WO2017129189A1 - Dispositif d'assistance pour personnes handicapées - Google Patents

Dispositif d'assistance pour personnes handicapées Download PDF

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Publication number
WO2017129189A1
WO2017129189A1 PCT/DK2017/000001 DK2017000001W WO2017129189A1 WO 2017129189 A1 WO2017129189 A1 WO 2017129189A1 DK 2017000001 W DK2017000001 W DK 2017000001W WO 2017129189 A1 WO2017129189 A1 WO 2017129189A1
Authority
WO
WIPO (PCT)
Prior art keywords
finger
arm
assistive device
finger mechanism
mandrel
Prior art date
Application number
PCT/DK2017/000001
Other languages
English (en)
Inventor
Claus Sondrup VABTED
Lasse Thomsen
Thomas Holmen MØLLER
Original Assignee
Melvin ApS
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 Melvin ApS filed Critical Melvin ApS
Priority to EP17743766.2A priority Critical patent/EP3407850A4/fr
Publication of WO2017129189A1 publication Critical patent/WO2017129189A1/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
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/104—Devices carried or supported by
    • A61G7/1044—Stationary fixed means, e.g. fixed to a surface or bed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47G—HOUSEHOLD OR TABLE EQUIPMENT
    • A47G25/00—Household implements used in connection with wearing apparel; Dress, hat or umbrella holders
    • A47G25/90—Devices for domestic use for assisting in putting-on or pulling-off clothing, e.g. stockings or trousers
    • 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
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1001—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto specially adapted for specific applications
    • A61G7/1007—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto specially adapted for specific applications mounted on or in combination with a toilet
    • 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
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1013—Lifting of patients by
    • A61G7/1019—Vertical extending columns or mechanisms

Definitions

  • the present invention relates to an assistive device aimed for helping disabled persons.
  • the invention also concerns a method for use by the assistive device.
  • the invention provides an assistive device for disabled persons that on demand serves to perform the tasks of
  • pants and underwear must be of the type using an elastic waistband or the textile used must have flexible stretching qualities. There is however, no hindrance against that pants or underwear can be equipped with zippers or buttons if the function of undressing the patient does not rely on the manipulation or operation of said zippers or buttons. Further, it has to be understood that the patient should be able to take a standing position in front of the equipment where it is possible for the patient to secure that the fingers of the finger mechanism are arranged inside the waist loop of the pants or underwear.
  • the fingers of the finger mechanism should be arranged inside the waist loop of the pants or underwear in such a way enabling the fingers to enlarge the waist loop by stretching the elastic waistband of the pants and/or the fabric of the pants and in that way release the clothing from the body.
  • the invention provides:
  • An assistive device for disabled persons comprising :
  • - at least two finger mechanisms including :
  • assistive device configured to perform one or more of the tasks:
  • the assistive device comprises one vertical rail adapted to be arranged in proximity of the toilet. More specifically, the vertical rail is mounted behind the toilet in such a way that it extends in direction from the floor towards the ceiling.
  • a sliding block is residing moveable with the vertical rail and a cross member in form of two cantilevers are fixed to the sliding block in such a way to form a cross with the vertical rail.
  • the cross member is in an embodiment formed like an elongated bar or tube.
  • a part of the transmission is mounted through the sliding block going into the cross member separating in both directions through the cross member.
  • the arms for the finger mechanism is fixedly attached to the cross member in position towards the free end or at the free end of the cantilever.
  • an arm is arranged on both cantilevers and the transmission is extended hereto.
  • the arms are fixed to the cross member cantilever in such a way that they are pointing out in a horizontal direction.
  • the finger mechanism is mounted on the arm and the transmission is connected hereto. As it appears the cross member formed by the two cantilevers can be height adjusted guided by the vertical rail and powered by the drive.
  • the arm is pivotably mounted on the cantilever in such a way that the arm is sidewards moveable within a fixed boundary. This enables the arm and the attached finger mechanism to move sidewards from a position just in the front of the toilet and towards the side.
  • the two fingers of the finger mechanism When the two fingers of the finger mechanism is inserted in the waist loop of the pants of the person they will move from the centerpoint on the back of the person towards the hip and in that way stretch the pants.
  • a first of the fingers will be kept in position and the second finger will perform a movement in direction of the arm but pivoting out of the arm and thus traveling around the hip and stretching the pants in front of the person.
  • the two cantilevers are height adjusted until a position is reached where the pants will not avoid the person to take a sitting position on the toilet. In other words, by moving the arm over at least a part of the travel of the vertical rail.
  • the assistive device can be operated based on optional techniques being pneumatic, hydraulic or electrical power supply and a compatible drive unit.
  • a pneumatic or hydraulic drive will feature a transmission based on tubing and a compressor where an electrical drive will feature a transmission and an electrical servo drive.
  • the assistive device comprises a combination of one of a pneumatic or hydraulic drive in combination with an electrical drive.
  • the transmission of an electrical servo drive will feature axels, angle drives, spindles, spindlenuts.
  • the invention comprises at least one spindle and at least one spindle nut arranged rotatable on a spindle together forming a ball-screw, where one of a spindle or a spindle nut is fixed against rotation to a stationary part of the robotic system and the other is arranged rotatable and can be rotatable manipulated by means of a drive unit.
  • the drive unit could be one of a pneumatic, hydraulic or electrical drive configured to rotatably manipulate a mechanical build transmission according to the invention.
  • the robotic system comprises two vertical rails especially adapted for being arranged in proximity of a toilet. More specifically the vertical rails are adapted to be arranged in front of, behind of or sideward of a toilet. The proximity of installation to the toilet can be adapted to the preference of the user.
  • the vertical rails are in an embodiment self-supporting columns. In another embodiment the vertical rails are adapted to be arranged in proximity to the toilet as e.g. on a wall, plate, grate, pillar or the like.
  • the patient can when starting using the equipment be in a standing position turning the back to the toilet intending to take a sitting position when the pants and underwear has been moved away freeing and exposing the pelvic region.
  • the person takes a standing position turning the front to the toilet intending to use the toilet in a standing position when the clothing has been moved away freeing and exposing the pelvic region.
  • the vertical rails serve for supporting the finger mechanism.
  • the finger mechanism will pivot out from the vertical rails in a horizontal direction.
  • the finger mechanism is arranged on a sliding block that is arranged secured against rotation inside the vertical rail. More specifically the finger mechanism is arranged on an arm that connects with the sliding block. It has to be understand that the angle of orientation of the finger mechanism out of the vertical rails can be configured freely, and is not restricted to be in a straight horizontal angled direction.
  • the finger mechanism is sideward pivotably mounted around a hinge connection arranged with a sliding block arranged inside the vertical rails. This allows for the arm to swing and thus move both fingers sidewards.
  • the vertical rails are adapted to include at least one spindle.
  • the vertical rails include a transmission.
  • the vertical rails include an electrical actuator.
  • the sliding block includes in a further embodiment a spindlenut secured against rotation relative to the sliding block and being rotateably mounted on the spindle arranged with the vertical rail.
  • the sliding block is in an embodiment supplied with an armrest intended for supporting the standing person when using the assistive device. More specifically, the armrest is pivotably mounted to the sliding block. In an embodiment, the armrest is supplied with a hinge connection that provides the freedom for the armrest to be moved to stand in an upright position. Rotating the spindle will cause the sliding block and the attached armrest or finger mechanism to be moving up or down the vertical rail depending on the direction of the rotation. In an embodiment, a compartment is arranged between the vertical rails comprising the power system of the robotic system. More explicitly, it comprises one or more of spindles, spindlenuts, axles, transmissions, electrical drives or motors, electrical actuators, power supplies, controls and means for interfacing with the system.
  • Arranging the compartment above the toilet brings obvious advantages when it comes to a more compact design of the system.
  • the compartment and its content is kept clean and away from liquids that can influence the function or decrease the lifetime of the system.
  • An electrical motor or an electrical actuator arranged in the compartment above the toilet thus provides the rotational force that via appropriate means (axles, spindles, spindlenuts, angle drives, transmissions) extends the rotational force via the vertical rails to the desired functions.
  • the functions appreciated are height adjustment of a support for resting the arms, height adjustment of a finger mechanism, which is driven by spindles and rotational movement for driving the finger mechanism executing the function releasing the pants driven via axles and angle drives, extended with spindles.
  • the drives and all related transmission means are arranged directly in the vertical rail/s.
  • a drive is arranged directly in the finger mechanism.
  • a pair of finger mechanisms are arranged side by side and the movement pattern of a first finger mechanism is mirrored on the second finger mechanism.
  • the movements can be carried out synchronously or on one of the finger mechanisms at a time.
  • a servomotor is mechanically coupled to both finger mechanisms when it comes to the height adjustment of the arm for the finger mechanism.
  • Another servomotor is mechanically coupled to both finger mechanisms when it comes to executing the function of releasing the pants.
  • a single servo motor can drive the function of height adjustment of the two arm rests.
  • a pair of finger mechanisms includes four fingers, which should be sufficient for gripping inside the waist loop of a pair of trousers and enlarging the
  • the fingers are orientated pointing downwards towards the ground in order to grip the pants from over the waist loop.
  • the transmission for driving the finger mechanism is going through the vertical rail.
  • the spindles serves for height adjustment of the arms. Since the transmission for driving should not be influenced or driven when a height adjustment is done, the transmission is formed by a axle with a trigonometrical cross section and a matching angle drive for transmitting the rotational movement to the finger mechanism.
  • a hexagonal shaped rod is used, but a rod of any shape not being circular as e.g. a concave or a triangle shaped could also be used.
  • the vertical rail includes one axle, connected to the drive via the transmission and where the sliding block includes an angle drive for forwarding rotational movement to the finger mechanism, the angle drive having a bush arranged secured against rotation on the axle but slideably mounted over the longitudinal travel of said axle.
  • the finger mechanism comprises two fingers where a first finger is in a fixed connection to the arm of the finger mechanism and a second finger is arranged on a rod that is moveably mounted in a slotted track arranged with the arm.
  • the second finger is extendable by the movement of the rod between the two stops formed by the slotted track.
  • the slotted track has a curved shape that guides the dynamic second finger in its travel.
  • the path serves to move the finger around the hip of the user without catching the user.
  • the four fingers are together forming a rectangular pull in the clothing when the second finger is moved from the first stop to the second stop formed by the slotted track.
  • the slotted track arranged with the arm is arranged in a flexible connection to the arm. This can be done by arranging the slotted track on a piece of material being rotatably fixed to the arm in one junction point and in another part being fixed to the arm via a spring. This allows for an amount of sideway play, which helps achieving the intended square formation of the fingers and in addition gives added comfort for the end user
  • the finger mechanism comprises in the center of the arm rotatably fixed a spindle and arranged on the spindle a spindlenut secured against rotation relative to the arm.
  • the spindlenut comprises at least one mandrel arranged forming a cross member relative to the spindle. By attachment of the at least one mandrel to specific drives, the spindlenut drives one by one the yaw of the whole finger mechanism and the
  • the spindlenut comprises two mandrels which reduces the transition time between the spindlenut attachments from driving the yaw of the whole finger mechanism to driving the extension/retraction of the dynamic finger. Further, the double mandrel increases the free space between moving brackets thus reducing the risk of metallic components grinding against each other causing noise and undesired wear.
  • the finger mechanism arm comprises a square pipe extending at least over a distance of the whole length of the finger mechanism arm and at least one slider block arranged moveably with the square pipe and where the square pipe forms a linear guide for the slider block securing said slider block against rotation relative to the square pipe.
  • the square pipe has an opening in the longitudinal direction forming a track for the at least one mandrel. The end of the at least one mandrel protrudes out of the track and the track forms a guideway for the at least one mandrel and for guiding the at least one mandrel towards the attachment positions for attachment to the drives for providing the yaw of the finger mechanism and for the extension/retraction of the dynamic finger.
  • the slider block can be arranged inside the square pipe or outside the square pipe where the two parts form mutually working parts of the construction.
  • the slider block includes at least two brackets pivoting around a rotation axis forming a slot for interlocking with the at least one mandrel arranged on the spindle nut.
  • the brackets are forced together by means of a spring in a manner like a clothespin. Since the movement of the slider block and the at least one mandrel can only follow the guided direction and the opening of the slot is made in the movement of direction, the at least one mandrel can enter in an out of the interlocking connection with the brackets depending on the spring-load of the brackets.
  • the slider block arranged with the squared pipe is comprising a hinge and a connection rod that connects with a hinge arranged on the sliding block arranged in the vertical rail.
  • the finger mechanism comprises a bracket mounted in a slot parallel to the square pipe.
  • the bracket then slides in said slot and functions as an adjustable end stop blocking the travel of the sliding block, thus enabling a user specific width of the fingers when these form a square/rectangular formation in their final position.
  • the bracket restricts the yaw movement of the whole finger mechanism.
  • the position of the bracket is fixated by a bolt in the desired position.
  • the slider block comprises a bracket with a rack of teeth and with corresponding holes formed on the square pipe together forming counterparts for a braking arrangement. Further the bracket is connected to the slot for interlocking with the mandrel in such a way than when the mandrel is in position in the slot the brake is released and when the mandrel is not in position in the slot, the brake function is enabled.
  • the bracket is spring-loaded. Taking the yaw function of the finger mechanism as an example, the brake fixates the position of the finger mechanism at the position where the predefined yaw-torque is reached.
  • the brake function ensure that the sliding block is not just moved in front of the mandrel and never being locked in the desired position.
  • the mandrel when in position in the slot by means of the spring attached to the breaking-bracket releases the teeth' from the interlocked state with the holes in the squared pipe and thereby releasing the fixated yaw-position.
  • a slider block is equipped with a finger.
  • the finger can be extended/retracted depending on the direction of the rotation of the spindle.
  • the movement is relative to the fixed finger and thus the fingers can in a first position be united and when the slider block is moved the two fingers separate in order to form the sidewards pull in the pants.
  • the two arms are being turned outwards because of the yaw provided by the first slider block and will make the four fingers together form a rectangular pull of the pants fully freeing the pants from contact with the body. It has to be understood that when now performing a height adjustment of the arm for the finger mechanism, in the downwards direction will lower the pants and it will be possible for the person to take a sitting position on the toilet.
  • the travel distance of the dynamic finger is determined when certain limits is being reached.
  • a limit can be a pre-set position as indicated by a sensor. Another limit can be if a measured value of force exceeds an indicated threshold force, thus indicating that the clothing being stretched has reached its limit of extension, in which case it is preferred to stop the extension.
  • the force of the dynamic finger during extension is calculated from the current draw of the electric motor and the extension of the dynamic finger is stopped when a threshold limit of force is exceeded.
  • control features described for controlling the drives for providing rotation and torque for moving the arm in the different directions up and down and side wards as described are contained in the control. Further, the user activation of the functions via a hand control being wired or wireless / joystick / keyboard interface with the control.
  • the control is in an appreciated embodiment arranged in a connection to the assistive device where it is protected against water and other fluid substances. Due to the function and the close proximity to a toilet it might be necessary to perform intensive cleaning as a daily routine. Additionally it might be necessary to perform cleaning with strong washing detergents which might be harsh not only to the mechanics but also to the electrical drives and the control. It might be necessary to use a waterproof casing for the control in order for the system to be reliable.
  • control can be implemented exclusively in electronic hardware but it will be appreciated that a microcontroller is used since it provides a greater flexibility of the control functions. Additionally to direct control functions it is possible to use the microcontroller for monitoring and sensing different parameters of the system. A task could be to monitor the drive current and in case the current exceeds a predetermined threshold react by alerting or by stopping the function or maybe take the signal as an indication for proceeding with a new function.
  • the microcontroller can expediently also based on input data perform measurement of the height adjustment or the bending of the arm. This can be done in various ways as e.g. by recording the number of revolutions of the rotating parts that serves to drive the specific functions and calculate the corresponding travel or length adjustment.
  • sliding block is used to describe the movable block arranged with the vertical rails and that the term “slider block” is used to describe the movable blocks arranged with the finger mechanism in order to clearly distinguish the two different functioning means from each other.
  • the fingers are made of a biocompatible material.
  • Preferred materials lists PEEK, PDMS, PU, ETFE, PTFE but should not be limited to the listed materials.
  • the fingers are the parts of the assistive device that can be in skin contact with the user and thus choosing a biocompatible material reduces the risk of an allergic reaction. It is foreseen that other parts, of the assistive device, such as the armrest, can also be made of or include a biocompatible material.
  • Fig. 1 is an isometric representation of the assistive device that constitutes the present invention
  • Fig. 2 is an isometric representation of the assistive device, which constitutes the present invention, with some parts hidden and transparent,
  • Fig. 3 is an isometric representation of one of the arms of Figure 1, without covers,
  • Fig. 4 is a more simplified view of Fig. 3 of the arms as it appears further inside the technical parts,
  • Fig. 5 is a side view of a further simplified view of Fig. 4,
  • Fig. 6 is a top view of Fig. 5,
  • Fig. 7 is a side view of an isolated key part of the arms that, among other things, functions as braking/locking mechanism when needed,
  • Fig. 8 is a view of a component in the part from Fig. 7, that ensures the arms stay in position when not fixated by the spindle and spindle nut itself,
  • Fig. 9-9.6 is a series of illustrations showing the sequence of mechanical actions in the finger mechanism when in action.
  • Fig. 10 is a side view of another configuration of the internal parts of the finger mechanism, where the spindlenut is equipped with a double mandrel.
  • Fig 11 is a topview of fig. 10, which serves to show the double mandrel from a different perspective and
  • Fig. 12 is a side view representation of the internal parts of the finger mechanism, in which an adjustable bracket is mounted.
  • the bracket restricts the travel of the slider block related to yaw, thus resulting in an adjustable maximum width between the fingers in their final (outer) position.
  • the finger mechanisms (1) are the most significant part of the invention of the assistive device for disabled people (2).
  • the whole unit comprises: vertical rails (3) that mounts to the back wall which functions as linear guides for armrests (4) and the finger mechanism (1), a centralized placement (5) of three servo drives for all actuations in the whole unit with encoder feedback for positioning functions in the controller, angle drives (6) and axels (7) for transferring torque from servo drives (8) to spindles (9), sliding blocks ( 10) for the armrests (4) and finger mechanisms (1) with nylon sliders (11) that make the contact surface between the vertical rails and slider blocks (10), spindle nut (12) fixated to the sliding blocks to convert the rotational energy in the spindles to linear translation of the armrests and finger mechanisms, POM (Polyoxymethylen) constructed fingers (13) for gripping the clothing and contact surface to the skin of the user, a remote control for the user to control the actions of
  • POM Polyoxymethylen
  • the finger mechanism (1) is a key part of the invention, which comprises two fingers on each finger mechanism : one static finger (14) and one dynamic finger (15) with respect to the body of the finger mechanism.
  • the dynamic finger (15) is mounted on a rod (16) that slides back and forth in a slotted track (17).
  • the slotted track (17) has a curved shape (18) that ensures the dynamic finger (15) travels in a path around the hips of the user, in a way that the four fingers are forming a rectangular pull (19) in the clothing at the end position.
  • the slotted track (17) In the extended position the slotted track (17) is wider resulting in some spring (20) controlled sideways play which helps achieving the intended square formation of the fingers and also gives added comfort for the end user.
  • the rectangular pull (19) at the right positions is of great importance for the assistive device (2) to complete the task correctly every time.
  • a spindle (21) and spindlenut (12) which drives both the yaw of the whole finger mechanism and the extension/ retraction of the dynamic finger (15).
  • the arm pivots around a point (22) on the sliding block (10) for the vertical rails (3).
  • the pivot point is off centered from the spindle (21) which converts the linear force from the spindle (21) to a torque that generates the yaw of the whole finger mechanism.
  • an angle drive (23) which transfers the vertical hex-axel's (7) rotation to rotation of the spindle (21) in the finger mechanism (1).
  • the vertical hex-axle runs through the angle gear in a bush with a corresponding hex- shape (34) thus permitting torque from the axle to be transferred to the gear, yet ensuring vertical travel of the angle gear. More explicitly this arrangement ensures the angle gear (23) slides freely up and down the vertical hex-axle (7) when the whole finger mechanism (1) is lifted and lowered.
  • Slider block A relates to the yaw of the finger mechanism (1), and sliding block B relates to finger extension/retraction of the dynamic finger (15) are generally the same construction rotated 180 degrees.
  • brackets (26, 35) On slider block A and B are two brackets (26, 35) on each side that pivots in the same junction point (27) forming a slot/groove (28) that interlocks with a mandrel (29) on the spindlenut (12).
  • the two brackets (26, 35) are forced together around the mandrel (29) by a spring-load (30).
  • the spring-load (30) therefore determines the yaw-torque of the finger mechanism (1) by releasing the mandrel (29) and spindlenut (12) when the force from the elastics in the clothing becomes too great.
  • the breaking-bracket (33) is pushed upward by the mandrel (29), releasing the teeth' interlocked state and thereby releasing the fixated yaw-position.
  • Fig 9.1 The cycle starts with slider block A (25A) locked around the mandrel (29) on the spindle nut (12) making slider block A move in synchronous with the spindlenut (12).
  • Fig. 9.2 The spindle (21) rotates creating a linear translation of the slider block which creates the torque in the whole finger mechanism (1) around the pivoting point (22) resulting in the yaw.
  • the mandrel (29) is released from the brackets/clamps (26, 35) on slider block A (25A). Due to the brake function, sliding block A is locked in the position of release.
  • Fig. 9.3 The spindlenut ( 12) continues in a forward motion towards slider block B(25B).
  • Fig. 9.4 The brake (32) in slider block B ensures that the mandrel (29) locks in the slot/groove (28) formed by the spring loaded brackets (26, 35) before the linear translation starts.
  • the spindle (21) keeps rotating making slider block B move until the adjusted travel distance, or a threshold value of force of the dynamic finger (15) is reached, at which point the spindle (21) stops.
  • the force of the dynamic finger is approximated by measuring the current consumption of the motor driving the dynamic finger.
  • the force threshold being reached is an indicator that the clothing does not expand any further, in which case the dynamic finger should stop. This feature ensures that the adjustment is continuously carried out with respect to the specific clothing that the person wears. Further, the monitoring of force functions as a safety feature ensuring a restricted force, even if the user is standing in the way of the dynamic fingers (15).
  • the assistive device is initially with all four fingers (13) placed firmly together in the centre of the unit.
  • the unit is intuitively controlled by two buttons (up/down) that needs to be activated whenever motion is desired.
  • the finger mechanisms 1 are moved downwards making the fingers (13) slide between the skin and the clothing on the user.
  • the height is pre-adjusted for the user.
  • the next action is the yaw of the two finger mechanisms, simultaneously moving away from centre, separating two fingers on each side of the user.
  • the spindle (21) keeps rotating resulting in the dynamic finger (15) being extended until a pre-defined travel distance is reached.
  • the travel distance of the dynamic finger (15) is adjusted by software settings for the specific user.
  • the travel distance and height adjustment of the armrests (4) and finger mechanisms are known due to the encoder feedback on the servo drives.
  • the single mandrel (29) is replaced by a double mandrel (36A, 36B).
  • the first mandrel (36A) connects to the slider block A (25A) related to yaw and the second mandrel (36B) connects to the slider block B (25B) related to the dynamic finger.
  • This configuration results in a faster transition from the state where the mandrel (36A) is being interlocked with the first sliding block (25A) to the second slider block B (25B) locked to the second mandrel (36B).
  • the finger mechanism (1) is equipped with a bracket (37) mounted in a slot to enable sliding parallel to the square pipe (24).
  • the bracket functions as a physical stop for the slider block (25A) related to yaw of the finger mechanism.
  • the bracket thereby enables the user to adjust the maximum width between the fingers (13) when said fingers are forming a square in their final (outer) position.
  • the slider block (25A) is sliding along the square pipe (24) resulting in a yaw motion of the finger mechanism, the slider block reaches the bracket (37) at some point. This forces the slider block (25A) to stop its motion while the mandrel continues forward, thus separation from one another. This has the same effect as the clothing pulling in the fingers during the yaw motion (previously described).
  • the desired position of the bracket is fixated using a hex bolt (38) which is reachable through the outer covers.

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  • Health & Medical Sciences (AREA)
  • Nursing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Prostheses (AREA)

Abstract

La présente invention concerne un dispositif d'assistance visant à aider les personnes handicapées à effectuer les opération de préhension de vêtement (culotte et sous-vêtement en contact avec le corps) et libération du vêtement du contact avec le corps ; exécution dans un premier temps, sur demande, de l'abaissement du vêtement verticalement vers le bas dans une position abaissée (au-dessous des genoux d'une personne se tenant debout afin que la personne partiellement dévêtue puisse s'asseoir sur des toilettes) et ensuite, sur demande (lorsque la personne a repris une position debout), exécution de la tâche de relèvement du vêtement dans la direction verticale vers le haut et finalement, une fois qu'il a atteint la hauteur souhaitée, exécution de la tâche de libération du vêtement afin d'être en contact avec le corps.
PCT/DK2017/000001 2016-01-27 2017-01-27 Dispositif d'assistance pour personnes handicapées WO2017129189A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP17743766.2A EP3407850A4 (fr) 2016-01-27 2017-01-27 Dispositif d'assistance pour personnes handicapées

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DKPA201600056 2016-01-27
DKPA201600056 2016-01-27
DKPA201600193 2016-03-30
DKPA201600193 2016-03-30

Publications (1)

Publication Number Publication Date
WO2017129189A1 true WO2017129189A1 (fr) 2017-08-03

Family

ID=59397461

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DK2017/000001 WO2017129189A1 (fr) 2016-01-27 2017-01-27 Dispositif d'assistance pour personnes handicapées

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EP (1) EP3407850A4 (fr)
DK (1) DK201700057A1 (fr)
WO (1) WO2017129189A1 (fr)

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CN112386408A (zh) * 2019-08-19 2021-02-23 上海慈通科技有限公司 一种方便乘坐的坐具
CN114210032A (zh) * 2021-11-18 2022-03-22 温州市中心医院 一种帕金森康复训练装置
CN115778714A (zh) * 2022-12-07 2023-03-14 吉林大学 一种竖直滑动实现高低适应的失能老人护理用墙壁护杆
USD999912S1 (en) 2022-05-12 2023-09-26 Sunnaas Sykehus Hf Toilet support

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112386408A (zh) * 2019-08-19 2021-02-23 上海慈通科技有限公司 一种方便乘坐的坐具
CN114210032A (zh) * 2021-11-18 2022-03-22 温州市中心医院 一种帕金森康复训练装置
CN114210032B (zh) * 2021-11-18 2022-11-25 温州市中心医院 一种帕金森康复训练装置
USD999912S1 (en) 2022-05-12 2023-09-26 Sunnaas Sykehus Hf Toilet support
CN115778714A (zh) * 2022-12-07 2023-03-14 吉林大学 一种竖直滑动实现高低适应的失能老人护理用墙壁护杆

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DK201700057A1 (en) 2017-08-28
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