WO2016181173A1 - Fauteuil roulant motorisé à position debout de géométrie variable et alternée - Google Patents

Fauteuil roulant motorisé à position debout de géométrie variable et alternée Download PDF

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Publication number
WO2016181173A1
WO2016181173A1 PCT/GR2016/000017 GR2016000017W WO2016181173A1 WO 2016181173 A1 WO2016181173 A1 WO 2016181173A1 GR 2016000017 W GR2016000017 W GR 2016000017W WO 2016181173 A1 WO2016181173 A1 WO 2016181173A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheelchair
wheels
geometry
user
variable
Prior art date
Application number
PCT/GR2016/000017
Other languages
English (en)
Inventor
Dimitrios PETROTOS
Marios-Ermis PETROTOS
Original Assignee
Petrotos Dimitrios
Petrotos Marios-Ermis
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 Petrotos Dimitrios, Petrotos Marios-Ermis filed Critical Petrotos Dimitrios
Publication of WO2016181173A1 publication Critical patent/WO2016181173A1/fr

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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
    • A61G5/10—Parts, details or accessories
    • A61G5/14—Standing-up or sitting-down aids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • 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
    • A61G5/08—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable
    • A61G5/0808—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable characterised by a particular folding direction
    • A61G5/0816—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable characterised by a particular folding direction folding side to side, e.g. reducing or expanding the overall width of the wheelchair
    • A61G5/0825—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable characterised by a particular folding direction folding side to side, e.g. reducing or expanding the overall width of the wheelchair comprising a scissor-type frame, e.g. having pivoting cross bars for enabling folding
    • 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
    • A61G5/1078—Parts, details or accessories with shock absorbers or other suspension arrangements between wheels and frame
    • 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
    • A61G5/1081—Parts, details or accessories with shock absorbers or other suspension arrangements between frame and 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
    • A61G5/12—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
    • 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
    • A61G5/128—Rests specially adapted therefor, e.g. for the head or the feet for feet
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S297/00—Chairs and seats
    • Y10S297/04—Wheelchair
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S297/00—Chairs and seats
    • Y10S297/10—Occupant-arising assist

Definitions

  • the present invention refers to a motorized standing wheelchair of variable and alternating geometry.
  • Wheelchair is a chair with wheels or a more complex vehicle, which is intended to be used by individuals who cannot walk, permanently or temporarily, due to illness, injury or disability.
  • wheelchairs are distinguished in manual wheelchairs and motorized wheelchairs.
  • the first category either an accompanying person, the escort, pushes the wheelchair or users themselves put in motion the wheels of their chair with the muscular power of their hands and torso.
  • the second category the wheelchairs are equipped with a number of electric motors that propel the wheels.
  • Motorized wheelchairs have various advantages over manual wheelchairs mainly because users do not need an accompanying person for their mobility and if they are capable to propel the wheelchair by themselves, they do not need to waste their energy.
  • motorized wheelchairs are often voluminous, complex and heavy devices, demanding rather high amounts of electric power to set in motion their usually small-diameter wheels. They also lack the ability of manoeuvring in restricted places or in places where even the slightest obstacle renders their passage impossible.
  • Wheelchair technical evolution does not take the actual conditions of public places into account and as a result, wheelchairs do not meet their users' expectations and requirements.
  • wheelchairs are categorized in those where users remain permanently anchored to the wheelchair seat and in those where users are able to change the level of their position or even the entire geometry of their posture.
  • the second category in particular the one where the disabled user is able to set himself in virtually upright position, as recommended mainly by the findings of different brunches of the medical science for the sake of which standing position originally evolved, provides a series of health benefits.
  • These benefits are quantitative and measurable, such as the enhancement of bone density but also, such wheelchairs, grant the user with benefits that are qualitative such as the emotional satisfaction to be standing among other standing persons.
  • the existing art provides solutions in only some and selective problems that concern the disabled users. It does not satisfy totally and simultaneously all the requirements of disabled users such as low purchase price, easy and economic maintenance, low weight of the wheelchair, low energy consumption and ability to overcome small architectural barriers. Furthermore, the existing wheelchairs do not provide users with the ability to easily adjust their posture between the seated and the upright position, including all the in-between positions, and simultaneously be able to move, control and steer their wheelchair without the use of additional electromechanical components.
  • the present invention refers to a motorized standing wheelchair of variable and alternating geometry that may consist of an articulated chassis made of light metal alloy, four electric powered wheels, integrated seating arrangement where a user can sit fastened in a suitable way.
  • the wheelchair has four wheels independently powered, arranged in pairs at the extremities of the chassis, one pair of wheels in the front and one pair of wheels in the back. Each wheel incorporates an independent electric motor in the corresponding hub.
  • the alteration of the wheelchair chassis geometry is achieved by the opposite relative motion of the two opposing pairs of wheels.
  • the articulated chassis of the wheelchair changes its geometry and thus alters the posture of the user from the sitting position to the standing position.
  • Gas springs which can be locked, assist this movement.
  • the articulated chassis of the wheelchair changes its geometry, assisted by the gravitational force of the mass of the user and thus the user returns to the sitting position.
  • the chassis and the seating arrangement of the wheelchair are constructed in such way that can support all the variations of the body posture of the user between the sitting position, the standing position and all the positions in between.
  • the user can select the desired posture, by changing at will the geometry of the chassis of the wheelchair between the sitting and the standing position and all the in-between positions, locking each time the desired geometry by means of a pair of lockable gas springs.
  • These springs are arranged in such way that can also be used as shock absorbers providing at the same time also a level of comfort.
  • the user is able to move and manoeuvre the wheelchair either from the sitting position or from the standing position or from any of the in-between positions since the wheelchair is always able to be operated independently of the posture of the user.
  • the way the wheelchair is propelled and controlled is achieved by the appropriate motion of the wheels.
  • the wheels are equipped with independent motors in their hubs that are interconnected in pairs. One pair is positioned in the front and one pair is positioned in the back. For this reason, the wheelchair can be operated even with only one pair active at a time while the other pair remains inactive. When more power and speed or more precise control is required, the wheelchair can be propelled and controlled by all four wheels at the same time.
  • the control of movement and steering of the wheelchair is achieved by using two independent multidirectional programmable controllers, placed in the proximity of the hands of the user, each interconnected with the corresponding pair of wheels.
  • the diameter of the wheels of the front pair is substantially larger than the diameter of the wheels of the rear pair. This arrangement provides the wheelchair with the ability to overcome small architectural barriers.
  • the front wheels due to their larger diameter, are capable to overcome the obstacle while at the same time the rear wheels provide the necessary push at the moment that the front set of wheels is on the edge of the obstacle. Subsequently, the front wheels, after having passed the obstacle, pull the wheelchair so that the rear wheels climb the obstacle as well.
  • the motorized standing wheelchair of variable and alternating geometry has a series of advantages. Because of the fact that the wheelchair is able to alter its geometry by using the opposite relative motion of the wheels, it does not require a series of additional components that are used in existing products according to the prior art. Based on its construction, the wheelchair provides the users with the ability to select their posture at will, between a wide range of postures many of which are recommended by the medical science in order for them to maintain their health. Furthermore, a key advantage of the invention, as opposed to the prior art, is that the wheelchair remains operational while its user is at the upright position or any of the intermediate positions between the standing position and the sitting position.
  • Another fundamental advantage of the invention is the ability of the wheelchair to overcome small architectural barriers, thanks to the arrangement and the relative sizes of the wheels of the wheelchair and thanks to its light total weight in contrast to the majority of standing wheelchairs that already exist according to the prior art.
  • the simple and robust construction of the wheelchair other than the fact that it does not need complex and high cost maintenance, turns it into a cost efficient option for the average user with motor disabilities.
  • the wheelchair is represented in the sitting position.
  • the wheelchair is composed of four main parts: a) the chassis, b) the wheels, c) the seating and fastening arrangement of the user and d) the electric energy storage cells and the motion and steering control unit.
  • the chassis of the wheelchair is articulated and composed of three main parts.
  • the parts of the chassis are interconnected between them at joints (4, 5).
  • the chassis of the wheelchair is completed by one gas spring (6), which is suspended from the upper part (3) using the axle (7) and connected to the posterior part (2) using the axle (8) and one lockable gas spring (9) with valve trigger, which is suspended from the anterior part (1) using the axle (10) and connected to the posterior part (2) using the axle (11).
  • the wheels of the wheelchair are of two sizes.
  • the larger wheel (12) is the front wheel and the smaller wheel (13) is the rear wheel.
  • Each wheel incorporates an integrated independent electric motor (14), which is complete with electronic control units.
  • Each motor is able to rotate in both directions and with variable number of revolutions per time unit.
  • the axles of the motors are equipped with quick release pins (15, 16) which can be attached to corresponding hubs at the anterior and posterior parts (1, 2) of the chassis of the wheelchair.
  • the seating and fastening arrangement is composed of a backrest (17), a seat post (18), a thoracic support arm (19) which is adjustable, a knee support arm (20) which is also adjustable, a footrest (21), a swiss seat three-point harness and a thigh belt.
  • the thoracic and knee support arms (19, 20) are represented as adjusted in position for the entry of the user to the wheelchair.
  • the thoracic and knee support arms (19, 20) are represented as adjusted in position for the actual support of the user on the wheelchair.
  • the electric energy storage cells are arranged in groups and positioned in the cavities of the anterior part (1) and posterior part (2).
  • the multidirectional programmable controller (22) of motion and steering is placed within the reach of the user's hand.
  • the above-described left half side of the wheelchair is connected with the other half, the right side, via five transversal beams (23, 24, 25, 26, On figure 2, the wheelchair is represented at the standing position.
  • the alternation of the geometry from the lowest position, as represented in figure 1, to the highest position, as represented in figure 2, is achieved by the opposite relative motion of the wheels (12, 13) through commands from the multidirectional programmable controller (22).
  • Each multidirectional programmable controller (22) activates one of the two pairs of wheels respectively, the front wheels (12) and the rear wheels (13).
  • the axis of rotation (5) of the upper part (3) is being elevated as well and thanks to the support of the gas spring (6) the upper part (3) always remains in the vertical position.
  • the user through the activation of the valve of the lockable gas spring (9) can stabilize the size of the gas spring (9) and the geometry of the chassis of the wheelchair can be locked without the need of additional power provided from the wheels.
  • the alteration of the geometry can be achieved by immobilizing the rear pair of wheels (13) with the brakes and at the same time by the reverse rotation of the front pair of wheels (12).
  • the same result of geometry alteration can be achieved by immobilizing the front pair of wheels (12) with the brakes and at the same time by the forward rotation of the rear pair of wheels (13).
  • they can activate the valve of the lockable gas spring (9) and due to the lack of support from the gas spring, which decreases in length, the chassis of the wheelchair follows the reverse movement of geometry variation from the one described for the elevation.
  • the energy required for this change is provided mainly from the gravitational potential energy of the user body in the upright position.
  • the user can activate the valve of the lockable gas spring (9) and stabilize its dimension at any point in the range of the lockable gas spring length. In this way, the user can assume any posture that the alternating geometry of the chassis of the wheelchair supports.
  • Motion control and steering of the wheelchair is achieved by the revolutions of the wheels (12, 13) activating the motors (14) accordingly through the multidirectional programmable controllers (22).
  • the wheelchair can be controlled either by using only the front pair of wheels (12) or by using only the rear pair of wheels (13) or by using both pairs of wheels (12, 13) at the same time, depending on the user requirements.

Abstract

L'invention concerne un fauteuil roulant motorisé à position debout de géométrie variable et alternée, constitué d'un châssis articulé (1, 2, 3), de deux paires de roues (12, 13) et d'un ensemble fixation et siège intégré (17, 18, 19, 20, 21) pour l'utilisateur. Le fauteuil roulant est caractérisé principalement en ce qu'il peut alterner sa géométrie par l'intermédiaire de la rotation appropriée des roues d'entraînement (12, 13). Le fauteuil roulant permet à l'utilisateur, qui est attaché sur celui-ci, de sélectionner la posture voulue entre la position assise, la position debout et toutes les positions entre les deux sans mécanismes complexes supplémentaires. En outre, l'utilisateur peut actionner, commander et diriger le fauteuil roulant sur l'ensemble de son changement de géométrie, indépendamment de la posture prise.
PCT/GR2016/000017 2015-05-11 2016-04-26 Fauteuil roulant motorisé à position debout de géométrie variable et alternée WO2016181173A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GR20150100202 2015-05-11
GR20150100202A GR20150100202A (el) 2015-05-11 2015-05-11 Ηλεκτροκινητο αναπηρικο αμαξιδιο μεταβαλλομενης γεωμετριας

Publications (1)

Publication Number Publication Date
WO2016181173A1 true WO2016181173A1 (fr) 2016-11-17

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GR2016/000017 WO2016181173A1 (fr) 2015-05-11 2016-04-26 Fauteuil roulant motorisé à position debout de géométrie variable et alternée

Country Status (2)

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GR (1) GR20150100202A (fr)
WO (1) WO2016181173A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018150108A1 (fr) 2017-02-20 2018-08-23 Franck Guigan Véhicule à géométrie variable
CN110063846A (zh) * 2018-01-22 2019-07-30 广州市易控自动化工程有限公司 可以改变轴距并实现辅助站立及躺卧的新型轮椅
EP3597163A1 (fr) 2018-07-19 2020-01-22 Permobil AB Dispositif de mobilité
KR20210029818A (ko) * 2018-07-19 2021-03-16 퍼모빌 아크티에볼라그 이동 장치
US11186342B2 (en) 2017-10-27 2021-11-30 Institute Of Technology Motorized wheel system for pediatric stander

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2800589A1 (fr) * 1999-11-10 2001-05-11 Francis Tauzin Fauteuil articule a usage medical, pour handicapes et pour le relaxation
WO2003092569A1 (fr) * 2002-05-06 2003-11-13 Pendale Ventures Limited Vehicule de transport personnel modulable
EP1721808A1 (fr) * 2004-02-17 2006-11-15 Toyota Shatai Kabushiki Kaisha Véhicule à empattement variable
WO2009026731A1 (fr) * 2007-08-24 2009-03-05 Levo Ag Wohlen Véhicule comprenant un entraînement de roue médiane, en particulier fauteuil roulant ou fauteuil roulant verticaliseur

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DE19733033A1 (de) * 1997-07-31 1999-02-18 Daimler Benz Ag Einsitziges Motorfahrzeug
FR2813524B1 (fr) * 2000-09-07 2002-12-06 Idc Medical Systeme de verrouillage pour dispositif de maintien corporel pour fauteuil verticalisateur
FR2870451B1 (fr) * 2004-05-24 2006-08-18 Lifestand Internat Sa Fauteuil verticalisateur a demultiplication de la manoeuvre de verticalisation
FR2901997B1 (fr) * 2006-06-07 2009-05-15 Lifestand Vivre Debout Soc A R Siege verticalisateur a dossier inclinable
WO2008103019A1 (fr) * 2007-02-20 2008-08-28 Gonzalo Partida Ochoa Fauteuil roulant pour personnes handicapées

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2800589A1 (fr) * 1999-11-10 2001-05-11 Francis Tauzin Fauteuil articule a usage medical, pour handicapes et pour le relaxation
WO2003092569A1 (fr) * 2002-05-06 2003-11-13 Pendale Ventures Limited Vehicule de transport personnel modulable
EP1721808A1 (fr) * 2004-02-17 2006-11-15 Toyota Shatai Kabushiki Kaisha Véhicule à empattement variable
WO2009026731A1 (fr) * 2007-08-24 2009-03-05 Levo Ag Wohlen Véhicule comprenant un entraînement de roue médiane, en particulier fauteuil roulant ou fauteuil roulant verticaliseur

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018150108A1 (fr) 2017-02-20 2018-08-23 Franck Guigan Véhicule à géométrie variable
US11186342B2 (en) 2017-10-27 2021-11-30 Institute Of Technology Motorized wheel system for pediatric stander
CN110063846A (zh) * 2018-01-22 2019-07-30 广州市易控自动化工程有限公司 可以改变轴距并实现辅助站立及躺卧的新型轮椅
CN112543626A (zh) * 2018-07-19 2021-03-23 佩尔莫比尔公司 移动装置
KR20210029818A (ko) * 2018-07-19 2021-03-16 퍼모빌 아크티에볼라그 이동 장치
KR20210030976A (ko) * 2018-07-19 2021-03-18 퍼모빌 아크티에볼라그 이동 장치
WO2020016358A1 (fr) 2018-07-19 2020-01-23 Permobil Ab Dispositif de mobilité
EP3597163A1 (fr) 2018-07-19 2020-01-22 Permobil AB Dispositif de mobilité
KR102472019B1 (ko) 2018-07-19 2022-11-29 퍼모빌 아크티에볼라그 이동 장치
US11617696B2 (en) 2018-07-19 2023-04-04 Permobil Ab Mobility device
KR102535022B1 (ko) 2018-07-19 2023-05-26 퍼모빌 아크티에볼라그 이동 장치
CN112543626B (zh) * 2018-07-19 2023-09-05 佩尔莫比尔公司 移动装置
US11826291B2 (en) 2018-07-19 2023-11-28 Permobil Ab Mobility device

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