that, the length of the support connecting frame 210 and 220 may be increased and the support 110 may be ascending along a diagonal direction. In other words, the support 110 may be ascending along a front diagonal direction, in communication with the moved center of gravity with respect to the user.
  • the chair 400 may make the user stand up, supporting his or her bottom. For example, joints may be installed in a top and a bottom of the soft flexible chair 400. When the support 110 is ascending, the chair 400 may be naturally unfolded to push the user’s bottom forward naturally.
  • the sitting mechanism of the walk assistance system 10 may be operated in reverse order of the standing mechanism mentioned above.
  • the user may put on a foot stand (not shown) after sitting down.
  • the support 110 and the chair 400 may move along with the moving direction of the user’s center of gravity in his or her sitting and standing. Because of that, the force used only by the user’s shoulder and arms may be dispersed and the user may sit down or stand up stably.
  • the locking member 330 may be controlled to lock the wheels 320 such that the user may not pushed backwardly.
  • FIG. 6 is a diagram illustrating a mechanism that uses the walk assistance system 10 according to the embodiment as the conventional walker, when the user stands up.
  • the user may turn back and move, with putting his or her hands and arms on the support 110.
  • the walk assistance system 10 may be used like the conventional walker for the user to move for himself or herself, not using the motor. Also, the user may fold up the chair 400 to hang up and he or she may start to move.
  • FIG. 7 is a diagram illustrating a moving mechanism in a status of the user’ sitting on the walk assistance system 10 according to the embodiment.
  • the walk assistance system 10 may provide the user with the moving function in a status of sitting thereon.
  • the conventional walker may support only the walking after the user stands up.
  • the walk assistance system 10 according to the embodiment may move with the user sitting thereon, when he or she is exhausted of walking with the walk assistance system 10.
  • the walk assistance system 10 may measure the slope of the support 110 or the slope of the ground and it may adjust the height of the wheels to keep the support 110 horizontal with the ground. Because of that, the user may walk safely even in the atypical area or the slope way.
  • FIG. 7(a) is a diagram illustrating a status of the user’s sitting on the walk assistance system 10. Based on the sitting mechanism of the walk assistance system 10, the user is sitting on the walk assistance system 10. In this status, the user may operate the switch 120 to move the walk assistance system 10.
  • FIG. 7(b) is a diagram illustrating the walk assistance system 10 according to the embodiment that is moving up an uphill road.
  • the wheel 320 located in a moving direction may be heightened along a slope of the uphill road.
  • the length of the driving unit connecting frame 230 may be adjusted based on the height of the uphill road.
  • the sensor 140 may measure a gradient of the ground or a distance between the ground and the support 110.
  • the length of the driving unit connecting frame 230 may be reduced based on the measured gradient of the ground and the height of the wheel 320 located in the moving direction may fitted to the height of the uphill road. Because of that, the support 110 supporting the user’s shoulders and arms may be kept horizontal with the ground, not inclined by the slope.
  • FIG. 7(c) is a diagram illustrating the walk assistance system 10 according to the embodiment that is moving down a downhill road.
  • the wheel 320 located in a moving direction may be lowered based on a slope of the downhill road.
  • the height of the driving unit connecting frame 230 may be adjusted based on the height of the downhill road.
  • the sensor 140 may measure a gradient of the ground or a distance between the ground and the support 110.
  • the length of the driving unit connecting frame 230 may be increased based on the measured gradient of the ground and the height of the wheel 320 located in the moving direction may be fitted to the height of the downhill road. Because of that, the support 110 supporting the user’s shoulders and arms may be kept horizontal with the user, not inclined by the slope.
  • the walk assistance system 10 may include a gyro-sensor or an angular velocity sensor to measure the slope of the support 110 and the slope of the ground. After that, the walk assistance system 10 may move the driving unit connecting frame 230 upward and downward, to maintain the support 110 horizontal with the user. As a result, the walk assistance system 10 according to the embodiment may have an effect of moving safely even in the atypical area or the slope way, without tilting the user’s posture.
  • the walk assistance system 10 may allow the user to take a rest when he or she is exhausted from walking and it may move with the user sitting thereon. Because of that, the walk assistance system 10 according to the embodiment may reduce the moving time.
  • FIG. 8 is a diagram illustrating an autonomous driving of the walk assistance system 10 according to the embodiment.
  • the walk assistance system 10 may provide an autonomous driving.
  • the walk assistance system 10 may recognize the user’s position and its position and it may perform an autonomous driving, with maintaining a proper distance from the user.
  • the user may carry a position sensor 600 that is able to transmit information on the user’s position and the sensor 140 may measure a distance between the user and the walk assistance system 10 via communication with the position sensor 600 carried by the user.
  • the walk assistance system 10 may control the sensor 140 to measure the distance with the user.
  • the walk assistance system 10 may move by controlling the driving unit 300 to maintain a preset distance with the user.
  • the walk assistance system 10 according to the embodiment may move toward the user. In contrast, when the measured distance with the user is shorter than the preset distance, the walk assistance system 10 according to the embodiment may stop.
  • the walk assistance system 10 may provide the autonomous driving function capable of keeping a preset distance from the user.
  • the walk assistance system may support the user’s sitting and standing safely and efficiently. Also it may provide the same function as the conventional walker and also provide the function of moving via a simple operation, even with the user’s sitting thereon. In other words, the walk assistance system may have the functions of both the conventional walker and a riding type moving device.

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  • Health & Medical Sciences (AREA)
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  • Pain & Pain Management (AREA)
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  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
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Abstract

La présente invention se rapporte à un système d'aide à la marche. Le système d'aide à la marche comprend une unité d'actionnement comprenant un support pour soutenir les bras d'un utilisateur, une unité d'entraînement comprenant une pluralité de roues et une pluralité de cadres d'unité d'entraînement conçus pour relier la pluralité de roues les unes aux autres, une unité de montée/descente comprenant une pluralité de cadres de liaison de support conçus pour relier le support aux cadres d'unité d'entraînement, et une chaise reliée au support et aux cadres d'unité d'entraînement, pour que l'utilisateur s'y assoit. La hauteur du support est réglée par le réglage des longueurs du reliant les cadres. Le système d'aide à la marche selon le mode de réalisation peut soutenir la position assise et la position debout de l'utilisateur de façon sécurisée et efficace. De plus, il peut offrir la même fonction que le déambulateur classique et offrir également la fonction de déplacement par une simple action, même lorsqu'utilisateur est assis.
PCT/KR2011/009189 2011-02-28 2011-11-30 Système d'aide à la marche WO2012118263A1 (fr)

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KR1020110017728A KR101356520B1 (ko) 2011-02-28 2011-02-28 보행 보조 시스템

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WO2015053677A1 (fr) * 2013-10-09 2015-04-16 Rolf Ingersjö Véhicule à moteur pour personnes âgées et handicapées
US9498395B2 (en) 2014-04-16 2016-11-22 Stephen C. Golden, JR. Joint movement detection device and system for coordinating motor output with manual wheelchair propulsion
CN106726373A (zh) * 2017-01-09 2017-05-31 中州大学 一种临时行走辅助机器人
CN107000774A (zh) * 2014-11-11 2017-08-01 博2格有限公司 移动式行走和运输辅助设备
CN107811736A (zh) * 2016-09-12 2018-03-20 安徽三联机器人科技有限公司 一种站立辅助装置
EP3300711A1 (fr) * 2016-09-28 2018-04-04 Dennis Majoe Aide à la marche électromécanique
FR3095753A1 (fr) * 2019-05-08 2020-11-13 Suzuki Motor Corporation Véhicule électrique d'assistance à la marche
US11471361B2 (en) 2017-02-21 2022-10-18 Lifebloom Wheelchair for assisting walking

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EP2881008A1 (fr) * 2013-12-09 2015-06-10 Universiteit Twente Appareil d'entraînement à la marche et son utilisation
KR102142911B1 (ko) * 2018-12-03 2020-08-10 김명호 전동 보행 보조기
KR102541389B1 (ko) * 2021-02-22 2023-06-07 김진호 노약자용 보행 보조기
KR102536799B1 (ko) * 2021-02-25 2023-05-30 (주)신라시스템 능동형 기립 보조수단이 구비된 보행 보조장치

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Publication number Priority date Publication date Assignee Title
WO2015053677A1 (fr) * 2013-10-09 2015-04-16 Rolf Ingersjö Véhicule à moteur pour personnes âgées et handicapées
US9498395B2 (en) 2014-04-16 2016-11-22 Stephen C. Golden, JR. Joint movement detection device and system for coordinating motor output with manual wheelchair propulsion
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CN107000774A (zh) * 2014-11-11 2017-08-01 博2格有限公司 移动式行走和运输辅助设备
CN107811736A (zh) * 2016-09-12 2018-03-20 安徽三联机器人科技有限公司 一种站立辅助装置
CN107811736B (zh) * 2016-09-12 2024-01-19 安徽三联机器人科技有限公司 一种站立辅助装置
EP3300711A1 (fr) * 2016-09-28 2018-04-04 Dennis Majoe Aide à la marche électromécanique
CN106726373A (zh) * 2017-01-09 2017-05-31 中州大学 一种临时行走辅助机器人
US11471361B2 (en) 2017-02-21 2022-10-18 Lifebloom Wheelchair for assisting walking
FR3095753A1 (fr) * 2019-05-08 2020-11-13 Suzuki Motor Corporation Véhicule électrique d'assistance à la marche
US11717462B2 (en) 2019-05-08 2023-08-08 Suzuki Motor Corporation Electric walking assisting vehicle

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