WO2017133927A1

WO2017133927A1 - Mobility assistance device

Info

Publication number: WO2017133927A1
Application number: PCT/EP2017/051431
Authority: WO
Inventors: Martin Riedel
Original assignee: Kuka Roboter Gmbh
Priority date: 2016-02-04
Filing date: 2017-01-24
Publication date: 2017-08-10
Also published as: DE102016201743B3

Abstract

The invention relates to a mobility assistance device (1), comprising a chassis (2) having multiple wheels (5), which are designed for travelling movement of the mobility assistance device (1), at least one motor that is designed for driving at least one of the wheels (5), at least one handle (23) which is provided so that a person (24) can hold onto and/or support themselves on the mobility assistance device (1), at least one manual input means (8.1, 8.2, 8.3) arranged on the handle (23), and a control device (6) which is designed to actuate the at least one motor according to the actuation of the at least one manual input means (8.1, 8.2, 8.3), in order to control movements of the mobility assistance device (1).

Description

Mobility assistance device

The invention relates to a mobility assisting device comprising a chassis with several wheels, which are designed for mobile Moving mobility assistance device, at least one motor, the one of the wheels is configured to drive Wenig ^¬ least, at least one hand ^¬ handle, which is intended that hold a person on the mobility assistance device and / or support can display means at least one is arranged on the hand grip manual input, and, anzusteu a control device, which is formed in dependence on the actuation of the at least one ma ^¬ nuellen input means to at least one motor ^¬ to control movements of the mobility assistance device. DE 10 2012 202 614 AI describes a domestic Hilfsvor ^¬ direction, comprising a chassis with multiple wheels. The domestic auxiliary device has at least one drive connected to a control device of the domestic auxiliary device, which is set up, controlled by the control device, to drive at least one of the wheels and an input device connected to the control device.

Object of the invention is to provide mobility assistance device that can be ^¬ have intuitively gehand safely. This object is achieved by a Mobili ^¬ tätsassistenzvorrichtung, comprising

a multi-wheeled chassis adapted for mobile movement of the mobility assistance device,

at least one motor adapted to drive at least one of the wheels,

at least one handle designed in such a way a person can hold on to and / or support the mobility assistance device,

- at least a valve disposed on the handle manual input ^¬ medium,

- and a control device which is formed in Ab ^¬ dependence of the actuation of the at least one manual input device to drive a motor at least to control movements of the mobility aid device, wherein the handle comprises a first handle portion to which a first input means is arranged and control ^¬ device is adapted to control the mobility assisting device for a manual actuation of the first input means in a first mode, and the handle has at least one additional handle portion to which an additional input means is arranged and the control ^¬ device is arranged on a manual actuation of the additional input means to control the mobility assistance device in a mode other than the first mode. The mobility assistance device has a chassis with a plurality of wheels, in particular at least three wheels, which are designed for movably moving the mobility assistance device. Such mobility aid devices are generally referred to as Roilatoren and diesel NEN primarily as a walking aid for mobility impaired Perso ^¬ NEN. However, the mobility assistance device can serve not only as a support during walking of a person, but also, for example, as an auxiliary device when getting up, sitting down or stooping the person. Usually, a mobility assistance device has at least one handle on which the person can hold on with their hands. The mobility assistance device may in particular comprise two handles, namely a handle for the left hand and a handle for the right hand of the person. The mobility assisting device of the present invention has a drive device which comprises at least one STEU ^¬ ervorrichtung which ert at least one motor ansteu ^¬ which is configured to drive at least one of the wheels of the mobility assisting device so that the Mobili ^¬ tätsassistenzvorrichtung self-propelled can move , This means that the mobility aid device can be moved not only characterized by the person pushes the mobility aid device on, special countries the mobility aid device has at least one manual input means, via which may be the person driving Komman ^¬ dos, such that the mobility assisting device in Depending on the manual operation of the at least one input means automatically driven by the wheels can drive. The mobility assistance device therefore has a landing gear.

The chassis has a plurality of wheels, in particular at least three wheels or, for example, four, five or six wheels in order to obtain a high stability. Depending on the design, it may already be sufficient if only a single wheel of the plurality of wheels is designed to be driven. Alternatively, two wheels, several wheels or even all existing wheels may be driven. The mobility assistance device may accordingly comprise a single motor to drive a single wheel. Alternatively, a single

Motor also be designed for driving two or more wheels, for example, when two wheels are mounted on a ge ^¬ common axis, which is driven by a common motor. Alternatively, however, a separate motor can also be assigned to each driven wheel. Each engine may in particular be an electric motor. The control device may thus include, in particular an electric An ^¬ drive control device. The mobility assistance device may generally include at least one brake. The at least one brake may be oriented forms ^¬ to brake at least one of the wheels, seeds to verlang- the locomotive mobility assisting device or stop, or the brake can be configured to lock at least one of the wheels, so that the shut ^¬ standing mobility assisting device can not unintentionally start or roll away. The brake may be an electric brake or an electrically controlled brake, which has, for example, an electrically controlled mechanical braking device. The control device may be configured to control not only the at least one motor depending on the operation of the at least one manual input means to control movements of the mobility assistance device, but also to control the at least one brake to control movements of the mobility assistance device.

The at least one input means serves to ensure that a per ^¬ son, which utilizes the mobility assisting device can start by manually operating the at least one input means a particular, associated with the input means at this moment Be ^¬ triebsart mobility assisting device or end. The at least one input means is for this purpose connected to the control device, which controls the movements of the mobility assistance device as a function of the switching state of the at least one input means. The mobility assistance device may have, in addition to a first input means, for starting or ending a plurality of different operating modes, optionally a second input means, a third input means or an nth input means.

These input means, which exceed the first input means in a desired or required number, may be the additional input means or further input means mentioned below. By the handle having a first handle portion, at the first input means is arranged and the control ^¬ device is adapted to control the mobility assisting device for a manual actuation of the first input means in a first mode, and the handle has at least one additional handle portion to which a additional input means is arranged and the control ^¬ device is set to control the Mobility Assistancevorricht direction in a different mode than the first mode with a manual operation of the additional input means, when gripping the handle of the mobility assistance device the different gripping postures of the person according to different operating ^¬ automatically assigned, so that the person can intuitively activate only the correct operating mode depending on the gripping position and thus at least reduces or even eliminates the risk of incorrect operation n is.

For this purpose, the control device of the mobility assistance device can have a memory which can be organized in the manner of a table in which each individual grip region of the handle is assigned a memory region which is constructed such that several possible positions and / or orientations of the grip region in question Each room is assigned a specific operating mode of several possible operating modes. Thus, a separate two-dimensional table, in the control apparatus of the mobility aid device, for example, for each grip area to be deposited, in the example a plurality of lines each for one konkre ^¬ th position and / or angular position of the handle portion angege- are ben, and for example, a plurality of columns for each a labeling of are registered in several operating modes. The control device continuously determines the current position and / or orientation of the individual gripping regions, for example by means of at least one pouch arranged on the handle. position and / or angular position sensor. If the position and / or orientation of a handle portion, so ermit ^¬ the control device from the associated grip portion that table telt the associated the new position and / or orientation of the handle portion entry of the identification of the (new) mode. On the basis of the identified identification, the control device then assigns the (new) operating mode to the input means of the relevant grip region. The mobility assistance device can in particular help elderly or disabled persons through active and / or passive support around the topic of walking to more autonomy in everyday life. The mobility assistance device can, for example, serve as a support for its user in a basic function and can be pushed or driven by the environment actively driven by it. Not only in the state but also during their movement provides the Mobilitätsas ^¬ sistenzvorrichtung the person using, for example, can only partially and / or go uncertain stability. In contrast to commercial purely passive walking aids, such as known rollators, the Mobilityas ^¬ sistenzvorrichtung provides even in the event of an accidental fall of the person firm hold and can thus help prevent a fall. In addition, the mobility assistance device may also provide security and assistance in getting up and / or sitting down. The mobility assistance device may optionally include a height adjustment device for handles. Such Höhenverstellvor- direction can also represent a Aufhebehilfe that can lead the user supported near the ground.

Different modes of support and support scenarios can result in multiple modes of operation, such as command modes such as "Fixed support", "Walking support", and so on. tion "," fall prevention "," stand-up assistance "," help with lifting ", etc., which the user can choose depending on the situation.

In general, command modes are selected via deliberate actuation of individual buttons on an input field. This deliberate switching may not be possible in a secure manner for the elderly with severe physical limitations and / or cognitive limitations. A deliberate actuation of a key separately from the slopes, for example to switch from "walking" to "solid support", is either forgotten or not perceived as logical. It may also be that the keys are simply not found. A one-sided release of a handle to manually operate a button can also endanger the stability of the user. Another potential danger in known walkers is in addition to a susceptibility to tipping and a lack of braking safety ^{¬ unit} . If the person stumbles or stumbles while the person is holding onto the mobility assistance device, this can lead to a fall when using known rollators, which can have very critical effects due to the age of the users. Although the handles of known Rollatoren are equipped with mechanical brake levers, a safe and stable braking in critical situations for the users is almost impossible or hardly possible. If a user grips the handles firmly with his hands, it is almost impossible to reach around them, ie to open them and to take them back by hand, especially for the elderly. In addition, due to age-related limitations, such as in a gout disease, the hand can not open so fast and / or wide that existing mechanical

Brake lever could be reached. On the other hand, even when strongly operated brake lever safe braking and thus catching the stumbling force can not be guaranteed if the roilators have a very low dead weight and thus the RadaufStandskraft can transmit only a very low friction ^¬ force on the ground. In other words, that the walker in the event of a fall would simply wegrut ^¬ rule or fall over. The same applies to a possibly existing mechanical parking brake. Even with Blockie ^¬ Governing wheels one would be "on the walker pulling" for example, when getting up from a chair not possible because of the mechanical walker first slip or tilt would. Therefore, the present invention aims to demonstrate an innovative handle design, an actively ^¬ exaggerated to serve mobility assistance device safe and intuitive. Here are different Befehlsmo- di, ie different operating modes for different Sze ^¬ scenarios can be easily switched without the user aware of and / or targeted press separate from handles keys and / or the hands of the In the present invention, input means arranged on the at least one handle of the mobility assistance device may have different switching functions, depending on how the handle is handled manually se "driver's ren", "tripping", "standing", "sitting down", "getting up", "height adjustment of the handles," give the most ideal and intuitive gripping ^¬ positions, some of which differ from each other. Accordingly, the position of the hands on the handle can be used to deduce the currently desired or desired driving commands or operating modes.

The gripping positions can vary, in particular by different grip concepts are used as example as ^¬: different grip portions of kontinuierli ^¬ chen handle shape; a multi-segmented handle with clear separate grip sections in different orientations; a pivotable in different orientations handle; a combination of the mentioned grip concepts.

As a main function, the handle having a first handle portion comprising a first input means for loading ^¬ triebsart the run command "Drive" This can bein ^¬ maintain the functions: "Solid support" - that is, the person holds at the handles. the mobility assistance device stands still in the support mode and the brakes are active; "Free-exist to drive" - that is, the person wants to start walking and switches to a "walking mode", where you release the brake ^¬ wait and the drives and the motors for operation command specifications; "Fall prevention" - ie the mobility assistance device is braked as quickly as possible to a standstill and then the holding brakes are activated.

Moving the mobility assistance device while walking the person is supported by a motor, in one embodiment of the invention by the person force-based movement commands can be specified on the handle. Thus, the mobility assistance device immediately and placed directly in motion as soon as the handle is only touched, mobility assistance device ver ^¬ remains in the mode "Fixed support" to the person deliberately by pressing the on ^¬ parent input means a driving intention of the tax advantage Until then, the person or the user can rest on the handles, hold on and / or rest without the mobility assistance device initially moving, slipping or tipping handle portion, for example, completely encloses with his hand. In an exemplary Sze ^¬ nario the person touches a sensor only slightly, which may be positioned at the bottom of the grip area, and in particular special can be positioned on a brake switch or in the vicinity of a brake switch. Such a sensor may, for example, as a particularly smooth-running mechanical Tas ^¬ ter, in particular electro-mechanical switch as Folientas- ter, be a capacitive sensor or as a light barrier ausgebil ^¬ det. Due to its special position, such a sensor has to be consciously touched, in particular on the back side of the grip area on the bale of one hand, for example, so that normal support on the grip area does not lead to any unconscious or unwanted activation.

Normally, that the rate of mobility assistance device is reduced all ^¬ gradually down to zero over a force-based driving default on the handles can be provided. In an emergency, however, the mobility assistance device can also be decelerated very quickly and stably stopped. For this purpose, in a grip area, for example, a large elongate button can be provided, which is integrated on the underside of the handle, that this is both good and safe to reach, and is not forcibly pressed, as soon as the user easily encloses the hand ^¬ handles or is based on the handles from ^¬ . It can be provided, "fall prevention" is activated that actuation is effected by a pressing of the button towards the center of the handle against a defined initial resistance and thereby triebsart the loading. By Positi ^¬ on and the resistance of the probe, for example, only in the seems extreme position, it can be ensured that the probe can only be realized, however simple, fast and pressed at any time and no grasping or searching the input means is required. the user can input ^¬ medium, such as. to press a button, For example, if he suddenly feels unwell or dizzy while walking or threatens to lose control of the mobility assistance device Notbremsfunktion also the effect that falls of the person can be avoided, since the user usually in the case of an imminent crash usually instinctively cramps the hands ^¬ de to cling to the handle. The brake button is automatically pressed, ie activated and the mobility assistance device can be stopped immediately, automatically and thus safely.

As an additional functional surface of an input means, further sensors can be provided, which can be arranged, for example, on an upper side of a grip region of the mobility assistance ^device . This area of the top of a grip area is generally used most frequently, so ^¬ probably in a pure adherence to the mobility assistance device or while driving the Mobility Assistancevorrich- device.

Furthermore, operating modes, ie functions for facilitating sitting down and getting up can be integrated. In such embodiments, the mobility assistance device may automatically move in a previously stored pattern with the travel drives, and optionally also manually repositioned with the handles. In order to start or prepare these actions or operating modes or functions, other or further gripping areas of the at least one handle of the mobility assistance device can be used. The same applies to a Ver ^¬ position of the handle heights, to which it may be provided that an adjustment of the handle height, for example, can be performed only ^¬ when the person touches the handle to a certain predetermined grip area. The at least one handle of the mobility assistance device may be configured in different embodiments be, as described below with reference to exemplary variants.

An inventive handle can for example consist of a continuous, continuous or a distinct remote fixed form element. Alternatively, the handle may have one or more handle areas handle or grip parts segments ^¬. The handle portions, or handle portions grip segments Kgs ^¬ NEN optionally be pivotable and / or displaceable adjustable against each other, their mutual orientations, to change particular positions and / or orientations. Simultaneously with a change in the mutual positions, in particular positions and / or orientations, the functions of the input means of the individual gripping regions can also change their functions, ie the modes of operation. In this case, the transformation via one or more, in particular 90 °, rotational movements is particularly suitable. By a manual twisting optionally each grip portion with the hand of the groove ^¬ decomp the control device automatically detects eg. By means of sensors to try to switch the request of the user in a specific operating mode and changed on the input means of this handle portion, the mode of operation, this handle portion is now reassigned.

Thereby, the grip portion may in some or all positions, in particular positions and / or orientations, either positively or non-positively, for example in fixed pre give ^¬ NEN discrete locking angles lock to not accidentally unintentionally turn away, for example, in supporting or transverse loading. Locks that are not separately unlocked by the user from being adjusted, in particular pivoting, by an actuation are particularly suitable.

However, it can alternatively be provided that in each case two adjacent handle region are connected by a lockable hinge with ^¬ each other, wherein the hinge at least one Has latch that unlocks manually or locked who ^¬ can to release the joint or lock. A locking can be done for example by a latching of the handle while driving in the vertical direction. A supporting load, as well as a transverse load are thereby safely absorbed by the lock. By gently lifting the handle and then twisting against a fes ^¬ th stop, the control device of the Mobilitätsas ^¬ sistenzvorrichtung changes, for example, standing mode from the driving mode to the up, where the user has the handles ergonomically transversely on. Since the user in this position only pulls on the handle backwards or is supported on it, the handle does not have to be locked to the front, but can even be brought back into the initial position slightly spring-returned. This helps the handle position after getting up the person again easily and quickly manually in the standard position driving mode to pan. The same applies for a 90 ° pivot about a horizontal transverse axis of the Mo ^¬ bilitätsassistenzvorrichtung. In this case, the handle can only be pressed against one stop in both positions, since the operating loads in the driving mode are directed more towards the bottom and in transverse directions, while in the lifting mode they are directed towards the rear. Another variant is to fix the handle Stel ^¬ ments only attacks. In this case, the handle is rotated from a horizontal position in the longitudinal direction of the mobility assistance device in a horizontal position in the transverse direction of the mobility assistance device. Here, the pivoting movement does not take place about a vertical axis, but about a tilted axis. As a result, the handle is no longer moved potential-neutral, but raised obliquely. If the user rests on the handles while driving, he can not accidentally fold them backwards. In order to adjust the grip areas of the respective handle, a relief of the handles is required previously. By changing the handle position, then the grip orientation then changes, ie the handle top, which is still pointing upwards in the drive mode, points out laterally, eg in the recovery mode.

In another embodiment the handle is configured such that at least one grip area behind ^¬ each other is twice to pivot and thus three different handle positions are possible.

In all embodiments, provision may be made for a preferred gripping position, e.g. in the driving mode, by gravitational and / or spring forces. The main advantage of hinged handle solutions may be that a particularly compact and / or slender handle construction is possible, especially laterally, i. transverse to the vehicle direction, while driving takes up very little space. As a result, collisions of the handle with the environment, such as doors or furniture, prevented because the handles do not protrude beyond the vehicle width. In addition, the handles also do not hinder the manual accessibility inwardly, if the person wants to sit in the mobility assistance device in order to use the mobility assistance device as a seat opportunity can.

As a continuous continuous handle shape but also, for example, a ring shape that can be divided into several segments funkti ^¬ onal. For example, in an upper segment, which may be ansatzweise 90 °, the Fahr ^¬ functionality can be accommodated. The ring shape ensures that the user can despite height adjustment, which may be electrically or mechanically formed by tilting a rocker, always from above at the same angle to grasp the handle. The rear ring area could be used, for example, for setting-down and standing-up aids, as these are ergonomically used by the user even in the sitting position. can be achieved. A lower ring area can offer a particularly good support, since, for example, the Un ^¬ terarm the person is additionally supported by the upper handle area, similar to a Turner in a supporting position on the rings. For example, the lower handle position could be used to electrically adjust the height of the handles, for example, to accommodate the person's height or to guide the person in a deep posture, such as when the person is off the ground would like to cancel. A detection of the current position of the grip area can be done via sensors, for example. In three areas.

Alternatively, the ring may be divided into two parts into an inner and an outer region, wherein the outer ring is fixed and the inner ring is rotatably mounted relative to the outer ring. This inner ring can be rotated relative to the outer snap ring, for example, in three positions and, for example, have one or more distinct button or input means that are stel ^¬ lung depends usable for the different areas. By turning different modes ie Be ^¬ activated operating modes and function of the at least one co-rotating button can be adjusted depending on position.

In summary allows Mobilitätsassistenzvorrich ^¬ processing, depending on the embodiment, a Antriebsunterstüt- Zung in different situations intuitive and easy to use mobility assistance system and thereby be able to toggle it modes between different modes without consciously additional input means such as. Keys are pressed would. The automatic change of functions, ie operating modes, is based on the detection of different grip positions or grip positions which are possible due to the shape and / or the mobility of the handle. In the following, essential embodiments of the mobility assistance device, which can each be used individually or can be used in arbitrary combinations with one another, are defined and explained further. The handle may include a first rod-shaped grip part aufwei ^¬ sen, which is arranged aligned in the axial longitudinal extension in a first orientation in space, and comprising the egg ^¬ ne for embracing formed with the fingers of one hand first cladding wall, which forms the first handle portion and the has first input means, and the handle may comprise at least one additional rod-shaped grip part, which is arranged aligned in its axial longitudinal extent in a different orientation from the first orientation in space, and the one formed for engaging with the fingers of a hand second jacket wall on ^¬ has, which forms the additional grip area and has the additional input means.

The handle, which has the first rod-shaped grip part and the at least one additional rod-shaped grip part, can be formed in one piece or in several parts. The Wenig ^¬ least two rod-shaped grip portions may be formed from adjacent portions of a one-piece handle accordingly. Alternatively, each rod-shaped handle part can be formed by a separate handle component, wherein the at least two handle components are mechanically connected to each other, for example, rigidly connected, releasably connected or else can be hinged together. As a rod-shaped handle part of each handle body can be understood, which has an outer shape of the hand of a person, in particular the fingers of a

Person at least partially or completely enclosed who ^¬ can, so that the person can hold on to it with her hand or with her hands. Each rod-shaped grip Part may accordingly have a width or a largest diameter which is smaller by a multiple than the length of the rod-shaped grip part. In this case, the rod-shaped

Handle part have a length, ie, have a longitudinal extent that is at least approximately as large as the width of a palm of a person. The rod-shaped handle part can have a circular-cylindrical shape in the simplest embodiment shown by way of example in the embodiments shown. However, the rod-shaped handle part may also have a different shape than the circular cylindrical Ge ^¬ stalt. For example, the outer wall of the rod-shaped handle portion can include one or more depressions that are formed so he ^¬ ergonomically to order since ^¬ rin single insert fingers of one hand at least partly and can hang up. The first rod-shaped grip part can be provided with its Längserstre ^¬ ckung at least essentially or precisely horizontally ^¬ directed. The first rod-shaped handle portion can be complementary to its horizontal orientation transverse to the movement direction or to the forward direction of travel of the mobility tätsassistenzvorrichtung aligned with the mobility assisting ^¬ tenzvorrichtung arranged insbeson ^¬ particular.

The additional rod-shaped handle part can be arranged with its axial longitudinal extent aligned at a right angle to the axial longitudinal extension of the first rod-shaped handle part on the handle.

The additional rod-shaped grip part can be in particular a second rod-shaped grip part, which may be precisely vertically aligned with its Längser ^¬ stretching or at least substantially. The additional bar-shaped grip portion may in particular be, subsequent to said second rod-shaped grip part third rod-shaped grip part, which insbesonde ^¬ re addition to its horizontal alignment in motion direction or in the forward direction of the mobility assistance device aligned with the mobility assistance device may be arranged. These orientations of the first, second and / or the third rod-shaped handle part can be orientations that correspond to a basic position of the whole

Handle match. According to a specific embodiment of the mobility assistance device, it can accordingly be provided that the entire handle can be adjustably mounted with respect to the chassis of the mobility assistance device, so that the entire handle can be adjusted from its basic position to another position, in particular position and / or orientation the orientations of the grip areas change in accordance with the realignment of the handle and according to the invention therefore also associated with the input means of the grip areas

Change operating modes. The mobility assisting device may comprise for example, two such hand grips, insbesonde re ^¬ a first handle for the right hand of the person and a second handle for the left hand of the person. The additional rod-shaped grip part may be a second rod-shaped grip part, which is mounted in an adjustable manner on the first rod-shaped grip part in its orientation with respect to the first rod-shaped grip part by means of a first joint. Since the second rod-shaped grip part is adjustably mounted on the first rod-shaped grip part in its orientation relative to the first rod-shaped grip part by means of a first joint, the orientation of the second rod-shaped grip part can be changed not only with respect to the chassis of the mobility assistant device but also with respect to the first rod-shaped grip part Handle part of the handle to be changed. In that regard, the first joint allows a change the spatial configuration of the handle or the plurality of handle parts of the handle to each other.

The additional rod-shaped grip part may be a third rod-shaped grip part, which is mounted in an adjustable manner with respect to the second rod-shaped grip part on the second rod-shaped grip part by means of a second joint and / or the additional rod-shaped grip part can be a fourth or further rod-shaped grip part with ^{¬ means of} a third or further joint in its orientation with respect to the third or further rod-shaped handle portion adjustable at the third or further rod-shaped

Handle is stored.

By the third rod-shaped handle part is mounted by means of a second joint in its orientation with respect to the second stabför- shaped handle portion adjustable on the second rod-shaped handle part and / or the additional rod-shaped handle ^¬ part as a fourth or further rod-shaped handle part by means of a third or further joint in its orientation relative to the third or further rod-shaped grip part is adjustably mounted on the third or further rod-shaped grip part, the orientation of the third or fourth or further rod-shaped grip part can be changed not only with respect to the chassis of the mobility assistance device, but also with respect to the other rod support mige handle parts of the handle to be changed. Insofar as he ^¬ allows the second, third or further joint Verände ^¬ tion of the spatial configuration of the handle or the plurality of handle parts of the handle to each other.

The mobility assistance device can be designed in such a way

- That the handle is mounted relative to the chassis adjustable on the mobility assistance device, - That in each case for the first input means and / or for each further input means a plurality of different modes of operation are stored in the control device, which are each assigned to a be ^¬ voted predetermined position and / or orientation of the handle in space and

- That the control device is formed, depending on the current position and / or the current orientation of the handle in space, the first input means and / or each other input means the current position and / or the current orientation of the handle in space correspondingly assigned dedicated mode assign.

The handle can be mounted with respect to the chassis in one or more spatial directions, in particular in height adjustable on the mobility assistance device. As an alternative or in addition to an adjustability in one or more spatial directions relative to the running gear, the handle can be mounted on the mobility assistance device in particular in one or more orientations, that is to say can be rotated. To illustrate the invention, an exemplary concrete embodiment is described below with reference to a handle that can be rotated both completely in an orientation relative to the chassis of the mobility assistance device, as well as by way of example a first handle part and a second handle part, wherein the second handle part relative can be rotated to the first gripping part and the first handle portion, a first input means ^¬ has that has, in a basic position of the handle upward, and the second handle part up, a second input means, the in a basic position of the handle to be ^¬ te, that is, neither pointing up nor pointing down. In the basic position of the handle, the first handle part extends with its longitudinal extent thereby in a horizon- talen plane and although aligned transversely to the direction of travel of the mobility assistance device. In the basic position of the handle, the second handle part extends with its longitudinal extent while in a vertical direction. In the control device, for example, three basic modes of operation can be assigned to the first input means, namely, for example, "fixed support", "release for driving" and "fall prevention". The mode of operation "Fixed support alarm ^¬ ze" is assigned, for example, an orientation of the first handle part having the first input means, when it is horizontal and extends transversely to the direction of mobility assisting device. The operating mode ^"¬ free gift to the driving" is, for example, an orientation of the first handle part which comprises said first input means up, assigned when it is vertical. The operation ^¬ art "fall prevention" is, for example, an orientation of the first handle part, which has the first input means ^¬, assigned when it is horizontal and extends in the driving direction ^¬ mobility assisting device. Similarly, the operation mode is "Solid support" ^¬ at play, associated with a alignment of the second grip portion, comprising the second input means, when it is hori zontal ^¬ and extending transversely to the direction of mobility assisting device. The operating mode "released for driving" is, for example, an orientation of the two ^¬ th handle part, comprising the second input means, assigned when it is vertical. The operating mode

"Fall prevention" is, for example, an orientation of the second handle part, which has the second input means up, assigned when it is horizontal and extends in the driving direction ^¬ mobility assisting device. If the handle is now in the basic position, then the operating mode "fixed support" is automatically assigned to the first input device of the first handle part and the function "release for driving" is automatically assigned to the second handle part.

Now, if the entire handle is pivoted by 90 degrees and indeed, for example, about an axis of rotation, which is oriented transversely to the Fahrrich ^¬ tion, is located in the pivoted ^¬ 90 degrees ge ^¬ pivoted position, the first handle part in a vertical orientation and the second handle part in one horizontal

Orientation. The pivoting about 90 degrees, for example, be detected by a sensor of the handle and relayed to the control device. The control device now automatically assigns the first input means its new operating mode "release for driving" and also automatically assigns the second input means its new operating mode "fixed support".

The mobility assistance device can be designed in such a way

- That in each case for the first input means and / or for each further input means several different operating modes are stored in the control device, which are each assigned to a be ^¬ voted predetermined position and / or orientation of the additional rod-shaped handle part in space and

- That the control device is formed, depending on the current position and / or the current orientation of the additional rod-shaped handle portion in space, the first input means and / or each other input means the current position and / or the current orientation of the additional rod-shaped handle portion in space Assign corresponding assigned operating mode. In this variant of a mobility assistance device as well, for example, three basic operating modes can be assigned to the first input device in the control device, for example "fixed support", "release for driving" and "fall avoidance". The mode of operation "Fixed support alarm ^¬ ze" is assigned, for example, an orientation of the first handle part having the first input means, when it is horizontal and extends transversely to the direction of mobility assisting device. The operating mode "free-exist to driving" is, for example, an orientation of the first handle part, which has the first input means ^¬, assigned when it is vertical. The operation ^¬ art "fall prevention" is, for example, an orientation of the first handle part which comprises said first input means up, assigned when it is horizontal and extends in the driving direction ^¬ mobility assisting device.

Similarly, the operation mode is "Solid support" in ^¬ play associated with a position of the second grip portion, comprising the second input means, when it is hori- zontal and extends transversely to the direction of travel of Mobilitätsas ^¬ sistenzvorrichtung. The operating mode "released for driving" is, for example, an orientation of the two ^¬ th handle part, comprising the second input means, assigned when it is vertical. The operating mode

"Fall prevention" is, for example, an orientation of the second handle part, which has the second input means ^¬, assigned when it is horizontal and extends in the driving direction ^¬ mobility assisting device.

If the handle is in the basic position as described in the above example, then the operating mode "fixed support" is automatically assigned to the first input device of the first handle part and the function "release for driving" is automatically assigned to the second handle part. If the second grip part is then pivoted upwards by 90 degrees about its rotation axis pointing in the direction of travel of the mobility assistance device, then both the first grip part and the second grip part extend in a horizontal plane, namely transversely to the direction of travel. In such an exemplary arrangement, the "fixed support" operating mode would then be automatically assigned by the control device to both the first input means and the second input means. The described assignments of the individual concrete operating modes to specific orientations of the grip sections are mentioned by way of example. In the control device, a wide variety of handling scenarios can be defined from person to mobility assistance device and thus also provided with other designations, such as the "fixed support", "release for driving" and "fall prevention" mentioned, for example. These and other operating modes can also be assigned to the respective handle part in a different way. Thus, an assignment can in particular take place in that, instead of an assignment based on the orientation, an assignment takes place on the basis of a position in the room. For example, depending on its current altitude position with respect to the roadway of the mobility assistance device, another operating mode may be automatically assigned to a respective input device by the control device. Instead of a height position, a position with regard to the depth position or the width position can also be decisive.

The handle may have a ring-shaped handle part having the first input means and / or the additional input means and the annular gripping part can be mounted about an axis extending parallel to its axis of rotation pivot ^¬ axis relative to the chassis pivotally in the mobility aid device. The axis of rotation of the annular handle portion represents its geometric axis of rotation axis. This means that the axis of rotation passes through the center of the annular handle portion and is oriented perpendicular to the plane in which the annular handle portion extends.

Such a handle can be designed in the manner of a trowel. Such a handle may accordingly have a substantially rod-shaped leg section with a first leg end on which the annular handle part is arranged and a second end opposite the first leg end

Have leg end on which a pivot bearing is arranged, which is formed, the rod-shaped leg portion, and thus the annular grip member to rotate or pivot the pivot bearing. The second leg end is in this respect rotatably or pivotably mounted on the chassis of the mobility assistance device by means of the rotary bearing.

The first input means and / or each additional input ^¬ means may be arranged in particular on an inner peripheral wall of the annular handle portion. Alternatively, the first input means and / or each additional input ^¬ means may be arranged on an outer peripheral wall of the annular handle portion.

Is now at such a design of the handle of the hand grip ^¬ pivoted about the pivot bearing, so does the ring-shaped handle member rotates by the same angle. If the handle is thus rotated by 90 degrees, so the annular handle part rotates by 90 degrees. With the rotation of the annular handle portion by 90 degrees each, the Orientie ^¬ tion of the first input means and / or each additional input means either from an upper layer in egg ^¬ ne lateral position from a lower position to a lateral position or changes a lateral position in the upper layer or lower position. The automatic allocations of the individual concrete operating modes to specific orientations of the grip ^sections , which have already been described for the rod-shaped grip parts, can thus also be applied analogously to the assignments of the individual concrete operating modes of the annular grip parts.

The handle may have a fixed with respect to the chassis annular handle portion and a coaxial with festste ^¬ ing annular handle portion arranged movable annular handle portion which is rotatably mounted about a common center relative to the fixed annular handle portion on the fixed annular handle portion and the movable annular handle portion can have the first input ^¬ medium and / or the additional input means.

In such an embodiment, which may have diesel ^¬ ben features or analogous functionality, moreover, as the other rod-shaped or ring-shaped handle parts described thus a rotation of the annular handle ^¬ part which carries the input means, not reached by pivoting a rod-shaped leg portion but in that the movable annular grip part is rotated relative to the fixed annular grip part. The movable annular grip member is so far mounted by means of a pivot bearing on the fixed annular grip member and that rotatable relative to the fixed annular

Handle part.

The mobility assistance device can thus be designed in such a way

- That in each case for the first input means and / or for each further input means a plurality of different operating modes are stored in the control device, each of a be ^¬ voted predetermined position and / or orientation of the annular handle part, in particular of the movable annular handle part in the room are permanently assigned and

- That the control device is formed, depending on the current position and / or the current orientation of the annular grip part, in particular the movable annular grip part in space, the first input means and / or each further input means of the current position and / or the current orientation of the annular gripping part, in particular the movable annular grip part in the room corresponding assigned assigned operating mode ^¬ .

Also applies to this embodiment, that already described to the rod-shaped handle parts automatic assignments of the individual concrete modes to certain orientations of the handle portions can be applied in an analogous manner thus in the assignments of the individual concrete modes of annular handle parts.

The first input means and / or each further input means may comprise at least one switching means, in particular at least one electrical switching means or at least one electrical switch and / or electrical push-button.

In the case of an electrical switching means, the switch is designed to selectively establish or disconnect an electrical connection established with the control device. As a switch, basically any known to those skilled in electrical switching device used who ^¬ . For example, the electrical switch may be a pressure switch, a push button or a touch button. In the case of a touch button, the latter has, in particular, a contact surface which is fixedly attached to the input device and which can, for example, record a manual contact inductively, capacitively or electrostatically. The first input means and / or each further input means may comprise a sensor which is designed to detect a manual touching and / or grasping the handle, in particular a manual touching and / or grasping of the respective handle part. Also in this case, the sensor may have a particular firmly attached to the input means Berüh ^¬ approximate area that can accommodate, for example, a manual loading ^¬ stirring inductive, capacitive or electrostatic. A first sensor area can be formed, which is at a side of the handle part at ^¬ arranged is formed a contact of the grip portion to capture ^¬ with the heel or palm of one hand and on the respective input means at the respective input means, a second sensor surface is formed, which is arranged on an opposite side of the handle part and is adapted to detect a touch of the grip part with fingers of one hand.

The first input means and / or any other input means may in each case a first switching means, a second Schaltmit ^¬ tel and a first switching means and the second switching means-switching manual actuating means comprise, said first input means or the further input means being ^¬ forms is alone to switch and to switch to a manual gripping of the loading tätigungsmittels having a higher gripping force and the second switching means during a gripping of the manual Betätigungsmit ^¬ means of a lower gripping force, the first switching ^¬ medium.

The first input means and / or each further input means can be configured in two stages insofar as the first switching means is switched upon grasping the manual actuating means with a lower gripping force alone, and the second switching is additionally involved in grasping the manual actuating means with a higher gripping force ^¬ means is switched, which in case of seizure of the ma Manual actuating means with a lower gripping force is not the case, that is, the second switching means is not switched at low gripping force. By such Ausbil ^¬ extension of the first input means and / or any other input means, the control device may for example be formed such or adapted to a grasping of the manual actuating means with a lower gripping ^¬ force at which only the first switching means is switched , the mobility assistance device is automatically operated, for example, in the mode "release for driving" and when grasping the manual actuating means with egg ^¬ ner higher gripping force, in addition, the second switching means is switched, the mobility assistance device automatically, for example, in the "fixed support" mode or "fall prevention" is operated. Thus, the intuitive behavior of a person can be utilized, that in case of an uncertain walking or an approaching fall, the person will be reflexively trying to grip the grip part with higher gripping force in order to hold onto the mobility resistance device.

Accordingly, the first switching means can generally have a component operating according to a first physical operating principle, and the second switching means can have a component operating according to a second physical action principle different from the first physical operating principle of the first switching means.

Can by the first switching means comprises a working according to a first physi ^¬ pressure principle component and the second switching means is a different according to a physical from the first principle of operation of the first switch means second physical action principle working component has the functions of gripping the manual loading ^¬ tätigungsmittels with a lower gripping force and of the Grasping the manual actuator with a higher gripping force are particularly well ensured.

Specific embodiments of the invention are explained in greater detail by ^¬ following description with reference to the accompanying figures. Concrete features of these exemplary embodiments, regardless of the specific context in which they are mentioned, if appropriate also individually or in further combinations, represent general features of the invention.

Show it:

1 is a schematic perspective view of an exemplary mobility assistance device used by a user or a person;

2 is a schematic representation of a first embodiment of a handle of the mobility assistance device in isolation;

3 is a schematic representation of a second embodiment of a handle of the mobility assistance device in isolation; 4 is a schematic representation of a third embodiment of a handle of the mobility assistance device in isolation;

5 different exemplary gripping scenarios for the hand of a person using the mobility assistance device to the various embodiments of the handles according to FIG. 2 to FIG. 4; FIG. 6 shows different exemplary configurations of the individual gripping parts;

7 shows schematic illustrations of an alternative embodiment of a handle in two different embodiments

Orientations in space;

8 shows schematic representations of a handle with annular gripping parts;

9 shows different exemplary gripping scenarios for the hand of a person using the mobility assistance device for the various embodiments of the handles with annular gripping parts according to FIG. 8; and

10 shows schematic representations of different exemplary variants of an input device with an actuating means for lower and higher gripping force.

1 shows an exemplary mobility assistance device 1, comprising a chassis 2 with a plurality of wheels 5, which are designed for movably moving the mobility assistance device 1. Mobility assistance device 1 comprises for this purpose at least one motor, not shown, which is designed to drive at least one of the wheels 5. By means of struts 3 mounted on the chassis 2, an exemplary support 4 of the mobility assistance device 1 is connected to the chassis 2. The mobility assistance device 1 comprises at least one handle 23, which is designed such that a person 24 adhere to the mobility ^¬ assistance device 1 and / or can be supported. In the mobility assistance device 1, at least one manual input means 21 arranged on the handle 23 or in the vicinity of the handle 23 can generally be provided.

The mobility assistance device 1 has a tax regulations device 6, which is formed, a manual input means 21 to control a function of the loading ^¬ actuation of the at least the at least one motor to control movements of the mobility aid device. 1

In FIGS. 2 to 10, different handles 23 are shown by way of example and described below. Each handle of the mobility assistance device 1 can have a first grip area 7.1, on which a first input means 8.1 is arranged. In this case, the control device 1 is set up to actuate the mobility assistance device 1 in a first operating mode in the case of a manual actuation of the first input means 8.1. In the case of the exemplary embodiments illustrated, the handle 23 has at least one additional grip region 7.2, on which an additional input means 8.2 is arranged. In the case of a manual actuation of the additional input means 8.2, the control device 1 is set up to control the mobility assistance device 1 in a mode other than the first operating mode.

According to the embodiments of FIGS. 2 to 7, the handle 23 may have a first rod-shaped grip part 9.1, which is arranged aligned in its axial longitudinal extent in a first orientation in space, and a trained for grasping with the fingers of a hand first shell wall 10.1, which forms the first grip area 7.1 and has the first input means 8.1.

The handle also has at least one additional rod-shaped handle part 9.2, 9.3, in its axial Longitudinal extent in a second orientation different from the first orientation is arranged in space, and has a trained for grasping with the fingers of a hand second shell wall 10.2 and third mantle wall 10.3, which forms the additional handle portion 7.2, 7.3 and the additional Input means 8.2, 8.3 on ^¬ points.

The additional bar-shaped grip portion 9.2 may as Darge ^¬ represents with its axial longitudinal extension at right angles to the axial longitudinal extension of the first rod-shaped

Handle part 9.1 aligned to be arranged on the handle. The additional bar-shaped grip portion 9.3 may as shown with its axial longitudinal extension at right angles to the axial longitudinal extension of the first rod-shaped grip portion 9.1 and the second rod-shaped grip portion 9.3 ^¬ be directed at the handle 23 may be disposed.

As shown in the embodiments of FIG. 6, the additional rod-shaped grip part 9. 2 can be a second rod-shaped grip part 9. 2, which is mounted on the first rod-shaped grip part 9. 1 in its orientation relative to the first rod-shaped grip part 9. 1 by means of a first joint 11.

The additional rod-shaped grip part 9.3 may be a third rod-shaped grip part 9.3, which is mounted by means of a second joint 11.2 in its orientation with respect to the second rod-shaped grip part 9.2 adjustably on the second rod-shaped grip part 9.2.

In particular, as illustrated by FIG. 5, different modes of support and support scenarios may result in multiple modes of operation including, for example, command modes such as "solid support", "walking assistance", "Fall prevention", "stand-up assistance", etc. may include, which the user can choose depending on the situation.

Here, the mode of operation "Fixed support", for example, egg ^¬ ner alignment of the first grip portion 9.1 having the first input means 8.1 may be associated, when it is hori zontal ^¬ and extending transversely to the direction of mobility assisting device. 1 The operating mode "release for driving" can be assigned, for example, to an alignment of the first grip part 9.1, which has the first input means 8.1, if it runs vertically. The Be ^¬ mode "fall prevention" can be assigned, for example, a ^¬ direction of the first handle part 9.1, which has the first Einga ^{¬ means} 8.1, if it is horizontal and extending in the direction of travel of the mobility assistance device 1.

Similarly, the operation mode is "Solid support" ^¬ at play, associated with a alignment of the second grip portion 9.2 having the second input means 8.2, when it is horizontal and extends transversely to the direction of mobility assisting device. 1 The operating mode

"Release for driving" is for example a Ausrich ^¬ tion of the second handle part 9.2, which has the second input ^¬ medium 8.2, assigned, if it runs vertically. The "fall avoidance" mode is associated, for example, with an orientation of the second grip part 9.2, which has the second input means 8.2, when it is horizontal and extends in the direction of travel of the mobility assistance device 1.

If, as described in these examples, the handle 23 is in the basic position, the operating mode automatically becomes the first input means 8.1 of the first handle part 9.1 Assigned "fixed support" and the second handle part 9.2 auto ^¬ matically assigned the function "release for driving".

If the second gripping part 9.2 is then pivoted upwards from its basic position by 90 degrees about an axis of rotation pointing in the direction of travel of the mobility assistance device 1, then both the first gripping part 9.1 and the second gripping part 9.2 extend in a horizontal plane, namely transversely to the direction of travel (FIG. see also Fig. 2). In such an exemplary arrangement, then both the first input means 9.1, as well as the second input means 9.2 would be assigned automatically by the control device 6, the Be ^¬ triebsart "Solid support".

The described assignments of the individual concrete operating modes to specific orientations of the grip sections are mentioned by way of example. In the control device 6, a very wide variety of handling scenarios from person 24 to mobility assistance device 1 can be defined and thus also provided with other designations, such as the "fixed support", "release for driving" and "fall avoidance", for example. These and other operating modes can also be assigned to the respective handle part in a different way.

In the embodiment according to FIG. 8 and FIG. 9, the handle 23 has an annular grip part 12, which has the first input means 8.1 and / or the additional input means 8.2, the ring-shaped grip part 12 running around a rotation axis R parallel to its rotation axis Pivoting axis S with respect to the chassis 2 is pivotally mounted on the mobility assistance device 1.

Such a handle 23 may be designed in the manner of a trowel. Accordingly, as shown schematically in FIGS. 8 and 9, such a handle 23 can have a substantially rod-shaped leg section 13 with a first Leg end on which the annular handle part 12 is arranged and have a first leg end opposite two ^¬ th leg end on which a pivot bearing 14 is arranged, which is the rod-shaped Schenkelab- section 13, and thus the annular handle portion 12 to the pivot bearing 14 to turn or pivot. The second leg end is so far by means of the pivot bearing 14 rotatably or pivotally mounted on the chassis 2 of the mobility assistance device 1. However, the handle 23 may also have a relative to the chassis 2 fixed annular handle portion 23.1 and have a coaxial with the fixed annular handle portion 23.1 arranged movable annular handle portion 23.2 which is rotatable about a common center Z relative to the fixed annular handle portion 23.1 on the fixed annular handle portion 23.1 is and the movable ringför ^¬ mige handle part 23.2, the first input means 8.1 and / or the additional input means 8.2.

The first input means 8.1 and / or each further input means 8.2, 8.3 etc. may comprise a sensor 15 which is designed to manually touch and / or grip the handle 23, in particular a manual contact and / or gripping the respective handle part 9.1 , 9.2, 9.3 to erfas ^¬ sen, as for example, in Fig. 10 is indicated. The first input means 8.1 and / or any other input ^¬ medium 8.2, 8.3 can having 17.2-switching manual actuating means 16 each have a first switching means 17.1, a second switching means 17.2 and a first switching means 17.1 and the second switching means, wherein the first input means 8.1 and the further input means 8.2, 8.3 is formed, when grasping the manual actuating means 16 with a lower gripping force alone, the first switching means To switch 17.1 and to turn when grasping the manual actuating means 16 with a higher gripping force and the two ^¬ te switching means 17.2.

The first switching means 17.1, as shown in Fig. 10, for example, a touch sensor surface, a Biegefeder- contact and / or a light barrier contact have. The second switching means 17.2 may be an electro-mechanical switch which can be activated against the biasing force of at least one spring 18.

Claims

claims

Mobility assistance device comprising

a chassis (2) with a plurality of wheels (5), which are designed for the mobile movement of the mobility assistance device (1),

at least one motor adapted to drive at least one of the wheels (5),

- at least one handle (23) is such ausgebil ^¬ det that a person (24) on the Mobilitätsas ^¬ sistenzvorrichtung (1) to hold and / or support the can,

at least one ^manual input means (21, 8.1, 8.2, 8.3) arranged on the handle (23),

- and a control device (6) which is formed in dependence on the actuation of the at least one ma ^¬ nuellen input means (21, 8.1, 8.2, 8.3) to Wenig ^¬ least to control a motor to control movements of the mobility aid device (1),

characterized in that the handle (23) includes a first handle portion (7.1), to which a first input means (8.1) is arranged and the tax advantage ^¬ direction (6) is arranged in a manual betae ^¬ account the first input means (8.1) to control the Mobilityas ^¬ resistance device (1) in a first mode, and the handle (23) at least one additional handle portion (7.2, 7.3), on which an additional input means (8.2, 8.3) is arranged and the control device (6) is established in the case of a manual actuation of the additional input means (8.2, 8.3), the mobility assistance device (1) in a ner verify mode other than the first mode control ^¬.

Mobility assistance device according to claim 1, characterized in that the handle (23) has a first rod-shaped handle part (9.1), which is arranged aligned in its axial longitudinal extent in a first orientation in space, and one for grasping with the fingers of a hand formed first casing wall (10.1), which forms the first handle portion (7.1) and the first input means (8.1), and the handle (23) at least one additional rod-shaped handle part (9.2, 9.3), in its axial longitudinal extent in a has a second orientation oriented different from the first orientation in the space, and that has a second jacket wall (10.2) designed to engage with the ^{fingers of} one hand and forms the additional grip area (7.2, 7.3) and the additional input means (8.2, 8.3) on ^¬ has.

Mobility assistance device according to claim 2, characterized in that the additional rod-shaped handle ^¬ part (9.2, 9.3) with its axial longitudinal extent at a right angle to the axial longitudinal extent of the first rod-shaped handle portion (9.1) aligned with the handle (23) is arranged.

Mobility assistance device according to one of claims 1 to 3, characterized in that the additional rod-shaped grip part (9.2, 9.3) is a second stabförmi ^¬ ges grip part (9.2) by means of a first Ge ^¬ steering (11.1) in its orientation with respect to the first rod-shaped Handle part (9.1) adjustable on the first rod-shaped handle part (9.1) is mounted.

Mobility assistance device according to claim 4, characterized in that the additional rod-shaped ^{gripping ¬} part (9.2, 9.3) is a third rod-shaped handle part (9.3) by means of a second articulation (11.2) in its orientation with respect to the second rod-shaped handle part (9.2) adjustable on second bar-shaped grip part (9.2) is supported and / or the additional rod ^¬ shaped grip part (9.2, 9.3) is a fourth or further rod-shaped grip part, which by means of a third or further joint (11.3) with respect to the third and further in its orientation rod-shaped handle part is adjustably mounted on the third or further rod-shaped handle part.

Mobility assistance device according to one of claims 1 to 5, characterized

- that the handle (23) with respect to the chassis (2) is adjustably mounted on the mobility assistance device (1),

- that for the first inputting means (8.1) and / or for each additional input means (8.2, 8.3) are respectively deposited a plurality of different modes of operation in the control device (6), each corresponding to a certain pre give ^¬ NEN position and / or orientation of the handle (23 ) are permanently assigned in space and

- that the control device (6) is formed in Ab ^¬ dependence of the current position and / or the current orientation of the handle (23) in space, said first input means (8.1) and / or any other Eingabemit ^¬ tel (8.2, 8.3) to assign the permanently assigned operating mode to the current position and / or the current orientation of the handle (23) in space.

Mobility assistance device according to one of claims 4 to 6, characterized - that for the first inputting means (8.1) and / or for each additional input means (8.2, 8.3) are respectively deposited a plurality of different modes of operation in the control device (6), each corresponding to a certain pre give ^¬ NEN position and / or orientation of the additional rod-shaped grip part (9.2, 9.3) firmly zugeord ^¬ net in space and

- that the control device (6) is formed in Ab ^¬ dependence of the current position and / or the current orientation of the additional rod-shaped grip part (9.2, 9.3) in space, said first input means (8.1) and / or any other input means (8.2, 8.3) the said current position and / or the current orientation of the additional rod-shaped grip part (9.2, 9.3 zuzuwei) corresponding in space dedicated operation mode ^¬ sen.

Mobility assistance device according to one of claims 1 to 7, characterized in that the handle (23) has an annular grip part (23.1, 23.2), wel ^¬ ches the first input means (8.1) and / or the additional ^¬ Liche input means (8.2, 8.3) is mounted and having the ringför ^¬-shaped grip part (23.1, 23.2) extending about an axis parallel to its axis of rotation (R) pivot axis (S) bezüg ^¬ Lich of the chassis (2) pivotally at the mobility assistance device (1).

Mobility assistance device according to one of claims 1 to 8, characterized in that the handle (23) with respect to the chassis (2) fixed ^{ringförmi ¬} ges grip part (23.1) and a coaxial with the fixed ^¬ standing annular handle part (23.1) arranged be ^¬ movable annular grip part (23.2) which is rotatable about a common center (Z) relative to the fixed annular grip part (23.1) on the fixed has annular handle part (23.1) is mounted and the ^¬ movable annular handle part (23.2) the first input ^¬ medium (8.1) and / or the additional input means (8.2, 8.3).

Mobility assistance device according to claim 8 or 9, characterized

- that for the first inputting means (8.1) and / or for each additional input means (8.2, 8.3) are respectively deposited a plurality of different modes of operation in the control device (6) which (in each case a certain pre give ^¬ NEN position and / or orientation of the annular gripping part 23.1), in particular of the movable ringför ^¬ shaped handle part (23.2) are permanently assigned in space and

- that the control device (6) is formed in Ab ^¬ dependence of the current position and / or the current orientation of the ring-shaped grip part (23.1), in particular of the movable ring-shaped grip part (23.2) in space, said first input means (8.1) and / or each further input means (8.2, 8.3) assigned to the NEN the momenta ^¬ position and / or the current orientation of the ring-shaped grip part (23.1), in particular of the Move ^¬ union annular gripping part (23.2) in the space corresponding dedicated operation mode.

Mobility assistance device according to one of claims 1 to 10, characterized in that the first input means ^¬ (8.1) and / or each further input means (8.2, 8.3) at least one switching means (17) insbesonde ^¬ re at least one electrical switching means or little ^¬ has at least one electrical switch and / or electrical button.

12. Mobility assistance device according to one of claims 1 to 11, characterized in that the first input means (8.1) and / or each further input means (8.2, 8.3) comprises a sensor (15), which is formed, a manual touch and / or encompassing of the handle (23), in particular a manual touch

and / or encompassing the respective grip part (9.1, 9.2, 9.3, 23.1, 23.2).

13. Mobility assistance device according to one of claims 1 to 12, characterized in that the first input means ^¬ (8.1) and / or each further input means (8.2, 8.3) each have a first switching means (17.1), a second switching means (17.2) and a the first Schaltmit ^¬ tel (17.1) and the second switching means (17.2) switch ^¬ of the manual actuating means (16), wherein said first input means (8.1) or the further input means (8.2, 8.3) is formed with a gripping of the ma ^¬ Actual actuating means (16) with a lower gripping force alone to switch the first switching means (17.1) and to turn when grasping the manual actuating means (16) with a higher gripping force and the second switching means (17.2).

14. Mobility assistance device according to claim 13, characterized in that the first switching means (17.1) has a working according to a first physical action component and the second switching means (17.2) according to one of the first physical action principle of the first switching means (17.1) different second physical action principle working component on ^¬ points.