WO2019216763A1 - Aide à la marche motorisée - Google Patents

Aide à la marche motorisée Download PDF

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Publication number
WO2019216763A1
WO2019216763A1 PCT/NL2019/050273 NL2019050273W WO2019216763A1 WO 2019216763 A1 WO2019216763 A1 WO 2019216763A1 NL 2019050273 W NL2019050273 W NL 2019050273W WO 2019216763 A1 WO2019216763 A1 WO 2019216763A1
Authority
WO
WIPO (PCT)
Prior art keywords
force
walking aid
force transfer
transfer surface
handle structure
Prior art date
Application number
PCT/NL2019/050273
Other languages
English (en)
Inventor
Wouter VERHOEF
Original Assignee
Robot Care Systems B.V.
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 Robot Care Systems B.V. filed Critical Robot Care Systems B.V.
Publication of WO2019216763A1 publication Critical patent/WO2019216763A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/52—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by DC-motors
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/04—Measuring force or stress, in general by measuring elastic deformation of gauges, e.g. of springs
    • 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
    • A61H2201/12—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
    • A61H2201/5025—Activation 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
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force 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
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0406—Standing on the feet
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the outer gripper structure pushes against the connecting structure by means of the force transfer surface of the outer handle structure pushing against the force transfer surface of the connecting structure.
  • the force in the direction normal to the contacting surfaces i.e. force transfer surface
  • the force applied by the user in the direction normal to the force transfer surfaces may be sensed.
  • the second way the downward force can affect the forward / backward force measurement is by the influence of friction between the inner handle structure and outer handle structure.
  • the forward / backward force measurement is at the user end of the inner handle structure, so if there is friction between the supporting structure of the inner handle structure and the outer handle structure, i.e. more towards the end where the handle is attached to the frame, it will transfer that forward / backward force directly to the supporting structure of the inner handle structure, hence this bypassed force (or force part) is measured by the sensor in the measurement structure. If the user exerts more downwards force the friction force will become bigger. Due to the fact that the downward force is so much bigger than the forward force, static friction would bypass at least part of the forward force.
  • the handles as described above are mounted to the frame such that the direction A-A coincides with a main direction of movement of the motorized walking aid, i.e. the forward direction.
  • the direction A -A hence in the present example the forward direction of movement, forms a normal to the force transfer surfaces.
  • a high degree of decoupling may be provided, as forces in other direction may provide for some sliding of the force transfer surfaces in respect of each other (i.e. movement along the plane of the surfaces) enabling to accurately control a support by the motor of the motorized walking aid based on a force exerted on the handle in the forward direction, even in the presence of high forces in other directions, such as forces as a result of the person leaning on the handles for support.
  • a motorized walking aid comprising a frame, wheels mounted to the frame, at least one motor to drive the wheels, a control unit to control the at least one motor and a handle connected to the frame for enabling a user to hold itself, the handle comprising a force sensor to sense a force exerted by the user on the handle, an output of the force sensor being connected to the control unit, the control unit being configured to control the at least one motor using the force as sensed by the force sensor, the handle comprising:
  • the coupling structure comprises a force transfer surface
  • the outer handle structure comprising a force transfer surface arranged substantially parallel to and facing the force transfer surface of the coupling structure, the outer handle structure being movable in respect of the inner handle structure in a direction normal to the force transfer surfaces, the outer handle structure being configured to transfer via its force transfer surface to the force transfer surface of the coupling structure a force exerted by the user onto the outer handle structure in a first direction normal to the force transfer surfaces, wherein the force transfer surface of the outer handle structure is slidable in respect of the force transfer surface of the contact structure.

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Sustainable Energy (AREA)
  • Health & Medical Sciences (AREA)
  • Sustainable Development (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Physics & Mathematics (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • General Physics & Mathematics (AREA)
  • Rehabilitation Tools (AREA)

Abstract

Selon l'invention, une aide à la marche motorisée comprenant un cadre et une poignée comprend une structure de poignée extérieure. Une structure de poignée interne s'étend dans une cavité interne de la structure de poignée externe et comprend, vue depuis le cadre : une structure de liaison, une structure de support qui soutient la structure de poignée externe, une structure de mesure de force comprenant un capteur de force, et une structure de couplage. La structure de couplage comprend une surface de transfert de force, la structure de poignée extérieure comprenant une surface de transfert de force disposée de manière sensiblement parallèle à la surface de transfert de force de la structure de couplage et faisant face à celle-ci, la structure de poignée extérieure étant mobile par rapport à la structure de poignée intérieure dans une direction perpendiculaire aux surfaces de transfert de force. La structure de poignée externe est configurée pour transférer par l'intermédiaire de sa surface de transfert de force à la surface de transfert de force de la structure de couplage une force exercée par l'utilisateur sur la structure de poignée externe dans une direction perpendiculaire aux surfaces de transfert de force, la surface de transfert de force de la structure de poignée extérieure pouvant coulisser par rapport à la surface de transfert de force de la structure de contact.
PCT/NL2019/050273 2018-05-07 2019-05-07 Aide à la marche motorisée WO2019216763A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL2020887A NL2020887B1 (en) 2018-05-07 2018-05-07 Motorized walking aid
NL2020887 2018-05-07

Publications (1)

Publication Number Publication Date
WO2019216763A1 true WO2019216763A1 (fr) 2019-11-14

Family

ID=62948305

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NL2019/050273 WO2019216763A1 (fr) 2018-05-07 2019-05-07 Aide à la marche motorisée

Country Status (2)

Country Link
NL (1) NL2020887B1 (fr)
WO (1) WO2019216763A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019213024A1 (de) * 2019-08-29 2021-03-04 Continental Teves Ag & Co. Ohg Griffteil für ein System zum Nachrüsten einer Gehhilfe

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005291797A (ja) * 2004-03-31 2005-10-20 Sanyo Electric Co Ltd 力検出装置及びこれを用いた車両
EP2845785A1 (fr) * 2013-08-09 2015-03-11 Funai Electric Co., Ltd. Chariot à main
WO2017104847A1 (fr) * 2015-12-18 2017-06-22 Cyberdyne株式会社 Système d'entraînement à la marche et dispositif d'entraînement à la marche

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005291797A (ja) * 2004-03-31 2005-10-20 Sanyo Electric Co Ltd 力検出装置及びこれを用いた車両
EP2845785A1 (fr) * 2013-08-09 2015-03-11 Funai Electric Co., Ltd. Chariot à main
WO2017104847A1 (fr) * 2015-12-18 2017-06-22 Cyberdyne株式会社 Système d'entraînement à la marche et dispositif d'entraînement à la marche

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019213024A1 (de) * 2019-08-29 2021-03-04 Continental Teves Ag & Co. Ohg Griffteil für ein System zum Nachrüsten einer Gehhilfe

Also Published As

Publication number Publication date
NL2020887B1 (en) 2019-11-14

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