WO2019193303A1 - Châssis mobile - Google Patents

Châssis mobile Download PDF

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Publication number
WO2019193303A1
WO2019193303A1 PCT/GB2018/050904 GB2018050904W WO2019193303A1 WO 2019193303 A1 WO2019193303 A1 WO 2019193303A1 GB 2018050904 W GB2018050904 W GB 2018050904W WO 2019193303 A1 WO2019193303 A1 WO 2019193303A1
Authority
WO
WIPO (PCT)
Prior art keywords
movable chassis
chassis
movable
actuator beam
actuator
Prior art date
Application number
PCT/GB2018/050904
Other languages
English (en)
Inventor
Dennis Majoe
Original Assignee
Dennis Majoe
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 Dennis Majoe filed Critical Dennis Majoe
Priority to PCT/GB2018/050904 priority Critical patent/WO2019193303A1/fr
Publication of WO2019193303A1 publication Critical patent/WO2019193303A1/fr

Links

Classifications

    • 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
    • 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
    • A61H2003/001—Appliances for aiding patients or disabled persons to walk about on steps or stairways
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0192—Specific means for adjusting dimensions
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • 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
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5048—Audio interfaces, e.g. voice or music 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5071—Pressure 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5084—Acceleration 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5097—Control means thereof wireless

Definitions

  • the present invention relates to a movable chassis particularly, but not exclusively intended for use in robotics.
  • Robots often have wheels, although other options exist.
  • Bomb disposal robots for example, often have tracks, whilst bio-mimicry has resulted in bipedal, quadrupedal, and hexapedal robots.
  • One application envisaged for the improved movable chassis is as an electromechanical walking aid.
  • Walking aids with motorised elements are well known in the art. People currently use“Rollators” to walk assisted.“Rollators” are supportive walkers with wheels to help movement on a flat surface. These devices tend to be quite large in comparison to a traditional walking stick and can therefore cause problems when trying to move around indoors.
  • “Couch Canes” are also a popular aid for the elderly in helping people to get on and off the toilet or a chair. These devices tend not to have wheels or rollers to improve the stability of the device when force is applied to it by the user.“Couch Canes” are therefore difficult for the user to take everywhere with them. They can be a fixed height or can have an adjustable element to change the height depending on the user’s requirements. There are walking aids which enable someone to get upstairs, however in practice it is unlikely that an elderly person would use a hand held device to walk up a flight of stairs when there many known stair lifts available. It would however be helpful if one or a few steps could be navigated such as a step up to a door, a pavement edge or even the threshold of a doorway.
  • the object of the present invention is to provide an improved movable chassis, particularly, but not limited for use in robotics.
  • a movable chassis comprising:
  • each wheel can be individually adjusted with respect to another wheel by its actuators.
  • the load to be supported could be a handle with a shaft, such that the movable chassis can be used as an electromechanical walking aid.
  • the load to be supported as a robotic arm, camera, cargo hold etc.
  • the movable chassis may form the basis of any robot, and should not be limited to the load/equipment to be carried.
  • the invention is not intended to be limited by the load to be supported.
  • the actuator beam has at least 3 integral brackets with a plurality of apertures. It is intended that each actuator pair has an integral bracket.
  • the apertures provide a location for each linear actuator to be pivotally connected and the plurality allows for adjustment of the device.
  • the brackets are separate components to the actuator beam, they may also contain only two apertures.
  • brackets are located equally spaced along the actuator beam, however it can be envisaged that they are spaced unequally.
  • the brackets are also orientated along the same centreline, alternatively they can be spaced with the middle bracket off centre.
  • the movable chassis can comprise one or more sensors to detect, particularly although not exclusively, changes in the external forces applied to the movable chassis, position of the device including pitch, roll, tilt and acceleration, extension of the linear actuators, and of particular interest for the walking aid embodiment, the force applied by the user.
  • the movable chassis comprises a processor to receive communication from each sensor and to instigate adjustment of the device in the event of unexpected, and/or destabilising movements, or based on measurements form one or more of the sensors.
  • the movable chassis could have more than 3 wheels, however preferably there are 3.
  • the movable chassis may comprise a Wifi connection, enabling the processor to access cloud services, for example.
  • the cloud services could include speech recognition services, access to audio files and emergency numbers as well as other health related services.
  • the movable chassis may also consist of further sensors and transmitters so that distant operators/third parties are able to check whether the status of the movable chassis is abnormal or any other parameter of interest. This may include falling over.
  • the interested parties may be a relative.
  • Measurements of interest may be, whether they have been for a walk that day, and if so how far. There may also be the capability of a relative being alerted if something changes for the user that could cause concern. Such features or capabilities may also be desirable for other applications of the movable chassis, albeit for different reasons.
  • the movable chassis can be adapted to alert a third party whether there is: unexpected movement of the chassis, expected movement that has not occurred, or if the chassis has fallen over, for example.
  • any measurement from a sensor not in the realm of normal operation could be transmitted, automatically or otherwise.
  • the movable chassis may not be in use at all times and could be located some distance from the user. It is envisaged that the movable chassis can have speech recognition and voice direction finding capabilities.
  • the processor can digitise local binary audio and instigate an adjustment to the device or cause the device to move towards a user.
  • the movable chassis may comprise GPS or other location tracking and/or detecting means. This may be coupled with the processor so that the current location fo the chassis can be known, and/or the past routes taken by the chassis, depending upon application.
  • the movable chassis may alert a third party in certain circumstances such as, but not limited to the following: unexpected movement of the movable chassis, whether expected movement has occurred, or other parameters measured by one or more of the sensors
  • the walking aid could have 3 linear actuators paired with a fixed leg which is pivotally connected to the direct drive wheel it is preferable that it has 6 linear actuators arranged in pairs and connected to the direct drive wheel. Normally, the pairs will be triangular pairs.
  • a plurality of chassis in accordance with the present invention may be connected to form a larger, more robust platform to accommodate a larger load to be supported.
  • Further processors may be employed to ensure communication between all of the actuators and wheels to ensure a stable journey.
  • Figure 1 a is an isometric view of a movable chassis in accordance with the present invention
  • Figure lb is an isometric view of a walking aid, a variant of the movable chassis in accordance with the present invention
  • Figure 2 is a side view of the walking aid navigating a step
  • Figure 3 is a side view of the walking aid helping a user to stand
  • Figure 4 is a front view of the walking aid helping a user to walk on a slope
  • Figure 5 is a plan view of cut through X-X on Figure 4
  • Figure 6 is a flow chart representing the control of the present invention.
  • FIG. la a movable chassis in accordance with the present invention is shown.
  • the remaining figures are based upon an embodiment of the invention being used as a walking aid.
  • the movable chassis la comprises means for carrying a load 3a atop an actuator beam 4.
  • the movable chassis is then represented in the remaining figures in its embodiment as a walking aid.
  • the walking aid 1 consists of a handle 2, a shaft 3 and an actuator beam 4.
  • the actuator beam has three integral brackets 5 with a plurality of apertures 6.
  • the apertures are for pivotally connecting six linear actuators arranged in pairs consisting of a rear actuator 7 and a front actuator 8.
  • Each pair of actuators is pivotally connected to a direct drive wheel 9 arranged in a triangular arrangement where the actuator beam provides one side of the triangle.
  • Each pair of linear actuators and a direct drive wheel can be collectively referred to as a leg 10.
  • the front and rear actuators are arranged in the same plane as seen in Figure 5.
  • One actuator corresponds to a single assembly including an armature 11 and an axle 12 on which the other actuator is connected. This assembly fixes one actuator with respect to the axle where the other actuator is allowed to rotate relative to the first actuator. This also prevents the motor from rotating.
  • In the centre of the wheel 9 is a series of coils 13 which when energised attract permanent magnets 14, housed in a cylinder 15. This cylinder revolves around the armature on ball bearings 16 when the coils are activated. The cylinder is then surrounded by rubber completing the tyre 17.
  • the walking aid is driven by three brushless direct drive DC motors 18 which drive the wheels 9.
  • the linear actuators are based on stepper motors 19 for leg rotation and elongation.
  • Each of the three legs includes rotation and extension sensors 20. They are all driven by the main electronics and computation module 21 which receives sense data from the users hand and fingers and motion and orientation sensors. Low level stability control is performed within the local processor 22.
  • Each actuator is individually lengthened or shortened to suit the user’s environment, to either rotate the legs forward or backwards, reduce or increase the wheel base or reduce or increase the overall height of the legs.
  • the way in which the walking aid can achieve this is described by the following examples.
  • One function of the walking aid is to help a user to sit on a toilet or sofa for example, or to stand from a seated position. To sit, a user would bring the walking aid to near where they wanted to sit, the walking aid would then increase its wheelbase to enable a more stable foundation for the user to lean against while sitting. In increasing the wheel base you are also reducing the overall height of the walking aid to follow the user into a sitting position. An example of this is shown in Figure 3.
  • the walking aid requires a smaller wheelbase to be able to navigate indoors, which also avoids the requirement for specially adapted housing.
  • the walking aid When the user is walking, either indoors or outside, the walking aid senses the pressure of a user’s hand on the handle, the walking aid then moves in the desired direction at the speed required for the hand to always be fully supported.
  • the walking aid can reduce its wheelbase to the minimum and act like a Segway (RTM), a self-supported inverse pendulum.
  • the walking aid can navigate steps, for example the threshold of a doorway or a pavement edge.
  • the walking aid can shorten and extend forward its middle wheel, while lengthening and stabilising the outer two legs to ensure a stable tripod wheelbase to support the user.
  • the back legs shorten and move forward to be in the desired position for walking again. The user does not have to lift the walking aid, or walk unsupported at any time.
  • the walking aid is also beneficial when walking on a slope.
  • pavements in the UK are sloped to help drainage into the gutters of the road.
  • the fact that each leg of the walking aid is individually adjustable allows the road to be sloped but the actuator beam to remain horizontal to best support the user as shown in Figure 4.
  • An advantage to the preferred embodiment is that the walking aid can assist the user in walking, moving around indoors, helping to stand or sit, navigate a step and remain stable while walking along a slope among others features all in one ergonomic device.
  • the invention is not intended to be restricted to the details of the above described embodiment.
  • the load to be carried is not restricted to a walking aid handle.
  • the movable chassis may be adapted to carry a robotic arm, cargo, camera or any other thing which may be desirable on a robot.
  • the processor could also digitise local binary audio for use in speech recognition and voice direction finding.
  • the movable chassis can also replay audio received as MP3 files. This is done by any suitable means for accessing audio files.
  • the movable chassis can be Wifi enabled which allows the processor to access cloud services where amongst other health related services, speech recognition services and access to entertaining audio files is performed.
  • the movable chassis can have an adjustable handle or shaft to suit the height of any user without amending the wheelbase to compensate.
  • the movable chassis can have 3 linear actuators paired with 3 fixed legs which are pivotally connected to the direct drive wheel, however it is preferable that it has 6 linear actuators arranged in pairs as described hereinbefore.

Landscapes

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

Abstract

L'invention concerne un châssis mobile (la), comprenant : des moyens de support d'une charge (3a), une poutre d'actionneur transversale (4) reliée aux moyens de support d'une charge, au moins 6 actionneurs linéaires (7, 8) reliés par paires à la poutre d'actionneur au niveau de leur extrémité supérieure et, au niveau des extrémités inférieures, reliés de manière pivotante à une roue respective parmi au moins 3 roues d'entraînement direct (9), la position de chaque roue pouvant être ajustée individuellement par rapport à une autre roue par ses actionneurs. Le châssis mobile peut également comprendre un processeur, des capacités Wifi, des services de reconnaissance vocale et une communication d'urgence à un tiers. Le châssis mobile peut être adapté à de multiples fins comprenant, mais sans s'y limiter, une aide à la marche. Figure la
PCT/GB2018/050904 2018-04-03 2018-04-03 Châssis mobile WO2019193303A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/GB2018/050904 WO2019193303A1 (fr) 2018-04-03 2018-04-03 Châssis mobile

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/GB2018/050904 WO2019193303A1 (fr) 2018-04-03 2018-04-03 Châssis mobile

Publications (1)

Publication Number Publication Date
WO2019193303A1 true WO2019193303A1 (fr) 2019-10-10

Family

ID=62116492

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2018/050904 WO2019193303A1 (fr) 2018-04-03 2018-04-03 Châssis mobile

Country Status (1)

Country Link
WO (1) WO2019193303A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6112843A (en) * 1996-11-07 2000-09-05 California Institute Of Technology High mobility vehicle
US20050023052A1 (en) * 2003-02-21 2005-02-03 Beck Michael S. Vehicle having an articulated suspension and method of using same
US20130306120A1 (en) 2011-02-23 2013-11-21 Murata Manufacturing Co., Ltd. Walking assist apparatus
US9089460B2 (en) * 2012-09-18 2015-07-28 Murata Manufacturing Co., Ltd. Pushcart
US20150359699A1 (en) * 2013-01-17 2015-12-17 Lg Electronics Inc. Electric walking assistant device
US20160074262A1 (en) * 2014-12-26 2016-03-17 Sophia Vasiliki Moses Intelliwalker, an intelligent, sensor equipped, motorized robotic walking assistance device.
EP3300711A1 (fr) * 2016-09-28 2018-04-04 Dennis Majoe Aide à la marche électromécanique

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6112843A (en) * 1996-11-07 2000-09-05 California Institute Of Technology High mobility vehicle
US20050023052A1 (en) * 2003-02-21 2005-02-03 Beck Michael S. Vehicle having an articulated suspension and method of using same
US20130306120A1 (en) 2011-02-23 2013-11-21 Murata Manufacturing Co., Ltd. Walking assist apparatus
US9089460B2 (en) * 2012-09-18 2015-07-28 Murata Manufacturing Co., Ltd. Pushcart
US20150359699A1 (en) * 2013-01-17 2015-12-17 Lg Electronics Inc. Electric walking assistant device
US20160074262A1 (en) * 2014-12-26 2016-03-17 Sophia Vasiliki Moses Intelliwalker, an intelligent, sensor equipped, motorized robotic walking assistance device.
EP3300711A1 (fr) * 2016-09-28 2018-04-04 Dennis Majoe Aide à la marche électromécanique

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