WO2018046346A1 - Procédé pour commander une aide à la locomotion, dispositif de commande pour aide à la locomotion, et aide à la locomotion - Google Patents

Procédé pour commander une aide à la locomotion, dispositif de commande pour aide à la locomotion, et aide à la locomotion Download PDF

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Publication number
WO2018046346A1
WO2018046346A1 PCT/EP2017/071618 EP2017071618W WO2018046346A1 WO 2018046346 A1 WO2018046346 A1 WO 2018046346A1 EP 2017071618 W EP2017071618 W EP 2017071618W WO 2018046346 A1 WO2018046346 A1 WO 2018046346A1
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WO
WIPO (PCT)
Prior art keywords
user
distance
walker
region
detecting
Prior art date
Application number
PCT/EP2017/071618
Other languages
German (de)
English (en)
Inventor
Horst Beling
Original Assignee
Robert Bosch Gmbh
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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2018046346A1 publication Critical patent/WO2018046346A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/0009—Games or sports accessories not covered in groups A63B1/00 - A63B69/00 for handicapped persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/0004—Exercising devices moving as a whole during exercise
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/06—User-manipulated weights
    • A63B21/068—User-manipulated weights using user's body weight
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/20—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements using rollers, wheels, castors or the like, e.g. gliding means, to be moved over the floor or other surface, e.g. guide tracks, during exercising
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/046—Wheeled walking aids for patients or disabled persons with braking means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • A61H2201/0176—By stopping operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • A61H2201/018—By limiting the applied torque or force
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5064—Position sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/62—Posture
    • A61H2230/625—Posture used as a control parameter for the apparatus
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B2022/0094—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements for active rehabilitation, e.g. slow motion devices
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
    • A63B2024/0071—Distinction between different activities, movements, or kind of sports performed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/0054—Features for injury prevention on an apparatus, e.g. shock absorbers
    • A63B2071/0081—Stopping the operation of the apparatus
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
    • A63B21/0058—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using motors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4027—Specific exercise interfaces
    • A63B21/4033—Handles, pedals, bars or platforms
    • A63B21/4035—Handles, pedals, bars or platforms for operation by hand
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2208/00—Characteristics or parameters related to the user or player
    • A63B2208/02—Characteristics or parameters related to the user or player posture
    • A63B2208/0204—Standing on the feet
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/10—Positions
    • A63B2220/13—Relative positions

Definitions

  • the invention relates to a method for controlling a walking aid, a
  • An electrically driven walker with a body pitch control is designed to detect the distance of the body of the user of the rollator and adjust or change the speed of the rollator accordingly.
  • the present invention provides a method for
  • Knee area the user of the walker to the walker
  • a standing or gait image can be understood to be information indicating whether, how and / or where the user of the walking aid is moving.
  • a stable state or gait is to be distinguished from an unstable state or gait.
  • Walking speed are derived.
  • the desired direction of walking can be determined.
  • the method in the step of controlling, increasing and / or adjusting the speed of the walker depending on a determined standing and / or gait image, which represents a prevention and / or bending back of the user.
  • Prevention herein means that the distance of the detected upper portion of the user is reduced to a greater extent than the distance of the detected lower portion of the user.
  • Prevention should in this case lead to the fact that the speed of the walker is increased.
  • the speed is increased only up to a preset maximum speed.
  • a back bend should thereby In this case lead to the fact that the speed of the assistant is reduced or walking aid is operated in reverse. Also conceivable is the
  • the speed or the speed increase should depend on the degree of prevention or leaning back.
  • the method comprises a further step of detecting at least a second distance of the upper one
  • the stand or gait image depending on the at least a first distance of the upper portion and the at least a second distance of the upper portion is determined, wherein in step controlling the direction of the walker depending on a standing and / or gait image representing a torso rotation of the user, is changed.
  • the second distance detected such that, together with the detected first distance, a rotation of the user's upper body can be determined. It has proved to be advantageous if the first and the second distance is detected by means of a first and a second sensor for distance measurement. Alternatively, a single sensor may first be at a distance from a first part of the upper region, for example, the left breast or
  • the method in the step of determining comprises the formation of a difference between the at least one first distance of the upper area and the at least one first distance of the lower area.
  • the method in the step of detecting comprises detecting at least a fourth distance of the lower area, in particular a knee area and / or an area below the knee area, of the user of the walker to the walker.
  • a further aspect of the present invention is the control device for a walking aid, which is designed to carry out a method according to the present invention.
  • a control device can be understood to mean a control device or also an application-specific integrated circuit (ASIC) which can be integrated into a walking aid such that the control device processes the necessary sensor signals, in particular the detected distances can and the corresponding actuators, for example.
  • ASIC application-specific integrated circuit
  • Electric driven drive wheels or brake systems for the walker can control.
  • such a control device has corresponding computing capacity and suitable interfaces.
  • the interfaces can be executed in software and / or hardware.
  • a further aspect of the present invention is a walker having at least one drive device, at least one first sensor for detecting an upper area of a user of the assistant, at least one first sensor for detecting a lower area of the user, and at least one control unit described above according to the present invention ,
  • an electrically driven wheel has been found to be practicable.
  • Walking aids typically have more than one wheel. It is only relevant for the walker according to the present invention that at least one of the wheels of the walker is an electrically driven wheel.
  • the chest area has a larger area compared to the user's head, which is also in the upper area.
  • the chest area unlike the head,
  • a sensor that detects the knee area or a portion below the knee area of the user has been found to be particularly practicable. By detecting the knee area or an area below the knee area, unlike, for example, the hip area, it is easy to see whether and how the user is moving.
  • the user's gait image can be well understood determine. This works particularly well when, as the lower part of the
  • Knee area or an area below the knee area is detected.
  • the walker on at least a second sensor for detecting an upper portion of a user of the walker on.
  • a more differentiated gait image of the user can be detected by the second sensor.
  • the walking aid according to the present invention has only one sensor in the leg area, the limits between a stable standing or gait image should be set relatively far because of the oscillating leg movements. This could result in a late trip for a brake to support the user.
  • the walker on at least a second sensor for detecting a lower portion of the user.
  • a stand or gait image can be derived more easily because less consideration must be given to the oscillating leg movement, as if only one sensor for Capturing the bottom of the user would be used.
  • a mean value with substantially less fluctuation can be set by adding a much narrower tolerance band. This results in a better stability criterion with the possibility of triggering a possibly required support braking earlier.
  • the walker as a drive unit on at least two electrically driven wheels.
  • This embodiment offers the advantage that a change of direction by means of a minimum radius is possible. It is even possible to make a change of direction about the axis of rotation of the walker or the user of the walker, i. essentially one
  • the drive unit of the walker on at least one electrically steerable wheel may be a change in direction with a similar minimum radius as in the preceding embodiment with at least two electrically driven wheels.
  • Another aspect of the present invention is a computer program configured to carry out a method according to the present invention.
  • Another aspect of the present invention is a memory device having a computer program according to the present invention.
  • Fig. 1 is a schematic representation of a walker according to the present invention
  • FIG. 2 is a flowchart of one embodiment of the method according to the present invention.
  • FIG. 1 shows a schematic representation of a walker 1 according to the present invention.
  • a walker 1 consists of a frame 11 for supporting a user 2 of the walker 1.
  • the walker 1 according to the
  • the present invention additionally comprises a drive unit 12, 13, 14 in the form of at least one electrically driven wheel 12, 13.
  • a wheel 12, 13 may also have a steering device 14, which is preferably likewise electrically driven.
  • the walker 1 according to the present invention comprises at least a first sensor 15 for detecting an upper portion 21 of a user 2 and at least one second sensor 16 for detecting a lower portion 22 of a
  • the sensors 15, 16 are arranged on the frame 11 of the walker 1 accordingly.
  • the sensors 15, 16 are designed to detect a distance A, B of the user 2 to the sensor 15, 16 and thus to the walker 1.
  • the sensor signals are processed.
  • the standing or gait image of the user 2 can be determined from the sensor signals.
  • the determined standing or gait pattern is used to detect whether a stable or unstable standing or gear is present.
  • Control unit are controlled accordingly, so that the user 2 can stabilize his stand or gear. This is preferably done by braking or stopping the walker. 1 Furthermore, the motion request of the user 2 can be derived from the stationary or gait image. By the body inclination or by a prevention, which can be recognized by the difference of the measured distance A of the at least one first sensor 15 for detecting an upper region 21 and the measured distance B of the second sensor 16 for detecting a lower region 22, the Speed of walker 1 can be set or changed accordingly.
  • an unstable state or gait can be detected, for example, if the difference between the measured distance A to the upper region 21 and the measured distance B to the lower region 22 exceeds a predetermined threshold, it can be assumed that the user 2 is about to fall forward or backward. In such a case, it is desired that the walker 1 brakes or stops and not the forward or backward bending as a user request of
  • FIG. 2 shows a flow chart of an embodiment of the method according to the present invention for operating a walker 1 according to the present invention.
  • step 201 a first distance A to an upper portion 21 of the
  • User 2 detected by at least one first sensor 15 for detecting an upper portion 21.
  • step 202 a second distance B to a lower portion 22 of the user 2 is detected by means of at least one second sensor 16 for detecting a lower portion 22.
  • a gait image of the user 2 is determined depending on the first distance A and the second distance B, respectively.
  • the walker 1 is controlled depending on the determined standing or gait image of the user 2.
  • at least controls for stabilizing an unstable stand or gait image controls to support the determined motion desired and controls to support a change of direction are provided.

Landscapes

  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biophysics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Rehabilitation Therapy (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

Procédé (200) pour commander une aide à la locomotion (1) comprenant les étapes consistant à : détecter (201) au moins une première distance (A) d'une zone supérieure (21), notamment d'une zone de buste, d'un utilisateur (2) de l'aide à la locomotion (1) par rapport à l'aide à la locomotion (1) ; détecter (202) au moins une deuxième distance (B) d'une zone inférieure (22), notamment d'une zone de genou et/ou d'une zone située au-dessous du niveau des genoux, de l'utilisateur (2) de l'aide à la locomotion (1) par rapport à l'aide à la locomotion (1) ; déterminer (203) une image de position debout et/ou image de marche en fonction de l'au moins une première distance (A) et/ou de l'au moins une deuxième distance (B) ; commander (204) l'aide à la locomotion (2) en fonction de l'image de position debout et/ou de l'image de marche déterminée.
PCT/EP2017/071618 2016-09-08 2017-08-29 Procédé pour commander une aide à la locomotion, dispositif de commande pour aide à la locomotion, et aide à la locomotion WO2018046346A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016217078.3 2016-09-08
DE102016217078.3A DE102016217078A1 (de) 2016-09-08 2016-09-08 Verfahren zum Steuern einer Gehhilfe, Steuereinrichtung für eine Gehhilfe, Gehhilfe

Publications (1)

Publication Number Publication Date
WO2018046346A1 true WO2018046346A1 (fr) 2018-03-15

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Country Link
DE (1) DE102016217078A1 (fr)
WO (1) WO2018046346A1 (fr)

Cited By (2)

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Publication number Priority date Publication date Assignee Title
CN110934724A (zh) * 2019-12-14 2020-03-31 中国科学院深圳先进技术研究院 一种助行器
WO2023035456A1 (fr) * 2021-09-08 2023-03-16 中国科学院深圳先进技术研究院 Procédé et système d'aide à la marche anti-chute basés sur un dispositif d'aide à la marche, et dispositif terminal

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JP2020039695A (ja) * 2018-09-12 2020-03-19 株式会社ジェイテクト 歩行支援装置
FR3100713B1 (fr) * 2019-09-18 2022-11-25 Gema Sa Déambulateur motorisé et procédé de contrôle associé

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DE202006008176U1 (de) 2006-05-23 2006-08-31 Litver, Boris Gehhilfewagen
WO2011079320A1 (fr) * 2009-12-26 2011-06-30 De Novo Technologies, Inc. Produits et méthodes pour l'amélioration des performances motrices chez des patients souffrant d'une maladie neurodégénérative
US20130103226A1 (en) * 2009-11-17 2013-04-25 National Taiwan University Rehabilitation device
KR20130073743A (ko) * 2011-12-23 2013-07-03 대한민국(국립재활원장) 능동형 보행보조 및 기립보조기, 및 능동 보행보조 및 기립보조방법
US20150359699A1 (en) * 2013-01-17 2015-12-17 Lg Electronics Inc. Electric walking assistant device
DE102016201792A1 (de) * 2016-02-05 2017-08-10 Robert Bosch Gmbh Verfahren und Vorrichtung zum Steuern eines Kippwinkels eines Gehwagens und Gehwagen

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