WO2014189302A1 - Robot omnidirectionnel d'aide à la marche - Google Patents

Robot omnidirectionnel d'aide à la marche Download PDF

Info

Publication number
WO2014189302A1
WO2014189302A1 PCT/KR2014/004569 KR2014004569W WO2014189302A1 WO 2014189302 A1 WO2014189302 A1 WO 2014189302A1 KR 2014004569 W KR2014004569 W KR 2014004569W WO 2014189302 A1 WO2014189302 A1 WO 2014189302A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheel
omnidirectional walking
user
sensor
robot
Prior art date
Application number
PCT/KR2014/004569
Other languages
English (en)
Korean (ko)
Inventor
이학용
윤종현
박성민
Original Assignee
(주)엠텍
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 (주)엠텍 filed Critical (주)엠텍
Publication of WO2014189302A1 publication Critical patent/WO2014189302A1/fr

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/046—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type at least three driven wheels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/048—Power-assistance activated by pushing on hand rim or on handlebar
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1043—Cushions specially adapted for wheelchairs
    • A61G5/1045—Cushions specially adapted for wheelchairs for the seat portion
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1056—Arrangements for adjusting the seat
    • A61G5/1059—Arrangements for adjusting the seat adjusting the height of the 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
    • A61H2201/16—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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • 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
    • A61H2201/5007—Control means thereof computer 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
    • A61H2201/5061—Force sensors

Definitions

  • the present invention relates to an omnidirectional walking assistance robot.
  • walking aids are a means used to assist rehabilitation or assist behavior of a patient or elderly person who has difficulty walking.
  • the elderly have helpers to help them freely to their desired place, but there is a limit to the help system for human beings to care for the increasing number of elderly people.
  • a walking aid robot that can help the elderly walk indoors and outdoors and process various information that may occur while the elderly move.
  • the conventional walking aid robot occupies a lot of space and does not pass through a space such as furniture or a door, and has a problem that is not suitable for indoor use because of difficulty in detailed driving.
  • the conventional walking aids are weak in terms of structural stability because the user is likely to fall or overturn the equipment when the user loses the center or malfunction of the equipment.
  • the technical problem to be achieved by the present invention is to provide a walking aid robot that can easily move to the direction and location that the user with weak muscle strength wants to assist the user walking after boarding.
  • an omnidirectional walking assistance robot includes a body part having three protruding parts arranged in a planar shape having a Y shape, formed on an upper surface of the body part, and a saddle on which the user boards, three of the body parts. And three leg portions positioned below the two protruding portions, a wheel portion positioned at the end of each of the three leg portions, and having a wheel for movement, and a direction input portion for controlling the direction of the wheel portion.
  • the wheel unit includes a motor for driving the wheel, an encoder for checking a moving speed and a driving state of the motor by checking the number of rotations of the motor, a brake for stopping the movement of the wheel, and for controlling the brake. It includes a clutch.
  • the wheel is configured to abut a pair of four omni wheels.
  • the body portion includes at least one lighting unit positioned on the side of the three protruding portions to output light to the outside.
  • the omnidirectional walking assistance robot further includes a sensor unit, wherein the sensor unit is located at a front portion of each of the three protruding portions, and an upper sensor for detecting an obstacle approaching in a moving direction, and the wheel is disposed on an outer surface of the wheel unit. Located facing the direction of movement and includes a lower sensor for detecting the oncoming obstacle when the wheel moves.
  • the direction input unit is installed in the lower part of the saddle, and forms a pressure-sensitive sensor that receives a direction in which the user tilts more when the user boards the driving direction.
  • the saddle includes a pair of handles formed at the rear left and right sides of the saddle and held by the hand to support the body when the user boards.
  • the direction input unit may be formed as a button for inputting a driving direction by a user's hand pressing the upper surface of at least one of the handles.
  • FIG. 1 is a perspective view of the omnidirectional walking assistance robot according to an embodiment of the present invention.
  • Figure 2 is a top view showing the omnidirectional walking assistance robot according to an embodiment of the present invention.
  • FIG. 3 is a view showing the input state of the direction input unit consisting of a pressure-sensitive direction key in the omnidirectional walking aid robot according to an embodiment of the present invention
  • (a) is a diagram showing the decompression distribution when the standby state does not move
  • (b) is a figure which shows the pressure reduction distribution at the time of left rotation.
  • Figure 4 is a block diagram showing the structure of a system for controlling the omnidirectional walking assistance robot according to an embodiment of the present invention.
  • FIGS. 1 to 4 an omnidirectional walking assistance robot according to an embodiment of the present invention will be described in detail.
  • the structure of the omnidirectional walking assistance robot is a body portion 100 having three protrusions 111 and 112 arranged in a Y-shaped plane shape. ),
  • the saddle 200 positioned on the upper surface of the three protruding portions 111 and 112 of the body portion 100, and the leg portion 300 positioned on the lower ends of the three protruding portions 111 and 112 of the body portion 100.
  • one wheel portion 400 for moving the omnidirectional walking aid robot Located at the bottom of the leg portion 300, one wheel portion 400 for moving the omnidirectional walking aid robot, and is located on the rear side of the saddle 200, the handle that can be held by the user hand when boarding (500) ) Is included.
  • Body portion 100 of the omnidirectional walking aid robot as described above is formed with a leg portion 300 under each protruding portion (111, 112) arranged in a Y-shape, the wheel portion at the bottom of the leg portion 300 400 is formed to have a total of three leg portion 300 and three wheel portion 400.
  • Body portion 100 has a Y shape when viewed from the top, the front of the omnidirectional walking aid robot of the three protruding parts (111, 112) protruding outward in three different directions in the same plane.
  • One protruding portion hereinafter referred to as 'front protruding portion') 111 protruding toward
  • 'rear projecting portion' 112 becomes the rear portion.
  • each of the protruding portions 111 and 112 of the body portion 100 includes two front sides and two side surfaces respectively positioned on both sides of the front portion and the front portion where the saddle 200 is not positioned.
  • the saddle 200 is located above one anterior protrusion 111 and two posterior protrusions 112, whereby a portion of the saddle 200 spans between the two posterior protrusions 112. have.
  • the user rides on the saddle 200 located on the body part 100, the user places the lower part of the 'Y' character between the legs (that is, one front protruding portion 111) between the legs. You will board.
  • the body part 100 configured as described above is Y-shaped, it may pass while rotating a space narrower than the diameter of the actual robot in an obstacle such as a door.
  • the front of the protruding portion 111 in front of the user will be boarding the occupant can work on the front.
  • each of the protruding portion (111, 112) of the body portion 100 is mounted with a lighting unit 110 for outputting light to the outside to help identify the front and rear.
  • the lighting unit 110 includes an illumination sensor (not shown) to sense the illumination to adjust the brightness of the daytime bright outside and the nighttime dark outside.
  • a photoconductive device is used as an illumination sensor.
  • Saddle 200 is located on the upper surface of the body portion 100 when the user boarded, serves as a user's seat, and includes a cushion for the user's boarding, the user in the saddle 200 To help sit stably, the top surface of the saddle 200 has a shape that is lower in height toward the middle from the edge, that is, has a curved surface in the middle.
  • the leg part 300 is attached to one end of each protruding portion 111 and 112 of the body part 100, so that a total of three leg parts 300 extend so as to descend toward the ground so that the body part 100 is provided. Support stably)
  • each leg 300 is each wheel portion 400 and the body portion 100 ).
  • the leg 300 includes a shock absorber (not shown) when the user drives after boarding, in order to minimize the impact of the unevenness of the ground to the user.
  • the wheel unit 400 is formed at the end of each leg 300 and includes a wheel 410 for moving over the ground.
  • the wheels 410 provided in each of the wheel parts 400 rotate in accordance with a direction in which four omni wheels are positioned in pairs.
  • the wheel unit 400 is a motor (not shown) for driving the wheel 410, the operation of the motor, such as whether the rotational speed of the motor, the degree of rotation and the driving state of the motor is normal by using the number of rotation of the motor, etc.
  • An encoder (not shown) for checking a state, a brake (not shown) for stopping the movement of the wheel 410, and a clutch 420 for controlling the brake are included.
  • the handle 500 is provided at the rear left and right sides of the saddle 200 to increase a sense of stability of the occupant.
  • the handle 500 is located on the waist side of the user when the user boards, and when the handle 500 is held, the handle 500 can obtain the same effect as leaning back, and the user's fatigue is felt by the user's back and shoulders. It has the effect of making you feel less.
  • the handle 500 includes a direction input unit 700 for manipulating the movement and stop of the omnidirectional walking assistance robot.
  • the direction input unit 700 is positioned on the upper surface of the left handle 500 or the right handle 500 for the convenience of the user.
  • the direction input unit 700 is formed of a stick-shaped button, but a button form or a touch panel such as a direction key of the keyboard is used. It is possible to form in the form of an input button.
  • stop button can be provided as a button separately from the stick-type button for inputting the direction, in this case, it is possible to stop the driving of the omnidirectional walking aid robot in the emergency situation without difficulty of operation.
  • the direction input unit 700 for manipulating the driving of the omnidirectional walking assistance robot may be input through the inclination of the occupant's body rather than the manual input method.
  • the omnidirectional walking aid robot is not only to automatically move and drive the user after boarding, but also the user can move the robot by rolling the foot directly, so that it can also be used as a strength exercise device.
  • a plurality of pressure-sensitive sensor (S11) is provided in a matrix form on the lower portion of the saddle 200 or inside the saddle 200.
  • Decompression sensor (S11) is a sensor for outputting a signal of the corresponding size according to the amount of pressure applied, the occupant of the body of the decompression sensor (S11) of the lower saddle 200 when the body tilts in the direction to move
  • the pressure sensor S11 located in the tilting direction is pressed more than the pressure sensor S11 located in the other direction, and the magnitude of the signal output from each pressure sensor S11 varies according to the tilting direction of the occupant's body.
  • the control unit (see FIG. 4) 101 determines the pressure distribution applied to the plurality of pressure reduction sensors S11 by determining the state of the signals output from the plurality of pressure reduction sensors S11, and thus the body of the occupant.
  • the direction of inclination is determined, the direction in which the occupant's body is inclined is determined, the driving direction of the omnidirectional walking robot is controlled in the determined direction, and the omnidirectional walking robot is driven in that direction.
  • FIGS. 3A and 3B An example of driving by such a pressure sensor S11 can be confirmed in FIGS. 3A and 3B.
  • the circles indicate the pressure-sensitive sensor S11, respectively, and the darker the circle, the greater the pressure applied to the pressure-sensitive sensor S11.
  • the pressure-sensitive sensor S11 is not pressed. ), That is, the pressure sensor S11 to which no pressure is applied is displayed.
  • 3A is an input distribution diagram of the decompression sensor S11 when the occupant is on the saddle 200 and is in a standby state without moving.
  • control unit 101 determines not to move and waits to control the omnidirectional walking assistance robot to the standby state without moving.
  • 3B is an input distribution diagram of the decompression sensor S11 when the occupant is inclined to the left by riding on the saddle 200.
  • control unit 101 commands a left turn in the same way as the left button input of the direction input unit 700 formed of a stick-type button, so that the omnidirectional walking assistance robot drives the left turn.
  • the user can select the direction input unit 700 using the pressure-sensitive sensor S11 or the direction input unit 700 using the stick-type button according to the user's convenience to operate the omnidirectional walking assistance robot.
  • the omnidirectional walking assistance robot further includes an upper sensor 610 and a lower sensor 620 for detecting and avoiding an obstacle that the user did not find in the moving direction when driving.
  • the upper sensor 610 is positioned at the end of each protruding portion 111 and 112 of the body 100 (that is, the end of the front portion which is the most protruding portion from the front portion).
  • the upper sensors 610 are positioned at the ends of each of the protruding portions 111 and 112, and are provided in three spaced apart at regular intervals on the same horizontal line.
  • a total of nine upper sensors 610 are present in the body part 100, and an upper sensor located at the center of the three upper sensors 610 located at one protruding portion 111 and 112 faces the front surface.
  • the upper sensors on both sides are positioned to face the front left side and front right side, respectively, to detect a situation in each corresponding direction.
  • the controller 101 uses the signal output from the upper sensor 610 configured as described above, the controller 101 detects an approaching object or obstacle from all directions of the omnidirectional walking assistance robot, and then uses a speaker (not shown) to alert the occupant. Inform the dangerous situation through, or driving the wheel 410 of the wheel unit 400 in the corresponding direction to automatically avoid the dangerous situation to drive.
  • the lower sensor 620 is located on the outer surface of the wheel part 400 and faces the outside of the wheel part 400, and each of the wheel parts 400 has three predetermined intervals on the same horizontal line. have.
  • the lower sensor located at the center of the lower sensor 620 is positioned to face the front side and the lower sensor on both sides to face the front left side and front right side, respectively, so as to detect a situation in each corresponding direction. Is formed.
  • the signal output from the lower sensor 620 configured as described above is also input to the controller 101, and the controller 101 detects an obstacle located on the ground in advance when the omnidirectional walking assistance robot is driven, and alerts the occupant through a speaker. Notify, or drive the wheel 410 of the wheel unit 400 in the corresponding direction to automatically avoid driving.
  • Operation of the omnidirectional walking assistance robot having the structure as shown in FIGS. 1 to 3 is controlled by the control system shown in FIG. 4.
  • the control system of the omnidirectional walking aid robot shown in Figure 4 is located in the power switch (SW1), the body portion 100 for inputting power, the control unit 101, the control unit 101 for controlling other components by receiving power
  • the clutch 420 is connected to output a signal to release the stop state of the brake unit 403 clutch 420 Clutch unit 421 to control the direction
  • the user inputs the drive via the stick-type button or the pressure-sensitive sensor (S11) laid under the saddle 200
  • the direction input unit 700 for transmitting a driving command to the control unit 101
  • Encoder unit having a motor unit 401, an encoder inputted from the direction input unit 700 and driven by a drive command received through the control unit 101 and an encoder, and measuring the operating state of the motor and transmitting the encoder unit to the control unit 101 ( 402, upper sensor 610, and lower sensor And a sensor unit 601 for inputting external information sensed through the upper sensor 610 and the lower sensor 620
  • the clutch unit 421 which has received the electric signal, operates the clutch 420 to release the brake 403 that is locked by the clutch 420, thereby releasing the stop state.
  • control unit 101 receives the driving command input from the direction input unit 700 and outputs a signal for driving the motor unit 401 to move in the direction input to the direction input unit 700.
  • the motor unit 401 receives a driving signal from the control unit 101, drives the motor included in the wheel unit 400 to rotate the wheel 410 to move the omnidirectional walking assistance robot in a desired direction.
  • the encoder unit 402 mounted on the motor unit 401 detects an operation state such as an amount of rotation of the motor and transmits it to the control unit 101.
  • the controller 101 controls the driving state of the motor unit 401 by grasping the current moving speed or the moving amount of the omnidirectional walking robot through the operating state of the motor sensed by the encoder unit 402.
  • the light switch SW2 is a switch for sensing the illuminance to turn on and off the lighting unit 110 including an illumination sensor to adjust the brightness of the bright daytime and the dark nighttime.

Landscapes

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

Abstract

Un robot omnidirectionnel d'aide à la marche selon la présente invention comprend : une partie de corps ayant trois parties saillantes en forme de Y disposées dans une forme plane ; une selle formée sur la surface supérieure de la partie de corps de façon à être chevauchée par l'utilisateur ; trois parties de jambe placées sur les parties inférieures des trois parties saillantes de la partie de corps ; une partie de roue placée sur chaque bord des trois parties de jambe, ayant des roues permettant le déplacement ; et une partie d'entrée de direction pour commander la direction de la partie de roue.
PCT/KR2014/004569 2013-05-23 2014-05-22 Robot omnidirectionnel d'aide à la marche WO2014189302A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020130058275A KR20140137588A (ko) 2013-05-23 2013-05-23 전방향 보행보조 로봇
KR10-2013-0058275 2013-05-23

Publications (1)

Publication Number Publication Date
WO2014189302A1 true WO2014189302A1 (fr) 2014-11-27

Family

ID=51933798

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2014/004569 WO2014189302A1 (fr) 2013-05-23 2014-05-22 Robot omnidirectionnel d'aide à la marche

Country Status (2)

Country Link
KR (1) KR20140137588A (fr)
WO (1) WO2014189302A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106493725A (zh) * 2016-10-25 2017-03-15 复旦大学 一种基于全向从动轮和编码器的工业机器人定位装置
CN111113366A (zh) * 2020-01-10 2020-05-08 杭州程天科技发展有限公司 一种搭载机械手臂的全向移动通用机器人

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102022293B1 (ko) 2018-01-16 2019-09-18 (주)이지원인터넷서비스 탑승형 다족 로봇
KR102022294B1 (ko) 2018-01-16 2019-09-18 (주)이지원인터넷서비스 탑승형 다족 로봇

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009247411A (ja) * 2008-04-01 2009-10-29 Soai:Kk 移動式歩行訓練機及び歩行補助機
KR20110065745A (ko) * 2009-12-10 2011-06-16 한양대학교 산학협력단 전동식 보행 보조기
KR20120060363A (ko) * 2010-12-02 2012-06-12 한국기술교육대학교 산학협력단 보행 보조기
KR20120126934A (ko) * 2011-05-13 2012-11-21 주식회사 로보테크 지능형 보행 보조 로봇

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009247411A (ja) * 2008-04-01 2009-10-29 Soai:Kk 移動式歩行訓練機及び歩行補助機
KR20110065745A (ko) * 2009-12-10 2011-06-16 한양대학교 산학협력단 전동식 보행 보조기
KR20120060363A (ko) * 2010-12-02 2012-06-12 한국기술교육대학교 산학협력단 보행 보조기
KR20120126934A (ko) * 2011-05-13 2012-11-21 주식회사 로보테크 지능형 보행 보조 로봇

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106493725A (zh) * 2016-10-25 2017-03-15 复旦大学 一种基于全向从动轮和编码器的工业机器人定位装置
CN111113366A (zh) * 2020-01-10 2020-05-08 杭州程天科技发展有限公司 一种搭载机械手臂的全向移动通用机器人

Also Published As

Publication number Publication date
KR20140137588A (ko) 2014-12-03

Similar Documents

Publication Publication Date Title
WO2023022319A1 (fr) Dispositif d'exercice d'une extrémité supérieure
WO2014189302A1 (fr) Robot omnidirectionnel d'aide à la marche
CN101803988B (zh) 多功能智能助立助行康复机器人
CN107708641B (zh) 坐式步行康复机器人
WO2013012152A1 (fr) Borne à fonction de réglage de hauteur automatique
WO2016182324A1 (fr) Robot de transport
CN210872841U (zh) 一种老弱病人用智能手扶式助行车
WO2010047485A2 (fr) Robot de type fauteuil roulant utilisable comme aide à la marche
CN102499828B (zh) 助老助残床椅一体化机器人
WO2014058241A1 (fr) Dispositif de levage mobile comprenant un système de déplacement auxiliaire capable de régler la force de rotation
JP2003047635A (ja) 歩行訓練機
KR101618231B1 (ko) 보행훈련 시스템
KR20120126934A (ko) 지능형 보행 보조 로봇
WO2020166924A1 (fr) Robot de rééducation à la marche de type à siège ayant des caractéristiques d'entrée améliorées
KR101424109B1 (ko) 보행 보조장치
CN206985457U (zh) 楼道代步电梯的载物平台
WO2021091151A2 (fr) Dispositif de transfert de patient
WO2021091196A1 (fr) Planche à roulettes électrique à une roue
WO2023121015A1 (fr) Dispositif de transfert électromoteur
KR101926113B1 (ko) 짚 라인 보행 보조 및 운동 시스템
WO2020111629A1 (fr) Tricycle de glisse électrique
CA2206822A1 (fr) Deambulateur ameliore
JP2017148167A (ja) 移動支援装置
CN215938201U (zh) 一种老年人防跌倒助行器
WO2015079723A1 (fr) Aide à la marche autonome spécialisée pour des déficiences cognitives

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 14801813

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 14801813

Country of ref document: EP

Kind code of ref document: A1