WO2016117963A1 - 음성 인식 구동 시스템을 갖는 전동 휠체어 - Google Patents
음성 인식 구동 시스템을 갖는 전동 휠체어 Download PDFInfo
- Publication number
- WO2016117963A1 WO2016117963A1 PCT/KR2016/000708 KR2016000708W WO2016117963A1 WO 2016117963 A1 WO2016117963 A1 WO 2016117963A1 KR 2016000708 W KR2016000708 W KR 2016000708W WO 2016117963 A1 WO2016117963 A1 WO 2016117963A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- unit
- driving
- wave
- drive
- main body
- Prior art date
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
- A61G5/02—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person
- A61G5/024—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person having particular operating means
-
- 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
- A61G5/041—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
- A61G5/06—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
-
- 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
- A61G5/068—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 with extensible supports pushing upwards, e.g. telescopic legs
-
- 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
- A61G5/08—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable
- A61G5/0866—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable folding down backrest, e.g. where the backrest folds down onto the seat support
-
- 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
-
- 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
- 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
- A61G5/1067—Arrangements for adjusting the seat adjusting the backrest relative to the seat portion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
- A61G5/127—Rests specially adapted therefor, e.g. for the head or the feet for lower legs
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/015—Input arrangements based on nervous system activity detection, e.g. brain waves [EEG] detection, electromyograms [EMG] detection, electrodermal response detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/16—Sound input; Sound output
- G06F3/167—Audio in a user interface, e.g. using voice commands for navigating, audio feedback
-
- 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
- A61G2203/18—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering by patient's head, eyes, facial muscles or voice
-
- 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
- A61G2203/20—Displays or monitors
-
- 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
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/32—General characteristics of devices characterised by sensor means for force
Definitions
- the present invention relates to an electric wheelchair having a voice recognition driving system, and more particularly, various driving is operated by voice, and the vehicle body can be stably maintained by using an auxiliary robot leg in the form of a spider leg when driving or stopping.
- the present invention relates to an electric wheelchair having a voice recognition driving system.
- a wheelchair is a means of transportation used by a disabled person or a disabled person and a disabled person. If the wheelchair function is satisfactory as a means of transportation for those who are unable to walk, they are actually engaged in other activities, such as sitting or getting off the wheelchair to use the wheelchair. There is an uncomfortable problem of having to get help from other people every day in case of watching a toilet.
- a steel ring is formed to be connected to the seat and the hook formed in the connection band of the seat, and an extension formed at the center of the outer end of the steel ring is wound around the lifting wire and fixed, and a slewing ring is formed between the winding of the extension.
- the upper side is formed with a guide plate for connecting the fixing ring and the connection portion formed with a fixing ring for fixing the upper and lower ends of the elevating wire, one side of the guide frame so that the elevating wire of the connecting portion is insulted, and connecting the fixing ring.
- the guide part and the guide plate of the guide part are connected to the inner diameter of the driving hole so as to move up and down
- a driving part formed by connecting a drive chain to a driving sprocket formed on an upper side of the driving motor by forming a driving rod, and forming a rotating rod that is spirally coupled to the inner diameter of the driving hole, and forms a rotating sprocket on an upper end of the rotating rod. It is a structure formed by a switch unit for forward and reverse rotation of the drive motor by applying power to the drive unit.
- An object of the present invention is to provide an electric wheelchair having a voice recognition driving system which is provided with a spider leg-shaped auxiliary robot leg in a vehicle body so that the vehicle body is stably maintained when driving or stopping.
- Another object of the present invention is to provide an electric wheelchair having a voice recognition driving system capable of automatically controlling driving conditions of a vehicle body and a lifting position of a chair by recognizing a voice of a disabled person.
- Still another object of the present invention is to provide an electric wheelchair having a voice recognition driving system that can automatically adjust the seating position and the driving position and facilitate the storage when a person with a disability is seated or operated after being seated. have.
- the present invention includes a traveling device main body portion provided with a plurality of wheels at the bottom; A seating part installed on an upper end of the traveling device main body part to be elevated; An auxiliary robot leg part which is installed to be inserted into and protrudes from the main body of the traveling device and is made of an articulated joint driven by external power; And a voice recognition driving system including a voice recognition driving unit configured to extract a predetermined command from a voice input from the outside, and to drive the plurality of wheels, move the seating unit, and drive the auxiliary robot leg. to provide.
- the voice recognition driving unit is provided in the seating unit, a voice input unit for inputting voices from the outside, a driving unit for controlling the driving of the plurality of wheels, a lifting unit for controlling the lifting of the seating unit, and the auxiliary
- the robot driver for controlling the driving of the robot leg, and the commands for controlling the driving of the plurality of wheels, the lifting and lowering of the seating unit, and the driving of the auxiliary robot leg are preset, and the command is inputted from the voice input through the voice input unit.
- a controller for controlling driving of the driving driver, the lifting driver, or the robot driver corresponding to the extracted command.
- the elevating driving unit connects a lower end of the traveling device main body unit with the seating unit, and is driven to control the stretching operation of the elevating member by receiving a driving signal from the controller and an elevating member that is stretched up and down by external power. It is preferable to have a cylinder.
- the elevating member has a plurality of elevating ribs which are hinged and folded so as to cross each other.
- first rollers are respectively provided at the lower ends of the pair of lifting ribs at the lowermost end
- second rollers are respectively installed at the upper ends of the pair of lifting ribs at the uppermost end.
- the said 1st roller which each said 1st roller rolls is formed in the said traveling apparatus main-body part.
- each of the second roller can be rolled is formed.
- the drive cylinder preferably includes a cylinder body having an axis that is stretched along a horizontal direction in response to a drive signal from the controller.
- the shaft is connected to the center of rotation of any of the first rollers, and the other first roller is fixed in position on the first rail.
- the auxiliary robot leg preferably includes a plurality of auxiliary robot legs disposed at a plurality of positions on both sides of the traveling device main body.
- Each of the plurality of auxiliary robot legs preferably includes a plurality of unit joints and a plurality of rotation motors connected to the plurality of unit joints so as to rotate along multiple axes, and driven by receiving a driving signal from the robot driver. .
- holes capable of entering and exiting the plurality of auxiliary robot legs are formed at a plurality of positions at both sides of the traveling device main body.
- an accommodation space is formed in the traveling device main body to accommodate the plurality of auxiliary robot legs introduced through the holes.
- the sliding drive unit for sliding the plurality of auxiliary robot legs to be drawn in or drawn out so that the plurality of auxiliary robot legs are accommodated in the accommodation space.
- the seating portion is connected to the lifting drive unit, the seat portion, hinged to the end of the seat portion is foldable back, a handle portion foldable hinged to both ends of the seat portion, hinged to the front end of the seat portion It is preferable to have a foldable legrest.
- the seating portion is preferably formed in a rectangular box shape.
- the light condensing plate which collects sunlight is provided in the said seating part.
- a storage battery is installed in the traveling device main body to convert heat energy collected by the light collecting plate into electrical energy for driving the voice recognition driving unit.
- the seating unit is provided with a GPS module for receiving location information through a satellite and transmitting the received location information to the controller.
- a weight sensor for detecting a weight according to a user's seating, transmitting the detected weight to the controller, and a temperature sensor for sensing a temperature and transmitting the detected temperature to the controller are installed.
- the traveling device main body is provided with a rotor having a rotating shaft that is rotated in response to a drive signal from the control unit, the disk-shaped lower main body portion is installed, the wheel is disposed on the upper end of the lower main body portion, It is preferable to have a disk-shaped upper body part which is connected and rotated and the auxiliary robot leg part is installed.
- the electric wheelchair may further include an EEG control driver.
- the EEG control driver is connected to the control unit, a selection mode for selecting one of the voice recognition driver and the EEG control driver, and recognizes EEG from the head of the user, and the recognized EEG to the control unit EEG recognition unit for transmitting.
- information of gamma waves, beta waves, alpha waves, theta waves, and delta waves is preset.
- the controller extracts a ratio of the gamma wave, the beta wave, the alpha wave, theta wave, and the delta wave from the recognized brain wave, and controls the driving drive unit, the lifting drive unit, and the robot driving unit according to the extracted ratio.
- control unit presets a ratio of the gamma wave, the beta wave, the alpha wave, theta wave, and the delta wave to the driving unit, the elevating drive unit, and the robot driving unit.
- the present invention has an effect that the vehicle main body is stably maintained when the vehicle body is provided with a spider leg-shaped auxiliary robot leg when driving or stopping.
- the present invention has the effect of automatically controlling the driving conditions of the vehicle body and the lifting position of the chair by recognizing the voice of the disabled.
- the present invention has an effect that can be adjusted to suit the operating conditions of the handicapped person when the handicapped person is seated, or when operating after sitting by variably adjusting the lifting position of the seating section where the handicapped person is seated.
- this invention has the effect of hinge-connecting each structure of a seating part, when making it foldable, and when not running, folding
- the present invention by detecting that the disabled person is seated in the seating unit to control the driving related to driving, it is possible to prevent the safety accident caused by the driving device is driven before the disabled person is seated in advance. .
- the present invention is equipped with a GPS module that receives the position information from the satellite, so that the handicapped person can be informed of the moving position to the handicapped person through the traveling device through the voice or display, and also to the guardian to indicate the moving position of the disabled person It has an effect that can inform in real time.
- the present invention has the effect of embodying the traveling device body portion in the shape of a disk, and by allowing the upper body portion to be rotatable, it is possible to easily change the direction in the state in which the disabled person is seated in the seat.
- FIG. 1 is a perspective view showing an electric wheelchair having a voice recognition drive system of the present invention.
- FIG. 2 is a front view showing an electric wheelchair having a voice recognition drive system of the present invention.
- FIG. 3 is an enlarged view illustrating a symbol A of FIG. 2.
- Figure 4 is a side view showing an electric wheelchair with a voice recognition drive system of the present invention.
- Figure 5 is a side view showing a seated state folded state according to the present invention.
- FIG. 6 is a block diagram showing the configuration of the electric wheelchair having a voice recognition drive system of the present invention.
- FIG. 7 is a view showing a lift drive unit according to the present invention.
- FIG. 8 is a view illustrating a coupling relationship between the driving cylinder of FIG. 7 and the first roller.
- FIG. 9 is a view showing that the first roller is disposed on the first rail.
- FIG. 10 is a view showing the driving of the robot drive unit according to the present invention.
- FIG. 11 is a view illustrating a hole formed in the main body of FIG. 10.
- FIG. 12 is a perspective view showing another example of the traveling device main body according to the present invention.
- FIG. 13 is a block diagram illustrating the driving of the EEG control driver according to the present invention.
- FIG. 1 is a perspective view showing an electric wheelchair having a voice recognition driving system of the present invention
- FIG. 2 is a front view showing an electric wheelchair having a voice recognition driving system of the present invention
- FIG. 3 is an enlarged view showing a symbol A of FIG.
- Figure 4 is a side view showing an electric wheelchair having a voice recognition drive system of the present invention
- Figure 5 is a side view showing a seated state folded state according to the present invention
- Figure 6 has a voice recognition drive system of the present invention This is a block diagram showing the configuration of an electric wheelchair.
- the electric wheelchair having the voice recognition driving system of the present invention is largely composed of a traveling device main body 100, a seating unit 200, an auxiliary robot leg 300, and a voice recognition driving unit 400.
- the traveling device main body 100 includes a main body 110 and a plurality of wheels 190.
- the plurality of wheels 190 are installed at both side ends of the main body 110, and consist of a front wheel and a rear wheel.
- the plurality of wheels 190 are rotated by the driving of driving unit 720 to be described later, so that the main body 110 is driven along the ground.
- the seating unit 200 is disposed above the main body, and is lifted along the vertical direction by the driving of the lifting driving unit 430 to be described later.
- the seating unit 200 is composed of a seat 210, a backrest 220, a handle portion 211, and a legrest 230 seated by a user, such as a disabled person.
- the seat 210 is a part connected to the lift driver 430 is a configuration that the buttocks of the disabled are located.
- the backrest part 220 is connected to the rear end of the seat portion 210 (H1), it is preferable that the front and rear angle is adjusted based on the seat portion (210).
- the backrest 220 has a configuration in which the back of the disabled is located, it may be folded at the rear end of the seat 210.
- the handle part 211 is formed at both sides of the seat part 210.
- the handle portion 211 is configured to serve as an arm rest that can hang the arm of a disabled person.
- the handle part 211 is provided with an adjusting device (not shown) capable of directly driving the driving driver 420 to adjust the driving direction and speed of the wheels 190.
- the handle part 211 is provided with a voice input unit 410 such as a microphone to be described later.
- the handle portion 211 may also be hinged at both sides of the seat portion (2).
- the leg rest 230 is installed at the front end of the seat portion 210, the leg is placed to the disabled.
- the leg rest 230 is connected to a hinge (H2) to the front end of the seat portion 210, extends a predetermined length along the bottom, can be foldable.
- the rear end of the back portion 220 is provided with a pair of handles 221 that can be pushed by a wheelchair by another person.
- the handle 221 may be detachable from the rear end of the backrest 220.
- the seating unit 200 configured as described above may be easily folded and stored in a rectangular box shape when each component is folded.
- the folding process of the seating unit 200 will be described later.
- the auxiliary robot leg 300 according to the present invention is installed in the traveling device main body 100.
- the auxiliary robot leg 300 is composed of a plurality of auxiliary robot leg 310.
- the auxiliary robot leg 310 is composed of six, each three are installed on both sides of the main body.
- Each auxiliary robot leg 310 is composed of unit joints 311 having a predetermined length and rotation motors 312 connecting unit joints 311 to rotate each joint 311 along multiple axes. do.
- the unit joints 311 may include a first unit joint 311a connected to the main body 110, a second unit joint 311b, and a third unit joint 311c having an end supported on the ground. It is composed.
- the rotation motors 312 may include a first rotation motor 312a connecting the main body 110 and the first unit joint 311a, and a first connection unit connecting the first and second unit joints 311a and 311b.
- the first, second, and third rotation motors 312a, 312b, and 312c are driven by the robot driver 440 to be described later.
- Each of the auxiliary robot legs 310 configured as described above is installed at each of the three sides of the main body 110.
- a load cell 250 (see FIG. 6) for measuring a pressure value according to supporting the ground is installed.
- a force sensor 260 (see FIG. 6) is installed in each of the rotary motors 312 between the unit joints 311.
- the pressure value with the ground in each auxiliary robot leg 310 and the force value measured in each unit joint 311 are transmitted to the controller 450 (see FIG. 6), and the controller 450 measures the pressure value.
- the rotary motors 312 may be driven to form the posture of each unit joint 311 based on the and force values.
- the controller 450 which will be described later, so that the pressures measured from the load cells 250 of the respective auxiliary robot legs 310 may be uniform with each other, may be controlled by the robot driver 440.
- the attitude of the main body 110 may be controlled so that the balance of the main body 110 is constant.
- the auxiliary robot leg 300 may apply a driving force on the ground to allow stable driving to be made and stop.
- the main body 110 may be stably maintained.
- the main body 110 when the main body 110 is located on a slope that forms a predetermined slope, the main body 110 may solve a problem such as slipping or falling along the slope.
- the voice recognition driver 400 includes a voice inputter 410, a driving driver 420, a lift driver 430, a robot driver 440, and a controller 450.
- the voice input unit 410 is preferably installed in the seat portion 210, it is preferably installed in the handle portion 211 can be easily input the voice of the disabled.
- the voice input unit 410 is a device such as a microphone, it may be configured to extend a predetermined length so as to touch the mouth of the disabled from the handle portion 211.
- the voice input through the voice input unit 410 is transmitted to the controller 450 to be described later in the form of an electrical signal.
- Figure 6 is a block diagram showing the configuration of an electric wheelchair having a voice recognition drive system of the present invention
- Figure 7 is a view showing a lifting drive unit according to the present invention
- Figure 8 is a view of the drive cylinder and the first roller of Figure 7 9 is a view showing a coupling relationship
- FIG. 9 is a view showing that a first roller is disposed on a first rail.
- the elevating driver 460 serves to elevate the seating unit 200 from the upper portion of the traveling device main body unit 100.
- the lifting driving unit 460 includes a lifting member 431 and a driving cylinder 432.
- the elevating member 431 includes first lifting ribs 431a having a predetermined length and second lifting ribs 431b.
- the first and second lifting ribs 431a and 431b may be disposed to cross each other along the top and bottom, and the portions crossing each other may be hinged and connected.
- the first lifting rib 431a is formed with a long hole (h) through which the hinge (H) is penetrated and sliding, so that the first and second lifting ribs (431a, 431b) It may be folded in an intersecting state.
- a pair of first rollers ROLL 1 are provided at the lower ends of the first and second lifting ribs 431a and 431b at the bottom.
- the first roller ROLL 1 is installed at the lower end of the second lifting rib 431b at the lowermost end, and the lower end of the first lifting rib 431a at the lowermost end is rotated on one side of the first rail R1 described later. It is good to be fixed as possible.
- the inside of the traveling device main body 100 has two layers to form a first accommodation space (a1) in the upper portion, the second accommodation space (a2) is formed in the lower portion.
- the first and second accommodation spaces a1 and a2 are partitioned by partition plates 140 installed inside the main body 110.
- the upper end of the partition plate 140 is formed with a first rail (R1) that can be rolled by a pair of first roller (ROLL 1).
- the shaft end forming the rotation center of the first roller (ROLL 1) is located in the guide groove 141 formed in the inner surface portion of the first rail (R1) and slides.
- a pair of second rollers ROLL 2 are provided at upper ends of the first and second lifting ribs 431a and 431b at the uppermost ends.
- a second rail is installed at the lower end of the seat portion 210 according to the present invention
- a pair of second roller is rail-coupled and slide.
- the lifting ribs 431a and 431b are extended and extended upward while being narrowed, and the lifting ribs 431a and 431b are extended. While maintaining the folded state while being folded, it is possible to achieve a state that is accommodated in the first accommodation space (a1).
- the seating unit 200 is vertically raised by the lifting ribs 431a and 431b, and in the latter case, the seating unit 200 is lowered to be seated on the upper end of the main body 110. .
- the driving cylinder 432 serves to narrow or widen the lower ends of the above-described lowermost first and second lifting ribs 431a and 431b.
- the drive cylinder 432 is installed on the plate plate 140 described above, the shaft 432b hinged to the first roller (ROLL 1) to slide, and the cylinder body 431a to expand and contract the shaft 432b. It is composed.
- the cylinder body 431a receives the drive signal from the controller 450 and expands and contracts the shaft 432b.
- the first roller ROLL 1 slides along the first rail R1, thereby narrowing the lower ends of the lowermost first and second lifting ribs 431a and 431b. It can happen or happen.
- first and second lifting ribs 431a and 431b may be lifted or lifted by the unfolding or folding.
- the robot driver 440 receives the driving signal from the control unit and drives the first, second, third and third rotation motors 312a, 312b, and 312c of each of the auxiliary robot legs 310, and thus, the first, second, The traveling unit body 100 may be moved forward and backward through the joint motion of the three unit joints 311a, 311b and 311c.
- auxiliary robot leg 300 may be accommodated in the second accommodation space a2 formed in the traveling device main body 100.
- FIG. 10 is a view showing the driving of the robot drive unit according to the present invention
- Figure 11 is a view showing a hole formed in the main body of FIG.
- each auxiliary robot leg 310 is forcibly moved by the sliding driver 130 installed in the traveling device main body 100 and accommodated in the second accommodation space a2, It may protrude to both sides of the main body 110.
- Holes 112 are formed at both sides of the main body 110 in which the first rotary motor 312a is installed at the first unit joint 311a of each auxiliary robot leg 310.
- the auxiliary robot leg 310 may be drawn in or drawn out to be accommodated in the second accommodation space a2 through the hole 112.
- the sliding driver 130 is installed at the lower end of the partition plate 140 described above.
- the sliding driver 130 includes a sliding rail 131 formed in the partition plate 140 and a linear motor 132 linearly moving along the sliding rail 131.
- the linear motor 132 receives a control signal from the controller 450 and moves along the sliding rail 131.
- a connecting shaft 133 is formed on the linear motor 132, and the connecting shaft 133 is connected to the first rotating motor 312a of each auxiliary robot leg 310.
- the sliding drive unit 130 configured as described above is installed inside the travel device body part 100 to have a one-to-one correspondence with the number of the auxiliary robot legs 310.
- the controller 450 drives the first, second, and third rotation motors 312a, 312b, and 312c of the auxiliary robot legs 310, such that the first, second, and third unit joints 311a, 311b, and 311c are horizontal. To achieve.
- the controller 450 moves the linear motors 132 of the sliding driving units along the sliding rails 131 to the inside of the main body 110.
- each auxiliary robot leg 310 may be introduced into the second accommodation space a2 through the hole 112 formed in the main body 110 in a state of being connected to each connection shaft 133.
- the auxiliary robot leg 300 may be accommodated in the traveling device main body 100.
- control unit 450 may reverse the retraction process to achieve the state shown in FIG.
- the controller 450 controls the driving of the driving driver 420, the lifting driver 300, the robot driver 400, and the sliding driver 130.
- controller 450 presets commands for controlling the driving of the plurality of wheels 190, the lifting and lowering of the seating unit 200, and the driving of the auxiliary robot leg 300.
- the controller 450 extracts the commands from the voice input through the voice input unit 410, and controls the driving driver 420, the lift driver 430, or the robot driver 440 corresponding to the extracted commands. Control the drive.
- the controller 450 extracts a predetermined 'start' command from the input voice, and controls the driving of the driving driver 420 through the command, thereby driving the main body of the traveling device.
- the unit 100 may be driven.
- the command of 'starting' is set to a preset traveling speed.
- the elevating position of the seating unit 200 is controlled by controlling the elevating driving unit 430, and it is possible to use the auxiliary robot leg 300 by setting the respective commands in advance, withdrawal, withdrawal, and driving.
- a light collecting plate 240 for collecting solar light is installed at the rear end of the backrest part 220 of the present invention.
- the traveling device main body 100 is provided with a storage battery 120 that converts thermal energy collected by the light collecting plate 240 into electrical energy for driving the voice recognition driver 400 and stores the electrical energy.
- the storage battery 120 is substantially energy for driving the driving driver 420, the lifting driver 430, the robot driver 440, and the sliding driver 130.
- the seating unit 200 is provided with a GPS module 241 for receiving location information via a satellite, and transmits the received location information to the control unit.
- the controller 450 may transmit the transmitted location information as text information or voice information to a terminal such as a portable device of another person using a wireless communication method.
- the temperature sensor 242 for transmitting the control unit 450 may be installed.
- the controller 450 determines that the disabled person is seated in the seating unit 200 when the weight measured by the weight sensor 243 is greater than or equal to the reference weight, and the driving driver 420, the elevating driver 430, and The robot driver 440 and the sliding driver 130 are driven.
- the controller 450 determines that the disabled person is seated in the seating unit 200, and the driving driver 420 and the elevating driver 430. And the robot driver 440 and the sliding driver 130.
- a safety accident due to the voice recognition driver 400 being driven in a state in which the disabled person is not seated in the seating unit 200 may be prevented in advance.
- FIG. 12 is a perspective view showing another example of the traveling device main body according to the present invention.
- the traveling device main body 100 ′ includes a lower main body 110 ′ and an upper main body 120 ′.
- the lower main body 110 ′ is formed in a disk shape, and a rotor 10 having a rotation shaft 11 that is rotated by receiving a driving signal from the controller 450 is installed, and the plurality of wheels 190 are installed. do.
- the upper main body 120 ' is formed in a disk shape and is disposed on an upper end of the lower main body 110'.
- auxiliary robot leg 300 is rotated by being connected to the rotating shaft 11.
- first and second accommodation spaces a1 and a2 are formed in the upper main body 120 '.
- the embodiment according to the present invention is provided with the auxiliary robot leg of the spider leg shape on the vehicle body so that the vehicle body is stably maintained when driving or stopping.
- the embodiment according to the present invention can automatically control the driving conditions of the vehicle body and the lifting position of the chair by recognizing the voice of the disabled.
- the embodiment according to the present invention can be adjusted to suit the operating conditions of the handicapped person when the handicapped person is seated, or when running after sitting by variably adjusting the lifting position of the seating unit seated by the disabled person.
- the embodiment according to the present invention is hinged to connect the respective configurations of the seating portion, and when they do not run by folding them, it can be folded into a rectangular box shape can be given the ease of storage.
- the embodiment according to the present invention detects that the disabled person is seated in the seating unit to control the driving related to driving, it is possible to prevent the safety accident caused by the driving device is driven before the disabled person is seated. .
- the embodiment according to the present invention is equipped with a GPS module that receives the location information from the satellite, so that the disabled person can be informed of the moving position to the disabled person by voice or display when moving through the traveling device, and to the guardian You can tell the location of the movement in real time.
- the embodiment according to the present invention can implement the traveling device body portion in the shape of a disk, and by allowing the upper body portion to be rotatable, it is possible to facilitate the direction change to the disabled person seated on the seat.
- FIG. 13 is a block diagram illustrating the driving of the EEG control driver according to the present invention.
- the electric wheelchair of the present invention may further include an EEG control driver.
- the EEG control unit is connected to the control unit, the selection mode for selecting any one of the voice recognition driver and the EEG control driver, and the EEG from the head of the user to recognize the EEG from the control unit It may be provided with an EEG recognition unit for transmitting.
- the control unit may be preset with information of gamma waves, beta waves, alpha waves, theta waves, and delta waves.
- control unit presets a ratio of the gamma wave, the beta wave, the alpha wave, theta wave, and the delta wave to the driving drive unit, the lift drive unit, and the robot drive unit.
- the controller extracts the ratio of the gamma wave, the beta wave, the alpha wave, theta wave, and the delta wave from the recognized brain wave, and according to the extracted ratio, the driving driver, The lift driver and the robot driver may be controlled.
Abstract
Description
Claims (11)
- 하단에 다수의 휠이 마련되는 주행 장치 본체부;상기 주행 장치 본체부의 상단에 승강 가능하게 설치되는 착석부;상기 주행 장치 본체부에 삽입 및 돌출 가능하게 설치되며, 외부 동력에 의해 구동되는 다관절로 이루어지는 보조 로봇 다리부; 및외부로부터 입력되는 음성에서 기설정된 명령어를 추출하여, 상기 다수의 휠의 주행과, 상기 착석부의 승강 및, 상기 보조 로봇 다리부를 구동시키는 음성 인식 구동부를 포함하는 것을 특징으로 하는 음성 인식 구동 시스템을 갖는 전동 휠체어.
- 제 1항에 있어서,상기 음성 인식 구동부는,상기 착석부에 설치되며, 외부로부터의 음성이 입력되는 음성 입력기와,상기 다수의 휠의 주행을 제어하는 주행 구동부와,상기 착석부의 승강을 제어하는 승강 구동부와,상기 보조 로봇 다리부의 구동을 제어하는 로봇 구동부와,상기 다수의 휠의 주행과, 상기 착석부의 승강 및 상기 보조 로봇 다리부의 구동을 제어하는 명령어들이 기설정되고, 상기 음성 입력기를 통해 입력되는 음성에서 상기 명령어들을 추출하고, 추출한 명령어에 해당되는 상기 주행 구동부 또는 상기 승강 구동부 또는 상기 로봇 구동부의 구동을 제어하는 제어부를 구비하는 것을 특징으로 하는 음성 인식 구동 시스템을 갖는 전동 휠체어.
- 제 2항에 있어서,상기 승강 구동부는,상기 주행 장치 본체부와 상기 착석부의 하단을 연결하고, 외부 동력에 의해 상하를 따라 길이가 조절되는 승강 부재와,상기 제어기로부터 구동 신호를 받아, 상기 승강 부재의 길이 조절 동작을 제어하는 구동 실린더를 구비하는 것을 특징으로 하는 음성 인식 구동 시스템을 갖는 전동 휠체어.
- 제 3항에 있어서,상기 승강 부재는, 서로 교차되도록 힌지 연결되어 접철되는 다수의 승강 리브를 구비하고,상기 다수의 승강 리브 중, 최하단의 한 쌍의 승강 리브 하단에는 제 1롤러가 각각 설치되고, 최상단의 한 쌍의 승강 리브 상단에는 각각 제 2롤러가 각각 설치되고,상기 주행 장치 본체부에는, 상기 각각의 제 1롤러가 구를 수 있는 제 1레일이 형성되고,상기 착석부의 하단에는, 상기 각각의 제 2롤러가 구를 수 있는 제 1레일이 형성되고,상기 구동 실린더는, 상기 제어기로부터 구동 신호를 받아 수평 방향을 따라 신축되는 축을 갖는 실린더 몸체를 구비하고,상기 축은, 상기 각각의 제 1롤러 중 어느 하나의 회전 중심에 연결되고, 다른 하나의 제 1롤러는 상기 제 1레일 상에서 위치가 고정되는 것을 특징으로 하는 음성 인식 구동 시스템을 갖는 전동 휠체어.
- 제 2항에 있어서,상기 보조 로봇 다리부는, 상기 주행 장치 본체부의 양측부 다수의 위치에 배치되는 다수의 보조 로봇 다리를 구비하고,상기 다수의 보조 로봇 다리 각각은,다수의 단위 관절과,상기 다수의 단위 관절을 회전되도록 연결하고, 상기 로봇 구동부로부터 구동 신호를 받아 구동되는 다수의 회전 모터를 구비하는 것을 특징으로 하는 음성 인식 구동 시스템을 갖는 전동 휠체어.
- 제 5항에 있어서,상기 주행 장치 본체부의 양측부 다수 위치에는, 상기 다수의 보조 로봇 다리의 인입출이 가능한 홀들이 형성되고,상기 주행 장치 본체부의 내부에는, 상기 홀들을 통해 인입되는 상기 다수의 보조 로봇 다리가 수용되는 수용 공간이 형성되고,상기 수용 공간에는,상기 제어부로부터 제어 신호를 받아, 상기 다수의 보조 로봇 다리가 상기 수용 공간에 수용되도록 인입되거나, 외부로 인출되도록 상기 다수의 보조 로봇 다리가를 슬라이딩 이동시키는 슬라이딩 구동부가 설치되는 것을 특징으로 하는 음성 인식 구동 시스템을 갖는 전동 휠체어.
- 제 2항에 있어서,상기 착석부는,상기 승강 구동부와 연결되며, 좌석부와,상기 좌석부의 단부에 힌지 연결되어 접철 가능한 등받이부와,상기 좌석부의 양단부에 힌지 연결되어 접철 가능한 손잡이부와,상기 좌석부의 선단에 힌지 연결되어 접철 가능한 다리 받침부를 구비하되,상기 등받이부와, 상기 다리 받침부가 접히면, 상기 착석부는 사각 박스 형상으로 형성되는 것을 특징으로 하는 음성 인식 구동 시스템을 갖는 전동 휠체어.
- 제 2항에 있어서,상기 착석부에는, 태양광을 집광하는 집광판이 설치되고,상기 주행 장치 본체부에는, 상기 집광판에서 집광된 열에너지를 상기 음성 인식 구동부를 구동하기 위한 전기에너지로 변환하여 축전하는 축전지가 설치되는 것을 특징으로 하는 음성 인식 구동 시스템을 갖는 전동 휠체어.
- 제 2항에 있어서,상기 착석부에는,위성을 통해 위치 정보를 수신하고, 수신된 위치 정보를 상기 제어부에 전송하는 지피에스 모듈이 설치되고,상기 착석부의 다수 위치에는, 사용자가 착석함에 따른 무게를 감지하고, 감지된 무게를 상기 제어부로 전송하는 무게 센서와, 온도를 감지하고, 감지한 온도를 상기 제어부로 전송하는 온도 센서가 설치되는 것을 특징으로 하는 음성 인식 구동 시스템을 갖는 전동 휠체어.
- 제 2항에 있어서,상기 주행 장치 본체부는,상기 제어부로부터 구동 신호를 받아 회전되는 회전축을 갖는 회전기가 설치되며, 상기 다수의 휠이 설치되는 원반 형상의 하단 본체부와,상기 하단 본체부의 상단에 배치되되, 상기 회전축에 연결되어 회전되며, 상기 보조 로봇 다리부가 설치되는 원반 형상의 상단 본체부를 구비하는 것을 특징으로 하는 음성 인식 구동 시스템을 갖는 전동 휠체어.
- 제 2항에 있어서,상기 전동 휠체어는 뇌파 제어 구동부를 더 포함하되,상기 뇌파 제어 구동부는, 상기 제어부에 연결되어, 상기 음성 인식 구동부와 상기 뇌파 제어 구동부 중 어느 하나를 사용하도록 선택하는 선택 모드와,사용자의 두부로부터 뇌파를 인식하고, 인식되는 상기 뇌파를 상기 제어부로 전송하는 뇌파 인식부를 포함하되,상기 제어부에는, 감마파와 베타파와 알파파와 세타파 및 델타파의 정보가 기설정되고,상기 제어부는, 인식되는 상기 뇌파로부터 상기 감마파와 베타파와 알파파와 세타파 및 델타파의 비율을 추출하고,추출되는 상기 비율에 따라, 상기 주행 구동부, 상기 승강 구동부 및 상기 로봇 구동부를 제어하되,상기 제어부에는 상기 주행 구동부, 상기 승강 구동부 및 상기 로봇 구동부의 구동에 대해 상기 감마파와 베타파와 알파파와 세타파 및 델타파의 비율이 각각 미리 설정되는 것을 특징으로 하는 음성 인식 구동 시스템을 갖는 전동 휠체어.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/545,632 US11033443B2 (en) | 2015-01-23 | 2016-01-22 | Electronic wheelchair having voice-recognition operating system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020150011545A KR101657128B1 (ko) | 2015-01-23 | 2015-01-23 | 음성 인식 구동 시스템을 갖는 전동 휠체어 |
KR10-2015-0011545 | 2015-01-23 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2016117963A1 true WO2016117963A1 (ko) | 2016-07-28 |
Family
ID=56417415
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/KR2016/000708 WO2016117963A1 (ko) | 2015-01-23 | 2016-01-22 | 음성 인식 구동 시스템을 갖는 전동 휠체어 |
Country Status (3)
Country | Link |
---|---|
US (1) | US11033443B2 (ko) |
KR (1) | KR101657128B1 (ko) |
WO (1) | WO2016117963A1 (ko) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019002597A1 (de) * | 2017-06-29 | 2019-01-03 | Munevo Gmbh | Rollstuhl-sondersteuerung |
US10787316B2 (en) * | 2018-06-26 | 2020-09-29 | Sunrise R&D Holdings, Llc | Stocking assistant robot |
US11241982B2 (en) * | 2019-06-28 | 2022-02-08 | Honda Motor Co., Ltd. | Walking infant seat |
JP7320192B2 (ja) * | 2019-08-27 | 2023-08-03 | スズキ株式会社 | 電動車両 |
KR20210060066A (ko) * | 2019-11-18 | 2021-05-26 | 엘지전자 주식회사 | 로봇 |
KR102254231B1 (ko) * | 2020-02-04 | 2021-05-21 | 한국생산기술연구원 | 주행과 보행이 가능한 로봇 |
KR102396163B1 (ko) * | 2020-07-06 | 2022-05-12 | 한국과학기술연구원 | 이동체 및 사람 간의 협력에 기반하여 이동체를 제어하는 방법 및 그에 따른 이동체의 제어 장치 |
KR102635726B1 (ko) * | 2021-12-02 | 2024-02-14 | 근로복지공단 | 시트 리프트 매커니즘을 구비하는 전동 휠체어 |
KR102594335B1 (ko) | 2021-12-24 | 2023-10-26 | 유니텔전자 (주) | 인공 지능 기반의 전동 휠체어 제어 방법 및 그를 위한 장치 및 시스템 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003310665A (ja) * | 2002-04-19 | 2003-11-05 | Tama Tlo Kk | 電動車椅子 |
KR101046877B1 (ko) * | 2011-01-18 | 2011-07-05 | 동양미래대학 산학협력단 | 좌립을 조력하는 휠체어용 좌석의 높이조절장치 및 그 제어방법 |
KR101437374B1 (ko) * | 2013-04-03 | 2014-09-12 | 김건우 | 가변형 휠체어 |
KR20140128086A (ko) * | 2013-04-26 | 2014-11-05 | 경남대학교 산학협력단 | 장애인 안내용 가변구조 휠체어 로봇 |
KR101484955B1 (ko) * | 2013-08-29 | 2015-01-22 | 나사렛대학교 산학협력단 | 이동체 탐지장치 |
Family Cites Families (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4483405A (en) * | 1981-08-05 | 1984-11-20 | Koyu Enterprise, Inc. | Omnidirectional motorized wheelchair |
US4915184A (en) * | 1988-06-10 | 1990-04-10 | Quest Technologies Corp. | Cushioning mechanism for stair-climbing wheelchair |
US5253724A (en) * | 1991-10-25 | 1993-10-19 | Prior Ronald E | Power wheelchair with transmission using multiple motors per drive wheel |
US5335313A (en) * | 1991-12-03 | 1994-08-02 | Douglas Terry L | Voice-actuated, speaker-dependent control system for hospital bed |
EP0740542B1 (fr) * | 1994-11-18 | 2005-02-02 | Degonda-Rehab S.A. | Siege roulant pour le transport ou l'assistance au deplacement d'au moins un utilisateur, notamment d'une personne handicapee |
US5812978A (en) * | 1996-12-09 | 1998-09-22 | Tracer Round Associaties, Ltd. | Wheelchair voice control apparatus |
US6108592A (en) * | 1998-05-07 | 2000-08-22 | International Business Machines Corporation | Voice-controlled motorized wheelchair with sensors and displays |
EP1161216B1 (en) * | 1999-03-15 | 2005-08-03 | Deka Products Limited Partnership | Control system and method for wheelchair |
US6553271B1 (en) * | 1999-05-28 | 2003-04-22 | Deka Products Limited Partnership | System and method for control scheduling |
US6842692B2 (en) * | 2002-07-02 | 2005-01-11 | The United States Of America As Represented By The Department Of Veterans Affairs | Computer-controlled power wheelchair navigation system |
KR100552803B1 (ko) | 2003-07-11 | 2006-02-20 | 동부아남반도체 주식회사 | 반도체 소자의 금속전절연막 및 그 형성 방법 |
US7171288B2 (en) * | 2003-10-06 | 2007-01-30 | Invacare Corporation | Method and apparatus for reprogramming a programmed controller of a power driven wheelchair |
US7503567B2 (en) * | 2007-04-16 | 2009-03-17 | Frankie Thomas T | Automated wheelchair |
US8430192B2 (en) * | 2010-01-04 | 2013-04-30 | Carla R. Gillett | Robotic omniwheel vehicle |
KR101188862B1 (ko) * | 2010-07-09 | 2012-10-11 | 재단법인차세대융합기술연구원 | 계단을 오르는 전동 운반체 |
US8924218B2 (en) * | 2010-11-29 | 2014-12-30 | Greg L. Corpier | Automated personal assistance system |
US9026250B2 (en) * | 2011-08-17 | 2015-05-05 | Harris Corporation | Haptic manipulation system for wheelchairs |
US9254234B2 (en) * | 2012-04-11 | 2016-02-09 | University of Pittsburgh—of the Commonwealth System of Higher Education | Robotic strong arm |
JP6329336B2 (ja) * | 2012-07-31 | 2018-05-23 | パラマウントベッド株式会社 | Xリンク式昇降機構 |
US20140268560A1 (en) * | 2013-03-15 | 2014-09-18 | Purdue Research Foundation | Motorized mount for seating system |
CN203677399U (zh) * | 2013-12-10 | 2014-07-02 | 上海宝路机电有限公司 | 多功能护理智能轮椅 |
WO2015122846A1 (en) * | 2014-02-14 | 2015-08-20 | National University Of Singapore | System, device and methods for brainwave-based technologies |
US10265227B2 (en) * | 2014-03-21 | 2019-04-23 | Rensselaer Polytechnic Institute | Mobile human-friendly assistive robot |
US10099379B2 (en) * | 2014-08-21 | 2018-10-16 | Elwha Llc | Systems, devices, and methods including a wheelchair-assist robot |
-
2015
- 2015-01-23 KR KR1020150011545A patent/KR101657128B1/ko active IP Right Grant
-
2016
- 2016-01-22 WO PCT/KR2016/000708 patent/WO2016117963A1/ko active Application Filing
- 2016-01-22 US US15/545,632 patent/US11033443B2/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003310665A (ja) * | 2002-04-19 | 2003-11-05 | Tama Tlo Kk | 電動車椅子 |
KR101046877B1 (ko) * | 2011-01-18 | 2011-07-05 | 동양미래대학 산학협력단 | 좌립을 조력하는 휠체어용 좌석의 높이조절장치 및 그 제어방법 |
KR101437374B1 (ko) * | 2013-04-03 | 2014-09-12 | 김건우 | 가변형 휠체어 |
KR20140128086A (ko) * | 2013-04-26 | 2014-11-05 | 경남대학교 산학협력단 | 장애인 안내용 가변구조 휠체어 로봇 |
KR101484955B1 (ko) * | 2013-08-29 | 2015-01-22 | 나사렛대학교 산학협력단 | 이동체 탐지장치 |
Also Published As
Publication number | Publication date |
---|---|
US20180036185A1 (en) | 2018-02-08 |
US11033443B2 (en) | 2021-06-15 |
KR20160091193A (ko) | 2016-08-02 |
KR101657128B1 (ko) | 2016-09-13 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2016117963A1 (ko) | 음성 인식 구동 시스템을 갖는 전동 휠체어 | |
WO2018221977A1 (ko) | 시트용 무선 전력전송장치 | |
WO2012118263A1 (en) | Walking assistance system | |
IT1320406B1 (it) | Dispositivo sollevatore a scomparsa per disabili su sedia a rotelle ecarrozzine per bambini. | |
WO2016117763A1 (ko) | 듀얼 스테이지 구조를 갖는 3-d 프린터 | |
KR102200439B1 (ko) | 전기차 충전장치 | |
WO2019143014A1 (ko) | 역추진 균형 기능을 갖는 드론 | |
CN110499947B (zh) | 一种5g信号发射塔 | |
WO2019139213A1 (ko) | 마사지 장치 | |
WO2020130500A2 (ko) | 위치 조절이 가능한 발바닥 마사지 모듈을 포함하는 마사지 장치 | |
WO2014058241A1 (ko) | 회전력 조절이 가능한 주행보조시스템이 구비된 이동식 리프팅장치 | |
WO2009110742A2 (ko) | 신체 스트레칭 침대 | |
WO2014168421A1 (ko) | 온열치료기 | |
WO2020209394A1 (ko) | 인공지능을 이용하여 주행면 변경에 적응적으로 카트로봇의 이동을 제어하는 방법 및 카트로봇 | |
CN109516348B (zh) | 一种爬楼设备 | |
WO2014088372A1 (ko) | 다목적 솔라파워 안전 보행기 | |
WO2020116829A2 (ko) | 특정부위 위치 측정이 가능한 마사지 모듈을 포함하는 마사지 장치 | |
WO2015068923A1 (ko) | 이동식 탑승교 | |
WO2016039563A1 (ko) | 독립형 2열 도자구조체 | |
WO2023132706A1 (ko) | 엑스선 촬영장치용 신축 컬럼 | |
WO2021153919A1 (ko) | 배변 리프터 | |
WO2019004726A1 (ko) | 열매 수확 장치 | |
WO2020013539A1 (ko) | 기립 가능 구조를 갖는 마사지 장치 | |
WO2019045181A1 (ko) | 수평도 조절형 유모차 | |
WO2024010407A1 (ko) | 회전 가능한 팔 마사지부를 갖는 마사지 장치 |
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: 16740435 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 15545632 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
32PN | Ep: public notification in the ep bulletin as address of the adressee cannot be established |
Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205 DATED 20.10.2017) |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 16740435 Country of ref document: EP Kind code of ref document: A1 |