WO2021037936A1 - Système de modernisation d'une aide à la marche mobile dotée d'un entraînement électrique - Google Patents

Système de modernisation d'une aide à la marche mobile dotée d'un entraînement électrique Download PDF

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Publication number
WO2021037936A1
WO2021037936A1 PCT/EP2020/073893 EP2020073893W WO2021037936A1 WO 2021037936 A1 WO2021037936 A1 WO 2021037936A1 EP 2020073893 W EP2020073893 W EP 2020073893W WO 2021037936 A1 WO2021037936 A1 WO 2021037936A1
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WO
WIPO (PCT)
Prior art keywords
motor
designed
wheel
walking aid
displacement
Prior art date
Application number
PCT/EP2020/073893
Other languages
German (de)
English (en)
Inventor
Hans Schroth
Jan Schmidt
Frederik RÜHL
Csaba GYÖRI
Sebastian ZIER
Boris LORENZ
Horst Walter
Theresa GRAF
Claire Sophie KILL
Original Assignee
Continental Teves Ag & Co. Ohg
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.)
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Application filed by Continental Teves Ag & Co. Ohg filed Critical Continental Teves Ag & Co. Ohg
Priority to DE112020004070.4T priority Critical patent/DE112020004070A5/de
Publication of WO2021037936A1 publication Critical patent/WO2021037936A1/fr

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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
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • 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
    • A61H2201/1628—Pelvis
    • A61H2201/1633—Seat
    • 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
    • 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
    • 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
    • A61H2201/5084—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
    • 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

Definitions

  • the invention relates to a system for retrofitting a mobile walking aid with an electric drive.
  • Mobile walking aids are known from the prior art. They usually have three or four wheels and are used to support people of old age or with physical limitations when walking upright and to enable them to improve mobility. Unlike walking sticks or walking frames without wheels, mobile walking aids do not have to be lifted from the ground while walking, which ensures greater stability and a reduced risk of falling. Mobile walking aids can also be referred to as rollators or walkers.
  • mobile walking aids which have an electric drive so that the user does not have to use any or little force to set the walking aid in motion.
  • Such walking aids have a drive unit, control electronics and an energy store.
  • the operating concept for such electrically assisted walking aids must be learned by the user, as it differs significantly from the use of a conventional mobile walking aid. For example, there are often individual buttons on the handle part for driving in the forward direction and stopping the walking aid. The user normally has to adapt to the walking aid because it is not able to deviate from defined driving profiles or a certain speed or acceleration.
  • a handle part for receiving human control inputs for a mobile walking aid with an electric drive comprises a base body with an elongated shape, which has a mechanical interface for attachment to the walking aid, a sliding body that extends in the direction of the elongated shape of the base body a rail or groove is mounted displaceably on or relative to this, and a sensor, in particular a force sensor, for detecting the displacement of the displacement body.
  • a displacement body is preferably understood to mean an element that can only be moved by lateral displacement - a rotatably mounted element or lever does not fall under the term, for example.
  • the elongated shape of the base body preferably extends in the direction of travel of the mobile walking aid, in particular horizontally when it is mounted on it.
  • the handle part is preferably used to detect a thrust force by the user in the axial direction. This is possible, for example, with a potential sensor or with the help of a strain gauge.
  • the sliding body allows, for example, an intuitive operation compared to a conventional button or lever, so that users experience the same functionality as with any other unsupported mobile walking aid. At the same time, however, users only need to acquire a few new skills to use the electrically powered walking aid.
  • the mechanical interface for attachment to the walking aid is preferably designed or dimensioned in such a way that the handle part can be retrofitted to mobile walking aids of different types or from different manufacturers.
  • the system can preferably comprise rubber rings which, depending on the number and thickness used, serve as a variable base.
  • the mobility of the sliding body is limited to an axial displacement in the direction of the elongated shape of the base body. Slipping sideways with your hand or twisting, especially with a fall of the user is therefore not incorrectly recognized as a driving request. The restriction is therefore for safety.
  • the first and / or second time derivative of the force is preferably limited in order to recognize an unusual situation, such as a fall, and, if necessary, to brake the motors.
  • the safety is preferably further increased in that the sensor is designed such that a displacement of the sliding body is measured by the sensor in only one direction, in particular the pressure direction.
  • the pressure direction preferably means the forward direction of the mobile walking aid or the direction leading away from the user. Because the sensor only measures a positive distance and does not detect any tensile forces, it prevents the distance between the user and the walking aid and thus the risk of falling from becoming too great.
  • the sliding body is continuously displaceable, the sensor converting the displacement into a continuously variable signal.
  • the stepless input and implementation of the driver's request means that the user's walking speed does not need to be adjusted to the walking aid, and particularly intuitive operation is made possible.
  • the displacement body is connected to the base body via a return spring which is designed such that the displacement body is displaced into a zero position without the action of external force. This ensures that the walking aid cannot accelerate if the user does not have his hand on the handle.
  • the sliding body has a shape which is adapted to a hand area between thumb and forefinger, in particular is designed as a negative shape of such a hand area. It goes without saying that such a negative shape can preferably also be roughly approximated. In other words, the sliding body is preferably ergonomically adapted to a hand. It is preferred that a brake lever is attached to or integrated into the base body. This brake lever is preferably connected to a wheel brake and / or control electronics via a Bowden cable.
  • the handle part has a switching device, in particular a button or switch, with which the sensor and / or the electric drive can be activated and deactivated.
  • the walking aid can therefore also be used without an auxiliary drive like a conventional walking aid.
  • the handle part preferably has a display device, in particular a display, which shows a charge status of an energy store and / or an availability of the electric drive.
  • the mechanical interface for attachment to the walking aid is designed as a clamp connection.
  • the interface can have a hollow cylindrical shape, possibly slightly conical on the inside, with which the handle part can be fastened to the counterpart of the walking aid by means of a press fit.
  • securing by means of a clamp that can be tightened with screws is conceivable.
  • a system for retrofitting a mobile walking aid comprises a handle part, as described, as a user interface for receiving human control inputs, a wheel module with an electric motor designed as a wheel hub motor, on whose rotatably mounted rotor a wheel is attached, and a connecting device for Transfer of the control inputs to the wheel module.
  • the system preferably comprises two of the wheel modules, two of the handle parts and two connecting devices for transferring the
  • Control inputs to the wheel module It is preferred that only one of the two handle parts is designed with the display device and the switching device. This makes the operation of the walking aid clearer and costs can be saved.
  • a wheel module for mounting on a mobile walking aid preferably comprises a wheel and an electric motor designed as a wheel hub motor, on whose rotatably mounted rotor the wheel is attached.
  • the rotor of the motor is correspondingly mechanically connected to the wheel and the stator of the motor can be attached to the frame or the wheel holder of the walking aid. It is advisable to use a brushless DC motor, also BLDC.
  • the commutation can take place in a known manner with the aid of a B6 bridge on the basis of the rotor position detected by the Hall sensor.
  • An electrical control device is preferably used to control the motor. This preferably regulates the torque or the speed of the motor, for example by means of a PWM signal that is output, for example, by a microcontroller that controls a power transistor.
  • a PWM signal that is output, for example, by a microcontroller that controls a power transistor.
  • at least one Hall sensor is attached to the motor, which transfers the position to the controlling microcontroller.
  • the wheel module preferably also includes an energy store for supplying the electric motor with energy.
  • the energy store can be, for example, a lithium-ion accumulator that provides the motor with an electrical voltage.
  • the wheel module preferably comprises an interface for mounting on the mobile walking aid.
  • the interface is preferably designed in such a way that the stationary part of the wheel module, that is to say everything except the rotor and the wheel, can be rigidly connected to the walking aid.
  • the rotor axle can be rotatably mounted on the walking aid at the same point at which the axle of a conventional, non-driven wheel is otherwise mounted.
  • the wheel, the motor, the control device and the energy store, possibly also sensors or other components, preferably form a compact unit. As a result, the expansion from a conventional to a powered walking aid is significantly simplified.
  • the compactness of the unit can be achieved, for example, in that all or some of the components mentioned are arranged directly adjacent to one another. They are preferably mechanically connected to one another, with temperature problems being able to be avoided by suitable thermal insulation. According to a preferred embodiment, the components are attached to a common support structure and / or enclosed by a common housing or embedded therein. In contrast to the targeted placement of drive components as the basis for the development of an electrically powered mobile walking aid, which has been customary in the pre-development or development process, the design as a compact unit allows simple retrofitting of a previously non-motor-assisted walking aid, so that there is no need to purchase a completely new one can be.
  • a mobile walking aid generally has a support structure, usually as a frame made of aluminum or a carbon fiber-reinforced plastic, with openings for the rotatable mounting of the wheels.
  • the wheel mount is preferably understood to mean this support structure or a wheel-bearing leg or the area around the openings.
  • the fastening element preferably comprises a clamping device for clamping the wheel module to the wheel holder.
  • the necessary clamping force can be generated with the help of screws.
  • the clamping device can comprise an elastic element that adapts to various shapes of a wheel mount and at least partially encloses it. This means that the wheel module can be mounted as a compact unit on any conventional walking aid.
  • the motor, control device and energy store are preferably arranged in a common housing or at least fastened to a common support structure. This means that there is no need to assemble several individual components.
  • the housing is designed to run around the axis of rotation of the wheel.
  • the housing encloses a space in all radial directions around the axis of rotation. In this way, a particularly space-saving and flexible assembly with regard to different types of walking aids can be achieved.
  • the wheel preferably comprises an integrated roller bearing.
  • this allows the bearing to be adapted to the conditions of a powered walking aid and, on the other hand, enables a conventional wheel module to be exchanged with a wheel module described here, even in cases where an exchange is only possible together with the bearing.
  • the wheel module comprises one or more inertial sensors for detecting movement.
  • the inertial sensors are preferably also arranged in the housing.
  • the term inertial sensor preferably also includes an inertial measuring unit, also called IMU, which is formed by a spatial combination of several inertial sensors such as acceleration sensors and rotation rate sensors, also called gyroscopic sensors. It is particularly preferably one or more inertial sensors that are designed to detect accelerations in three spatial directions and to detect rotational movements about these three axes, so that very precise position detection is possible.
  • the wheel module is part of a system for retrofitting a mobile walking aid, which also has a user interface, also called HMI, for receiving human control inputs and a connection device for transmitting the control inputs to the wheel module includes.
  • a system contains all the components that are necessary for the electrification of a mobile walking aid, but can still be mounted on an existing walking aid without it having to be modified.
  • the components can easily be attached to the support structure of the walking aid, for example with clip-like clamping devices, so that an input at the user interface via the connecting device can reach the control device of the motor and support the user when walking.
  • the user interface comprises a handle, the handle comprising a sliding body which is designed to absorb forces, in particular exclusively, in an axial direction. This ensures that no unintentional control inputs are made.
  • the connecting device is designed as a line for transmitting electrical signals.
  • a line in the form of an electrical cable can be laid along the support structure and transmit a wide variety of signals in both directions.
  • the connection device is designed for wireless transmission of the signals.
  • the electrical control device of the wheel module is preferably designed to adapt the torque and / or the speed of the motor as a function of the signals transmitted via the line, preferably additionally as a function of measurement data from at least one inertial sensor.
  • the motor is preferably designed for 4-quadrant operation, i.e. for setting the rotational speed and torque in positive and negative directions.
  • the connecting device is designed as a Bowden cable.
  • This is preferably a movable machine element for the transmission of a mechanical movement as well as compressive and tensile forces by means of a flexible combination of a wire rope and a sleeve that is pressure-resistant in the direction of travel. This allows flexible adaptation of the connecting device to various walking aids and is a particularly reliable way of signal transmission.
  • the wheel module preferably has a device which is designed to translate forces transmitted via the Bowden cable into electrical signals, the electrical control device of the wheel module being designed to measure the torque and / or the speed of the motor as a function of the electrical signals, preferably additionally adapt depending on measurement data of at least one inertial sensor.
  • the device, which is designed to translate forces transmitted via the Bowden cable into electrical signals can for example comprise a lever element which is movable by the pull cable of the Bowden cable and whose movement is detected by a sensor.
  • the connecting device comprises both a line for transmitting electrical signals and a Bowden cable.
  • the Bowden cable is functionally connected to a brake and the line to an accelerator slide or handle or button. This division allows safe and uncomplicated operation, while still ensuring easy retrofitting of the mobile walking aid.
  • the system comprises two wheel modules, two user interfaces for receiving human control inputs and two connecting devices for transmitting the control inputs to the wheel module.
  • a wheel module, a user interface and a connecting device are preferably assigned to one side of the walking aid.
  • the wheel module preferably comprises an electric motor designed as a wheel hub motor, on whose rotatably mounted rotor the wheel is attached, an electric control device for controlling the motor and a movement control unit for calculating the motor support of the wheel module and one or more inertial sensors for detecting movement.
  • the system preferably also comprises a user interface for receiving human control inputs as well as a connection device for transmitting the control inputs to the wheel module, the movement control unit being designed to, depending on the signals transmitted via the connection device and on the measurement data of the at least one inertial sensor, the torque and / or the Adjust the engine speed.
  • the motor assistance is therefore not only dependent on the input of the user via the user interface, but also on the measurement data of the inertial sensor. In this way, various applications can be easily integrated into the operating concept in such a way that the walking aid is always comfortable to use. With regard to this concept, further preferred embodiments are explained below.
  • the movement control unit is designed to distinguish a positive or negative angle of inclination of the system detected by the at least one inertial sensor and to adapt the torque and / or the speed of the motor and / or its direction as a function thereof.
  • a positive angle of inclination preferably relates to a horizontal plane and describes an upward inclination in the direction of travel.
  • a negative angle of inclination preferably describes a downward inclination accordingly.
  • the movement control unit is preferably designed to distinguish a positive or negative angle of inclination of the system detected by the at least one inertial sensor and to adapt the torque and / or the speed of the motor at a rate of change that is dependent thereon.
  • an acceleration or braking gradient is adapted to the driving situation.
  • the movement control unit is designed so that in the case of a positive angle of inclination the motor is controlled with a torque in an accelerating direction of rotation and in the case of a negative angle of inclination in a braking direction of rotation, each based on the same signal transmitted via the connecting device.
  • the increase in the assisting torque - plotted against the force of the user input or displacement of the sliding body on the handle part - is steeper when driving uphill and less steep when driving downhill is detected.
  • the fact that the motor is controlled in a braking direction of rotation is preferably to be understood to mean that the motor is put into generator mode. This creates a braking effect and kinetic energy is converted into electrical energy, which is preferably used to charge the energy store.
  • the motion control unit is preferably designed in such a way that the motor is controlled with a torque in a braking direction of rotation when the speed reaches or exceeds a specified maximum value.
  • a different, in particular higher, maximum speed can preferably be defined than for running downhill.
  • the system preferably comprises a brake for the wheel, the movement control unit being designed such that the motor is controlled with a torque in a braking direction of rotation when the brake is actuated.
  • the motor is preferably operated in so-called 4-quadrant operation, so it can both accelerate and brake in both directions.
  • the movement control unit blocks the motor in one of the directions of rotation, in particular a backward-facing direction of rotation, in the event of a negative angle of inclination.
  • a backward-facing direction of rotation in the event of a negative angle of inclination.
  • the inertial sensor is designed to measure accelerations in all three axes of space and rotational accelerations about each of these axes.
  • Such an inertial sensor is also called a 6-axis sensor. It can be implemented, for example, by a number of distributed sensors or by a compact inertial measuring unit.
  • a mobile walking aid preferably comprises a support structure carried on wheels for supporting a person and a system described here.
  • the movement control unit preferably executes the method according to which the torque and / or the speed of the motor is adapted as a function of the signals transmitted via the connecting device and of measurement data from the at least one inertial sensor. It goes without saying that further features can also be reformulated in process steps and one or more protection claims can likewise be formulated for such a process.
  • a drive system can be considered as a subsystem of the system already described, which preferably has two wheel modules for mounting on a mobile walking aid, each of the wheel modules comprising a wheel, an electric motor designed as a wheel hub motor, on whose rotatably mounted rotor the wheel is attached.
  • the rotor of the motor is correspondingly mechanically connected to the wheel and the stator of the motor can be attached to the frame or the wheel holder of the walking aid. It is advisable to use a brushless DC motor, also BLDC.
  • the commutation can take place in a known manner with the aid of a B6 bridge on the basis of the rotor position detected by the Hall sensor.
  • An electrical control device is preferably used to control the motor. This preferably regulates the torque or the speed of the motor, for example by means of a PWM signal, for example from a microcontroller, which controls a power transistor, is output.
  • a PWM signal for example from a microcontroller, which controls a power transistor
  • at least one Hall sensor is attached to the motor, which transfers the position to the controlling microcontroller.
  • the wheel modules preferably each also include an energy store for supplying the electric motor with energy.
  • the energy store can be, for example, a lithium-ion accumulator that provides the motor with an electrical voltage.
  • the energy store is preferably designed in such a way that it can be charged inductively.
  • each of the wheel modules preferably includes an interface for mounting on the mobile walking aid.
  • the interface is preferably designed in such a way that the stationary part of the wheel module, that is to say everything except the rotor and the wheel, can be rigidly connected to the walking aid.
  • the rotor axle can be rotatably mounted on the walking aid at the same point at which the axle of a conventional, non-driven wheel is otherwise mounted.
  • One of the wheel modules is preferably designed as a slave wheel module and the other wheel module as a master wheel module.
  • the control device of the master wheel module therefore preferably has a movement control unit for calculating the respective motor assistance of the master wheel module and of the slave wheel module.
  • the movement control can therefore be carried out centrally or singularly and used for both wheel modules.
  • the slave wheel module therefore does not need its own movement control unit, which is why the slave wheel module preferably does not have one.
  • each of the wheel modules has a wireless connection module which is each designed to be connected to the other connection module to communicate bidirectionally.
  • the connection module of the master wheel module is expediently designed to send at least the motor support of the slave wheel module calculated by the motion control unit, ie preferably torque and / or speed, to the connection module of the slave wheel module.
  • the slave wheel module is preferably designed to transmit a signal to the connection module of the master wheel module via its connection module, which signal represents a drive input from a user, a battery status, an actual value of the engine speed and / or a functional status. As these signals are transmitted wirelessly, all information is available to ensure safe movement control of the walking aid with just one movement control unit.
  • connection modules each have a plurality of communication channels for the simultaneous sending and receiving of data in order to enable a rapid and reliable exchange of data.
  • connection modules preferably each include a WLAN communication chip.
  • the WLAN communication chip is preferably designed to implement several WLAN standards or IEEE 802.11 standards.
  • connection modules each include a Bluetooth communication chip.
  • One or both wheel modules preferably comprise one or more inertial sensors for detecting movement.
  • the position of the drive system or the walking aid in the room can thus be determined and the control of the drive can be adjusted accordingly.
  • the motion control unit is designed to control the torque and / or the speed of the respective motor depending on the to adapt signals transmitted over the line, preferably additionally as a function of measurement data from at least one inertial sensor.
  • the drive system preferably has two user interfaces for receiving human control inputs and a connection device for transmitting the control inputs to the wheel modules.
  • the user interfaces are preferably implemented by ergonomically adapted handle parts.
  • a mobile walking aid comprises a support structure carried on wheels for supporting a person and a drive system as described.
  • FIG. 1 shows a mobile walking aid with an indicated system according to the invention according to an exemplary embodiment
  • FIG. 3 shows a handle part as an interface to the user and a diagram showing the signal conversion of the input
  • FIGS. 6 to 12 show various exemplary applications according to an exemplary embodiment of the invention.
  • the mobile walking aid 1 shown in FIG. 1 corresponds to a conventional walking aid that has been retrofitted by a system according to the invention and thus has an electric drive that supports a user when walking with the walking aid 1.
  • the system comprises a wheel module 4, a user interface 2 for receiving human control inputs and a connection device 3 for transmitting the control inputs to the wheel module 4 for each of the left and right sides of the walking aid 1.
  • the user interface 2 is formed by a right and left handle of the walking aid 1, each of which comprises a sliding body 25 as a sliding receiving element, which is designed to absorb forces in an axial direction. If the side of the walking aid 1 with the handles is referred to as the rear, the opposite side points to the front and the walking aid 1 can accordingly be assigned a forward direction. Regardless of the handles, it should be possible for a person skilled in the art to be able to assign a forward direction with other types of walking aids.
  • the sliding bodies 25 are designed in such a way that they can only receive input from the user in the forward direction which relates to a desired drive assistance.
  • the axial force absorbed by the sliding body 25 is converted into an electrical signal.
  • the electrical signal is conducted to the respective wheel module 4 via a cable that is part of the connecting device 3.
  • This has an electrical control device 50 for controlling an electrical motor 41 designed as a BLDC.
  • the motor 41 is integrated into the wheel module 4 as a wheel hub motor and has a fall sensor for detecting the rotational position of the rotor.
  • the electrical control device 50 comprises, as a sub-unit, a motor control 51 which regulates the speed or the torque of the motor 41 by means of pulse width modulation as a function of commands from a movement control unit 52. Only the control device 50 of one of the wheel modules 4 - that of the master wheel module 4a - comprises the movement control unit 52 with which the respective Motor support of the master wheel module 4a and the slave wheel module 4b is calculated.
  • the components of the system are designed in such a way that they can be attached to the walking aid 1 using simple means, such as clamp connectors. Since the system is only indicated with lines, the clamping connectors are not shown in FIG. 1.
  • the wheel modules 4 also each include such an interface 43 for mounting on the mobile walking aid 1.
  • each of the wheel modules 4 comprises an energy store 42 in the form of a battery as well as an inductive charging system 44 and an inertial sensor 45 for detecting the position of the walking aid 1.
  • FIG. 2 An exemplary embodiment for an electrical-electronic architecture is shown in FIG. 2.
  • Energy connections 8, that is to say supplies with electrical energy, and signal connections 9 are each represented by thick arrows.
  • the charging station contains an AC / DC converter and inductively transmits the required charging energy for the two wheel modules 4 or energy storage.
  • Human control inputs are recorded via the two user interfaces 2 designed as handle parts with the aid of a force sensor 21.
  • the user interface 2 connected to the master wheel module 4a also has a single switching device 22 as an on and off button and a display device 23.
  • the human control inputs are processed together with the data from the inertial sensor 45 and the motor controller 51 in the movement control unit 52 in order to determine the required motor assistance and to pass it on to the motor controller 51.
  • Each of the wheel modules 4 has a wireless Connection module 46.
  • the motor support required by the motor 41 of the slave wheel module 4b is transmitted from the master wheel module 4a via its connection module 46, and the data relevant for the movement control unit 52, such as the current rotational position of the rotor in the motor 41, is transmitted from the slave wheel module 4b via its connection module 46.
  • the energy store 42 can be charged by means of the inductive charging system 44.
  • the energy store 42 in the master wheel module 4a also includes a battery fuse 42a, a battery monitoring unit 42d, a master main energy switch 42c and a status light 42b.
  • the slave wheel module 4b is accordingly a slave main energy switch 42e.
  • an external charging station 70 For charging via the inductive charging system 44, an external charging station 70 is used, which for this purpose has a charging unit 72 via an energy supply 71 and for each wheel module 4.
  • the handle part comprises a sliding body 25 which is axially displaceable on a base body 24 and which is designed to absorb forces in the direction of the displacement axis and is ergonomically adapted to a hand. So that the sliding body 25 always returns to its zero position without the action of external force, it is equipped with a suitable return mechanism, such as a return spring.
  • the displacement force is measured by means of the force sensor 21 -
  • the force sensor 21 can be designed, for example, as a spring body force transducer with strain gauges or as a Hall sensor - and the force is converted into a signal that reaches the control devices 50 of the wheel modules 4 via the connection device 3.
  • the relationship between signal and force is plotted in a diagram on the right-hand side of FIG. 3.
  • the motor assistance can be calculated by means of the thrust force measured at the force sensors 21 and taking into account the inertial sensor 45 measuring in six axes.
  • the supporting motor torque is therefore derived from the thrust on the handle, the angle of incline of the walking aid 1 and the defined maximum speed. In Fig. 4 this is shown as a diagram.
  • the supporting torque is plotted on the ordinate and the force absorbed on the handle part on the abscissa for the case of a walking aid 1 moving in the forward direction.
  • the steeper increase in the torque via the force corresponds to the situation that the walking aid 1 is inclined uphill, while the flatter increase corresponds to a situation in which the walking aid 1 is inclined downhill.
  • the inclination of the walking aid 1 is detected with the aid of the inertial sensor 45.
  • the motor assistance is always zero or negative if the speed requested according to the user input is less than the current speed or if the current speed reaches the defined maximum speed or if the user has activated the service brake.
  • FIG. 5 A possible partitioning of the system shown in FIG. 2 into software modules is shown in FIG. 5.
  • the slave wheel module 4b transmits data to the master wheel module 4a or its connection module 46 via radio link via the connection module 46.
  • Relevant data are in particular here the force absorbed at the user interface 2 connected to the slave wheel module 4b via the connection device 3 and the status of the energy source 42, the actual value of the motor speed and the current status of the inertial sensor 45, motor 41 and energy source 42.
  • FIG. 6 shows an application in which the walking aid 1 is moved by the user on a horizontal plane. Both directions of movement, both pushing and pulling, are possible, but the electric motors 41 only provide assistance in the forward direction.
  • FIG. 6 and in FIGS. 7 to 12 there is both an input by the user and a a weight force, represented as arrows, is also drawn in.
  • the control devices 50 of the wheel modules 4 receive the command as a result of the input by the user to accelerate the walking aid 1 until the input by the user ends or the maximum speed is reached.
  • an uphill inclination and, in FIG. 8, a downward inclination of the walking aid 1 are additionally detected by the inertial sensor 45 and the torque is adjusted accordingly.
  • both force sensors 21 detect a strong force exerted by the user on the handle parts and thus an impending fall.
  • the control devices 50 of the wheel modules 4 then receive the command to block the motors 41 so that a fall caused by the walking aid 1 rolling away is prevented.
  • the risk of falling is further reduced by the fact that correct operation of the handle parts requires the user to maintain an upright posture.
  • the motor 41 accelerates only up to a speed predefined for this application. This application is shown in FIG.
  • the wheel of the wheel module 4 on the outside of the curve is accelerated with respect to the wheel of the inner wheel module 4 in the case of an asymmetrical input by the user in order to facilitate cornering.
  • the user activates the brake and sits down on a seat device of the walking aid 1.
  • the brake activated via the Bowden cable has priority over any input via the handle parts and the motors 41 remain deactivated.
  • the speed of the walking aid 1 is thus adapted to the user and to the situation or inclination of the walking aid 1.

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  • 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 système de modernisation d'une aide à la marche mobile (1) dotée d'un entraînement électrique, le système comprenant : - une partie poignée agissant en tant qu'interface utilisateur (2) pour recevoir des entrées de commande humaine, la partie poignée comportant un corps principal (24), qui est de forme allongée et qui comprend une interface mécanique pour être fixé sur l'aide à la marche (1), comportant un corps de déplacement (25), qui est monté pour permettre un déplacement dans la direction de la forme allongée du corps principal (24), le long d'un rail ou d'une rainure, par rapport audit corps principal, et comprenant un capteur de force (21) conçu pour détecter le déplacement du corps de déplacement (25), la mobilité du corps de déplacement (25) étant limitée à un déplacement axial dans la direction de la forme allongée du corps principal (24) ; - un module de roue doté d'un moteur électrique (41) qui se présente sous la forme d'un moteur de moyeu de roue et sur le rotor monté rotatif duquel est fixée une roue, le moteur (41) étant conçu pour régler la vitesse de rotation et le couple dans les directions positive et négative lors d'un fonctionnement à 4 quadrants ; et - un dispositif de liaison (3) conçu pour transmettre les entrées de commande au module de roue (4).
PCT/EP2020/073893 2019-08-29 2020-08-26 Système de modernisation d'une aide à la marche mobile dotée d'un entraînement électrique WO2021037936A1 (fr)

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DE112020004070.4T DE112020004070A5 (de) 2019-08-29 2020-08-26 System zum Nachrüsten einer fahrbaren Gehhilfe mit einem elektrischen Antrieb

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DE102019213024.0A DE102019213024A1 (de) 2019-08-29 2019-08-29 Griffteil für ein System zum Nachrüsten einer Gehhilfe
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USD940601S1 (en) * 2020-08-28 2022-01-11 Qingfeng Li Rollator
USD941193S1 (en) * 2020-01-02 2022-01-18 Merits Health Products Co., Ltd. Rollator
USD953210S1 (en) * 2020-06-17 2022-05-31 Foshan Hct Medical Equipment Co., Ltd. Foldable four-wheel walking aid

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JP2017006580A (ja) * 2015-06-26 2017-01-12 シャープ株式会社 電動アシスト車、制御方法、およびプログラム
US20170001656A1 (en) * 2015-07-02 2017-01-05 RT. WORKS Co., Ltd. Hand Cart
EP3443945A1 (fr) * 2017-08-14 2019-02-20 Nabtesco Corporation Véhicule électrique, procédé de commande de véhicule électrique et programme informatique

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USD941193S1 (en) * 2020-01-02 2022-01-18 Merits Health Products Co., Ltd. Rollator
USD953210S1 (en) * 2020-06-17 2022-05-31 Foshan Hct Medical Equipment Co., Ltd. Foldable four-wheel walking aid
USD940601S1 (en) * 2020-08-28 2022-01-11 Qingfeng Li Rollator

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