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WO2008090508A1 - Equipement permettant à un fauteuil roulant motorisé de se déplacer de façon sûre, même sur des marches ou des volées d'escaliers - Google Patents

Equipement permettant à un fauteuil roulant motorisé de se déplacer de façon sûre, même sur des marches ou des volées d'escaliers Download PDF

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Publication number
WO2008090508A1
WO2008090508A1 PCT/IB2008/050207 IB2008050207W WO2008090508A1 WO 2008090508 A1 WO2008090508 A1 WO 2008090508A1 IB 2008050207 W IB2008050207 W IB 2008050207W WO 2008090508 A1 WO2008090508 A1 WO 2008090508A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheelchair
legs
wheels
bearing means
equipment according
Prior art date
Application number
PCT/IB2008/050207
Other languages
English (en)
Inventor
Andrea Dogliotti
Original Assignee
Andrea Dogliotti
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 Andrea Dogliotti filed Critical Andrea Dogliotti
Publication of WO2008090508A1 publication Critical patent/WO2008090508A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/02—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
    • B62B5/023—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs using an upwards pushing device
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/045—Rear wheel drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/068—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with extensible supports pushing upwards, e.g. telescopic legs

Definitions

  • the invention relates to wheelchairs, particularly those wheelchairs that enable an invalid to climb and descend the stairs of a building and to pass over the steps of pavements and other architectural barriers in a fully independent way.
  • the prior art can provide wheelchairs which, although they are very suitable, safe and fast for travel on stairs, are also bulky and less suitable for use in a domestic or work environment, so that an invalid at present requires a first vehicle for climbing and descending stairs and possibly also for outdoor use, this vehicle generally using tracks for travelling on stairs and wheels for fast movement on level ground, and a second vehicle specifically for use in the domestic and/or work environment, this vehicle normally making use of wheels only.
  • this solution is expensive and cannot always be used in cases in which the invalid is unable to move independently from one vehicle to the other.
  • the invention discloses improvements to be made to the general design of a conventional electrically powered wheelchair, or to another vehicle such as a pushchair or other (including automatic driverless vehicles such as those for surveillance or for space exploration), in order to make the vehicle suitable for travel both on level ground and on stairs, thus enabling the user to have a single vehicle to meet his different locomotion requirements, both inside and outside buildings, in the presence of flat or inclined surfaces, stairs, or other architectural barriers, in such a way that the overall dimensions of the wheelchair are not modified excessively, in order not to limit the manoeuvrability of the wheelchair in restricted environments and spaces.
  • Fig. 1 is a schematic view in side elevation of an improved wheelchair according to the invention, shown in solid lines in the position of travel on level ground and shown in broken and chained lines in some stages of a cycle of descending or climbing a staircase;
  • Fig. 2 is a plan view from above of the wheelchair of Figure 1 ;
  • Figs 3 and 3a are schematic front views of the rear subframe of the wheelchair, shown, respectively, in the raised position for the travel of the wheelchair on level ground and in the lowered position for the travel of the wheelchair on stairs;
  • Figs 4 and 4a are schematic side views of the rear subframe of the wheelchair in the conditions shown in Figures 3 and 3a;
  • Figs 5 and 5a are lateral views in partial section of one of the telescopic legs which carry the front wheels of the wheelchair, the leg being shown, respectively, in the retracted position for the travel of the wheelchair on level ground and in the extended position for the travel of the wheelchair along stairs;
  • Figs 6 and 6a are side views in partial section of a variant construction of the telescopic legs of Figures 5 and 5a;
  • Figs 7 and 7a are side views in partial section of one of the telescopic legs with intermediate castors for enabling the wheelchair to travel along stairs, the said leg being shown, respectively, in the retracted idle position and in an extended operating position;
  • Figs 8, 9, 10, 11 , 12, 13, 14, 15, 16, 17, 18 and 19 are schematic side views of the wheelchair in corresponding successive stages of a cycle of descending a staircase.
  • the number 1 indicates a typical electric wheelchair, which is considered to be the "basic wheelchair” in this case, and which comprises a seat 101 , armrests 201 , a back 301 , and usually motorized rear wheels A with rubber- tyres, and front wheels B which also have rubber-tyres, which have a smaller diameter than that of the said wheels A and which are of the swivelling type, with or without controlled steering.
  • the wheelchair 1 is provided with the following means:
  • a rear subframe 2 which is horizontally movable and is provided with a pair of telescopic legs 202 which carry corresponding motorized castors C at their lower ends, these castors bearing on the ground jointly with, or alternately with, the motorized rear wheels A;
  • the rear subframe 2 which can be removable in order to limit the overall dimensions of the wheelchair during stowage or carriage in a motor vehicle, can be: a) fixed, for supporting only the two extendable legs which carry the castors C; b) movable vertically, where required, for passing over single steps of considerable height; c) movable horizontally for operation on small stairs with narrow treads or for the safe use of the wheelchair when travelling along stairs even if it has large- diameter motorized rear wheels A; d) movable both horizontally and vertically.
  • the subframe 2 is, for example, of rectangular shape, and its horizontal sides 102 are, for example, flat, while its vertical sides 202 are tubular and slidably house the corresponding bars 8 which carry at their lower ends the axle of the castors C, parallel to the axle of the motorized wheels A.
  • a vertical internally threaded tube 9 is rotatably mounted in the centre of the vertical subframe 2, this tube interacting with a screw 11 whose lower end is fixed to a cross-piece 10 fixed to the lower part of the said bars 8.
  • a reversible electric motor 12 is mounted on the lower cross-piece of the subframe 2, and is connected by means of a reduction transmission 13 to the female thread 9 in order to provide the necessary movement for raising and lowering the castors C.
  • the bars 8 are connected, by means of interposed forks 14, to the castors C, whose axle 15 is driven by an electric motor 16 which may have an external brake 17, the stator of these components 16 and 17 being fixed, for example, to the adjacent cross-piece 10.
  • tubes 18 are fixed to the rear of a frame behind the back 301 of the wheelchair, in a projecting horizontal configuration, and corresponding tubes 19 fixed to the corner areas of the subframe 2 slide on these four tubes. At least one or more of the said tubes can be threaded and some of them are rotatable and can be rotated in the desired direction by a motor 20 and by a corresponding transmission 21 , in order to provide the desired horizontal movement of the subframe 2 towards or away from the wheelchair, for the purposes described below.
  • the rear castors C are shown in broken lines in the low position K1 in which they are coplanar with the rear wheels A of the wheelchair and in the two positions of their minimum and maximum horizontal spacing from these wheels A, resulting from the operation of the motor 20 and of other means described below.
  • the centre-to-centre distance IA between the castors C and the driving wheels A is suitably greater than the radius of the latter wheels.
  • the rear castors C are shown in solid lines in the raised position, to which they are moved by the motor 12.
  • arrangements can be made to raise the rear castors C beyond the normal raised position K (for example, to the position K2 shown in chained lines), by an additional travel MVT.
  • This object can be achieved by suitably designing the path of the legs 202 for raising and lowering the said castors C, or can be achieved with means which are not shown, for example electrically or hydraulically operated means, which on command move a supplementary frame 22 carrying the aforesaid tubes 18 vertically along the back 301 of the wheelchair, the whole arrangement being provided in a way which is evident to persons skilled in the art and which is easily implemented by them.
  • All the motors can be of the stepping type, if this is convenient for the safe control of the operation of the wheelchair.
  • the brake is not considered necessary for the two drives of the male and female thread mechanisms described above, since these are of the non-reversing type.
  • the motorized drive of the rear driving wheels A can theoretically remain unchanged, with the corresponding motors, brake and batteries located in the space indicated schematically by 7. If the ordinary drive motors cannot provide fine control of the forward movement to the edge of the step, then either they are replaced or an additional stepping motor is installed for use solely for the movements on stairs. If the stepping motor cannot be fixed on the wheel axle, it is fixed to the frame of the wheelchair and transmits the movement to the wheels A by means of a belt or chain.
  • FIG 1 also shows that the front wheels B of the basic wheelchair are, as mentioned, of the swivelling or steering type, to allow better mobility of the vehicle in restricted spaces.
  • the front wheels B When the wheelchair has to climb or descend stairs, the front wheels B must be locked in a predetermined position, and therefore, if they are of the swivelling type, they are preferably locked in the forward travel position, by means of a locking device 4 which comprises, for example, a locking pin 104 which is operated, for example, by an electromagnet 204, mounted with the said locking pin, for example at the base of the legs 3.
  • the locking pin 104 is lowered to interact with a housing 23 provided on a support fork of the wheels B, as shown in Figures 1 , 5 and 5a.
  • the wheelchair Before commencing the ascent or descent of a staircase, which are carried out with the wheelchair in reverse or forward gear respectively, the wheelchair is moved forward slightly, in order to place the wheels B in the correct locked position, and the locking pins 104 are lowered by means of the corresponding electromagnets.
  • Figure 1 also shows that the telescopic legs 3 which carry the front wheels B must be able to transfer these wheels from the idle position indicated in solid lines to the position indicated in broken lines, and vice versa, by means of movements usually equal to the height of the step S between the wheels A and B.
  • the said legs 3 can be formed, for example, from cylinder and piston units of the type with a plurality of telescopic stems, as shown in detail in Figures 5 and 5a.
  • the wheel attachments may, for example, transmit the bending forces to the outer body 103 of the cylinder only, for example by means of a cup 24 which interacts with this body 103 as shown in Figure 5.
  • the support forks of the wheels B are mounted rotatably on the lower ends of the said casings 25 and of the legs 3, together with the aforesaid locking means 4.
  • the hydraulic cylinders which are used can be of the double-acting type, or of the single-acting plunger type, with a return movement provided by gravity or by the action of resilient means shown schematically at 26 in Figures 6 and 6a.
  • the legs 5 with the intermediate castors D must be capable of bringing the said castors, on command, from the raised idle position shown in solid lines in Figure 1 to the position of maximum extension shown in broken lines in Figure 1 , and vice versa, and the said legs must have small overall dimensions when in the retracted idle position, without projecting beyond the armrests 301.
  • the legs 5 are also made from multiple-extension hydraulic cylinders, as shown in detail in Figures 7 and 7a.
  • the cylinders 5 can be double-acting or single- acting, with the return movement provided by the action of gravity due to the load applied to them and with the discharge controlled by a modulated valve, or with the return movement provided by a resilient means shown schematically at 27 in Figures 7, 7a.
  • the legs 5 can be raised and lowered by other means which are not shown, which may be electrically or hydraulically operated and which can bring the castors D from the ground contact position to the raised idle position.
  • These vertical movement means can be associated with the subframe described below, if present, which enables the legs 5 to be moved horizontally to vary the centre-to-centre distance IB between the castors D and the front wheels B.
  • the intermediate castors D can be positioned at a fixed centre-to-centre distance from the said front wheels B, in order to avoid interference with these wheels when the said castors are in the raised idle position.
  • This centre-to-centre distance indicated by IB in Figure 1 , is suitably greater than the radius of the front wheels B.
  • the hydraulic cylinders which form the legs 3 and 5 can be controlled by a hydraulic control unit located in the space indicated by 6 in Figures 1 and 2, and the motors and valves of this control unit, such as the motors 12 and 20 and all the automatic systems of the parts described will be supplied from the electrical accumulators which are located in the space indicated by 7 and which also supply the electric motors and the normal components of the wheelchair.
  • a hydraulic control unit located in the space indicated by 6 in Figures 1 and 2
  • the motors and valves of this control unit such as the motors 12 and 20 and all the automatic systems of the parts described will be supplied from the electrical accumulators which are located in the space indicated by 7 and which also supply the electric motors and the normal components of the wheelchair.
  • the equipment according to the invention is completed by means, which are not shown in the drawings, since they can be readily understood and easily provided by persons skilled in the art, for ensuring the safe and fully automatic operation of the wheelchair, as described below.
  • the control system uses, for example, a computer unit which collects and processes the data received from a set of sensors and which operates the actuators.
  • the sensors comprise, for example: optoelectronic obstacle-detecting transducers, for example laser telemeters, mounted for example on the fixed part of the cylinder stems and/or on the frame of the wheelchair, above the wheels A, B, C and D; at least one biaxial inclinometer, mounted for example under the seat, on the electronic control unit; - limit switches for the various movements of the subframe 2 with the motorized rear castors C and for the upward and downward movements of the said castors C and of the intermediate castors D; a device for encoding or measuring the rotation of the axle of the castors C (and of the wheels A if necessary), if motors requiring this component are not used.
  • optoelectronic obstacle-detecting transducers for example laser telemeters, mounted for example on the fixed part of the cylinder stems and/or on the frame of the wheelchair, above the wheels A, B, C and D
  • at least one biaxial inclinometer mounted for example under the seat, on the electronic control unit
  • - limit switches for the various movements
  • Figure 8 and the subsequent figures show schematically the cycle of descending a staircase S with four steps having a rise of approximately 20 cm and a tread of approximately 20 cm.
  • Each of the wheels or axles carries out a cycle of its own which intersects with those of the other wheels and which, essentially, interrupts them and is interrupted by them for the time required for the corresponding operations. It should be noted that, in the descent, any projection of the steps, which frequently project beyond the risers, has no effect on the cycle or on any sensors and controls for the automatic control system.
  • the "stop" indications included in the description of the cycle are purely indicative of situations which require care. Stops can be avoided or reduced by using, for example, an advanced automation system.
  • Figure 8 shows how the wheelchair approaches the stairs with all the auxiliary castors C and D lowered and with the rear subframe 2 in the extended position, in other words with the maximum centre-to-centre distance IA between the rear wheels A and the corresponding castors C.
  • the legs 202 are raised slightly to detach the castors C from the ground, and the subframe 2 is moved horizontally to bring the said castors C above the step below, on which these castors are subsequently made to bear by the extension of the legs 202, as shown in Figure 17.
  • the subframe 2 is returned to the position of maximum horizontal extension, thus enabling the whole of the cycle described to be repeated, for both the front and the rear wheels, until the wheelchair reaches the lowest level of the staircase as shown in Figure 19.
  • the wheelchair bears on the ground with only the front wheels B and the rear wheels A, while the rear castors C and the intermediate castors D are raised to enable the wheelchair to proceed in the usual way.
  • the said means for providing the castors C with an additional travel can also be used in the movement of raising and lowering the rear castors C.
  • the cycle described with reference to Figures 8 to 19 suggests variant constructions which can easily be produced by persons skilled in the art, solely on the basis of the following considerations: a) the horizontal movement of the wheelchair during the climbing or descent of the stairs can be provided by the rotation of the rear castors C and/or by the horizontal movement of extension or retraction of the subframe 2, instead of by the driving wheels A; b) if the horizontal movement of the wheelchair according to the preceding sentence is provided by the horizontal movement of the extension or retraction of the subframe 2, then the auxiliary castors C can be replaced by feet; c) the legs 5 for the intermediate castors D can also be mounted on corresponding motorized subframes for horizontal movement, positioned on the sides of the wheelchair, and in this case the castors D can also be replaced by feet.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Handcart (AREA)

Abstract

Fauteuil roulant qui est doté de roues arrière motorisées (A) et de roues avant orientables ou mobiles (B), et qui comprend : des pieds télescopiques (202) situés dans la partie arrière du fauteuil roulant et dotés, à leurs extrémités inférieures, de moyens de support au sol (C), ces moyens de support étant positionnés à une distance centre-à-centre (IA) des roues arrière (A) du fauteuil roulant, qui est adéquatement supérieure au rayon de ces roues (A); des pieds télescopiques (5) situés de manière appropriée par rapport aux roues avant (B) du fauteuil roulant et dotés à leurs extrémités inférieures de moyens de support au sol (D); des pieds télescopiques (3) qui supportent les roues avant (B) du fauteuil roulant; et des moyens de sécurité et des moyens de commande assurant que, pendant le parcours le long des escaliers, les moyens de support desdits pieds arrière et intermédiaires (202, 5) sont tous étendus et reposent sur le sol, avec les roues avant et arrière du fauteuil roulant.
PCT/IB2008/050207 2007-01-23 2008-01-21 Equipement permettant à un fauteuil roulant motorisé de se déplacer de façon sûre, même sur des marches ou des volées d'escaliers WO2008090508A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITGE2007A000007 2007-01-23
ITGE20070007 ITGE20070007A1 (it) 2007-01-23 2007-01-23 Carrozzella saliscale: un sistema, applicabile in primis a carrozzella elettrica per invalidi motori, per salire e scendere rampe di scale anche di severa pendenza in stabilita' e sicurezza, mantenendo funzionalita' ed agilita' operative nell'uso nor

Publications (1)

Publication Number Publication Date
WO2008090508A1 true WO2008090508A1 (fr) 2008-07-31

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2008/050207 WO2008090508A1 (fr) 2007-01-23 2008-01-21 Equipement permettant à un fauteuil roulant motorisé de se déplacer de façon sûre, même sur des marches ou des volées d'escaliers

Country Status (2)

Country Link
IT (1) ITGE20070007A1 (fr)
WO (1) WO2008090508A1 (fr)

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2478340A (en) * 2010-03-05 2011-09-07 Joona Ltd Hand-propelled vehicle with resiliently mounted further wheel for cushioning
AT509655B1 (de) * 2010-03-18 2012-03-15 Fokam Fahrzeugzubehoer Gmbh Treppensteigmechanismus
ES2380465A1 (es) * 2009-02-13 2012-05-11 Luis Madueño Castro Silla de ruedas para disminuidos con dispositivo electro-mecanico, que permite subir y bajar escaleras y rampas.
US20120175172A1 (en) * 2011-01-10 2012-07-12 King Fahd University Of Petroleum And Minerals Stair climbing apparatus
CN102755229A (zh) * 2012-07-12 2012-10-31 北京工业大学 一种六足楼梯攀爬轮椅
JP2013078430A (ja) * 2011-10-03 2013-05-02 Nabtesco Corp 階段昇降機
EP2382953A3 (fr) * 2010-04-27 2013-10-09 Ulrich Alber GmbH Dispositif de montée de marches
CN104224465A (zh) * 2014-10-15 2014-12-24 安徽工程大学 一种可攀爬楼梯的轮椅
CN104582660A (zh) * 2012-06-04 2015-04-29 贝埃里·萨缪尔 能够使轮椅在阶梯上运动的装置及包括该装置的轮椅
CN104931013A (zh) * 2015-04-20 2015-09-23 东华大学 一种检测楼梯高度和深度的触角式探测装置及方法
WO2017168000A1 (fr) * 2016-04-01 2017-10-05 The Provost, Fellows, Foundation Scholars, And The Other Members Of Board, Of The College Of The Holy And Undivided Trinity Of Queen Elizabeth, Near Dublin Robot de franchissement d'obstacles
WO2017208200A1 (fr) * 2016-06-03 2017-12-07 Ludo Debergh Dispositif de passage de seuil pour fauteuils roulants
CN108309599A (zh) * 2018-02-01 2018-07-24 安徽工程大学 爬楼轮椅
CN108721006A (zh) * 2018-06-21 2018-11-02 天津师范大学 一种蠕动式爬楼装置及其爬楼方法
ES2902099A1 (es) * 2020-09-24 2022-03-24 Mas Narciso Rojas Silla de ruedas electrica
CN117357347A (zh) * 2023-10-30 2024-01-09 武汉科技大学 一种可自动上下楼梯一体式轮椅
WO2024221845A1 (fr) * 2023-04-25 2024-10-31 腾讯科技（深圳）有限公司 Robot mobile et son procédé de commande

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3592282A (en) * 1969-09-12 1971-07-13 Robert L Soileau Stair-traversing wheelchair apparatus
DE3422255A1 (de) * 1984-06-15 1985-12-19 Norbert 3410 Northeim Geisler Fahrwerk fuer einen rollstuhl
US5579857A (en) * 1993-06-04 1996-12-03 Kabushiki Kaisha Daikin Seisakusho Stair climbing vehicle
WO2001053137A1 (fr) * 2000-01-17 2001-07-26 Elsteel Danmark A/S Dispositif de transport et procede permettant de commande un dispositif de transport
US20060151218A1 (en) * 2005-01-10 2006-07-13 Michael Goren Stair-climbing human transporter

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3592282A (en) * 1969-09-12 1971-07-13 Robert L Soileau Stair-traversing wheelchair apparatus
DE3422255A1 (de) * 1984-06-15 1985-12-19 Norbert 3410 Northeim Geisler Fahrwerk fuer einen rollstuhl
US5579857A (en) * 1993-06-04 1996-12-03 Kabushiki Kaisha Daikin Seisakusho Stair climbing vehicle
WO2001053137A1 (fr) * 2000-01-17 2001-07-26 Elsteel Danmark A/S Dispositif de transport et procede permettant de commande un dispositif de transport
US20060151218A1 (en) * 2005-01-10 2006-07-13 Michael Goren Stair-climbing human transporter

Cited By (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2380465A1 (es) * 2009-02-13 2012-05-11 Luis Madueño Castro Silla de ruedas para disminuidos con dispositivo electro-mecanico, que permite subir y bajar escaleras y rampas.
GB2478340B (en) * 2010-03-05 2012-11-14 Joona Ltd Hand-propelled vehicle
GB2478340A (en) * 2010-03-05 2011-09-07 Joona Ltd Hand-propelled vehicle with resiliently mounted further wheel for cushioning
AT509655B1 (de) * 2010-03-18 2012-03-15 Fokam Fahrzeugzubehoer Gmbh Treppensteigmechanismus
EP2382953A3 (fr) * 2010-04-27 2013-10-09 Ulrich Alber GmbH Dispositif de montée de marches
US20120175172A1 (en) * 2011-01-10 2012-07-12 King Fahd University Of Petroleum And Minerals Stair climbing apparatus
US8418787B2 (en) * 2011-01-10 2013-04-16 King Fahd University Of Petroleum And Minerals Stair climbing apparatus
US20130180787A1 (en) * 2011-01-10 2013-07-18 King Fahd University Of Petroleum And Minerals Stair-climbing apparatus
US8596388B2 (en) * 2011-01-10 2013-12-03 King Fahd University Of Petroleum And Minerals Stair-climbing apparatus
US8776917B2 (en) 2011-01-10 2014-07-15 King Fahd University Of Petroleum And Minerals Stair-climbing apparatus
JP2013078430A (ja) * 2011-10-03 2013-05-02 Nabtesco Corp 階段昇降機
CN104582660B (zh) * 2012-06-04 2018-06-12 贝埃里·萨缪尔 能够使轮椅在阶梯上运动的装置及包括该装置的轮椅
EP2854738A4 (fr) * 2012-06-04 2016-07-20 Shmuel Beeri Dispositifs permettant le déplacement d'un fauteuil roulant sur des escaliers et fauteuil roulant comprenant ces dispositifs
CN104582660A (zh) * 2012-06-04 2015-04-29 贝埃里·萨缪尔 能够使轮椅在阶梯上运动的装置及包括该装置的轮椅
CN102755229A (zh) * 2012-07-12 2012-10-31 北京工业大学 一种六足楼梯攀爬轮椅
CN104224465A (zh) * 2014-10-15 2014-12-24 安徽工程大学 一种可攀爬楼梯的轮椅
CN104931013A (zh) * 2015-04-20 2015-09-23 东华大学 一种检测楼梯高度和深度的触角式探测装置及方法
WO2017168000A1 (fr) * 2016-04-01 2017-10-05 The Provost, Fellows, Foundation Scholars, And The Other Members Of Board, Of The College Of The Holy And Undivided Trinity Of Queen Elizabeth, Near Dublin Robot de franchissement d'obstacles
US11312436B2 (en) 2016-04-01 2022-04-26 The Provost, Fellows, Foundation Scholars, And The Other Members Of Board, Of Thf College Of The Holy And Undivided Trinity Of Queen Elizabeth, Near Dublin Obstacle crossing robot
WO2017208200A1 (fr) * 2016-06-03 2017-12-07 Ludo Debergh Dispositif de passage de seuil pour fauteuils roulants
BE1024258B1 (nl) * 2016-06-03 2018-01-15 Ludo Debergh Drempel overwinnaar voor Rolstoelen waarbij het mogelijk wordt dat een rolstoelgebruiker autonoom met zijn rolstoel hindernis drempels kan overwinnen
CN108309599A (zh) * 2018-02-01 2018-07-24 安徽工程大学 爬楼轮椅
CN108309599B (zh) * 2018-02-01 2023-04-25 安徽工程大学 爬楼轮椅
CN108721006A (zh) * 2018-06-21 2018-11-02 天津师范大学 一种蠕动式爬楼装置及其爬楼方法
ES2902099A1 (es) * 2020-09-24 2022-03-24 Mas Narciso Rojas Silla de ruedas electrica
WO2024221845A1 (fr) * 2023-04-25 2024-10-31 腾讯科技（深圳）有限公司 Robot mobile et son procédé de commande
CN117357347A (zh) * 2023-10-30 2024-01-09 武汉科技大学 一种可自动上下楼梯一体式轮椅
CN117357347B (zh) * 2023-10-30 2024-04-26 武汉科技大学 一种可自动上下楼梯一体式轮椅

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