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WO2010109466A1 - Fauteuil roulant - Google Patents

Fauteuil roulant Download PDF

Info

Publication number
WO2010109466A1
WO2010109466A1 PCT/IL2010/000250 IL2010000250W WO2010109466A1 WO 2010109466 A1 WO2010109466 A1 WO 2010109466A1 IL 2010000250 W IL2010000250 W IL 2010000250W WO 2010109466 A1 WO2010109466 A1 WO 2010109466A1
Authority
WO
WIPO (PCT)
Prior art keywords
assembly
platform
carrier assembly
guiding member
mobility
Prior art date
Application number
PCT/IL2010/000250
Other languages
English (en)
Inventor
Avishay Novoplanski
Original Assignee
Galileo Mobility Instruments Ltd.
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 Galileo Mobility Instruments Ltd. filed Critical Galileo Mobility Instruments Ltd.
Publication of WO2010109466A1 publication Critical patent/WO2010109466A1/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
    • A61G5/10—Parts, details or accessories
    • A61G5/1056—Arrangements for adjusting the seat
    • A61G5/1059—Arrangements for adjusting the seat adjusting the height of the seat
    • 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
    • A61G5/10—Parts, details or accessories
    • A61G5/1056—Arrangements for adjusting the seat
    • A61G5/107—Arrangements for adjusting the seat positioning the whole seat forward or rearward
    • 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
    • A61G5/10—Parts, details or accessories
    • A61G5/1056—Arrangements for adjusting the seat
    • A61G5/1075—Arrangements for adjusting the seat tilting the whole seat backwards
    • 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
    • A61G5/10—Parts, details or accessories
    • A61G5/14—Standing-up or sitting-down aids
    • 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
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/40—General characteristics of devices characterised by sensor means for distance
    • 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
    • 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
    • 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
    • A61G5/10—Parts, details or accessories
    • A61G5/1056—Arrangements for adjusting the seat
    • A61G5/1067—Arrangements for adjusting the seat adjusting the backrest relative to the seat portion

Definitions

  • This invention is generally in the field of movable platforms such as wheelchairs, and relates to a wheelchair (or generally platform), which may be powered or not, and is capable of adjusting multiple positions of a patient.
  • Wheelchairs enabling multiple positions of a patient are generally of two types: powered (either fully- or semi-automatic) and manual.
  • powered either fully- or semi-automatic
  • manual Various mechanisms have been developed for moving a seat surface up and down and for rotating with respect to the ground plane.
  • Powered wheelchairs typically utilize electric motors for implement such movements.
  • a movable platform comprising:
  • the platform may be configured as a wheelchair, in which case the carrier assembly comprises a seat surface and a back support surface, which are preferably pivotal one with respect to the other.
  • the carrier assembly may also include a leg support unit, e.g. pivotally coupled to the seat surface.
  • the coupling system is preferably configured and operable for adjusting a relative position of the center of mass (center of gravity) of the carrier assembly while carrying a patient during said movements.
  • the coupling system comprises a housing containing a driving mechanism configured and operable for effecting these movements and possibly also some electronic controller(s).
  • control box may be attached to the guiding member and be pivotal, together with the guiding member, about the mobility assembly.
  • the control box and the guiding member may be mounted such that a pivotal axis thereof coincides with a rotational axis of the mobility assembly, or is spaced-apart from and parallel to a rotational axis of the mobility assembly.
  • the guiding member is a variable length, e.g. has a telescopic mechanism allowing for extending and shortening a path of the linear movement of the slider.
  • the multiple positions achievable by the wheelchair of the invention comprise inter alia a position of the back support substantially parallel to the seat surface, including substantially vertical and horizontal positions of the seat surface and back support.
  • the platform is a powered one (fully automatic or semi-automatic), in which case the driving mechanism of the control box preferably comprises a hydraulic drive.
  • the mobility assembly is configured to enable the platform movement along a tilted surface.
  • the mobility assembly has an appropriate mechanism for adjusting the platform orientation to move up or down along the tilted surface, e.g. that defined by a stairway. This may for example utilize a mechanism disclosed in US 7,334,850 and US 6,422,576 both assigned to the assignee of the present application and incorporated herein by reference.
  • the coupling system is operable for adjusting a relative position of the center of mass of the carrier (seat) assembly in accordance with an orientation of the tilted surface.
  • a sensing system for sensing the mobility assembly orientation with respect to the tilted surface, for example utilizing one or more inertial optical, infra red, acoustic (ultra sonic),mechanical (e.g. a sensor operable to detect a shift of balance of the main wheel caused by the mobility assembly interaction with the tilted surface), or other sensors.
  • FIG. IA is schematic illustration of an example of a movable platform according to the invention
  • Fig. IB exemplifies the movable platform of Fig. 1 modified into a wheelchair
  • Figs. 2A and 2B show the wheelchair of the present invention in upright sitting position where the slider assembly is in, respectively, a vertical position and an intermediate position (between horizontal and vertical positions);
  • Figs. 3A to 3C show three examples of the wheelchair while being adjusted for movement along a tilted surface or staircase;
  • Figs. 4A and 4B show the wheelchair operation to bring the carrier assembly to the uppermost and lowermost positions respectively;
  • Figs. 5A and 5B exemplify the wheelchair in its standing and laying positions of the carrier assembly
  • Fig. 6 exemplifies more specifically the powered configuration of the wheelchair using a coupling system having a control box (containing a power pack and control unit) controlling the above movements of the carrier assembly.
  • Fig. IA is a schematic illustration of a side view of a movable platform 10 according to an example of the present invention.
  • the platform is configured as a wheel chair, but it should be understood that the invention is not limited to this specific application.
  • the movable platform 10 includes a carrier assembly 11, a mobility assembly 12, and a coupling system 14.
  • the mobility assembly 12 may be of any suitable type including for example a track device, legged (e.g. walking) device, wheel assembly or any combination of such devices.
  • the mobility assembly 12 includes wheel assembly comprising two main wheels (only one such main wheel Wl being seen is the figure) and two auxiliary wheels (only one of them W2 is shown) mounted on a frame F.
  • the two main wheels are configured to revolve about their symmetry (revolution) axes: axis Xl is the revolution axis of main wheel Wl and is preferably the common revolution axis for both of the main wheels.
  • the wheel assembly 12 may comprise less than four wheels.
  • the frame F is pivotally connected to the coupling system 14 through a pivot Pl providing for a rotation of the coupling system 14 with respect to the frame F about an axis that is substantially parallel to the main wheels' revolution axes Xl.
  • the pivot Pl is mounted on the main wheel revolution axis Xl.
  • such a configuration is not essential and it is possible and in some cases preferable that the pivot Pl is spaced apart from the revolution axis Xl. This might optimize adjustment of the center of mass (balance) of the wheelchair at its various positions as these are exemplified below.
  • separation between the pivot Pl and wheel revolution axis Xl is adjustable manually or motorized mechanically.
  • the carrier assembly 11 is pivotally attached to the coupling system 14 via a pivot P2.
  • the coupling system 14 includes a slider assembly 17 having a guiding member (e.g. guiding rail) 16 and a slider 18 mounted thereon for linear movement (e.g. sliding) along the axis of the guiding rail.
  • a load L shown in the figure by dashed lines, which has a housing containing a driving mechanism and/or power pack and/or control electronics.
  • Rail 16 is mounted for pivotal movement with respect to the mobility assembly 12. In the present example, this is implemented by mounting the rail 16 on the pivot connection Pl.
  • Slider 18 is mounted on pivot connection P2 providing pivotal movement of the carrier assembly 11 relative to the rail (generally, to the coupling system 14). It should be understood that the rail 16 and the slider 18 can be mounted directly on their respective pivot connection or indirectly (e.g. through an intermediary connecting frame attached to the respective pivot connection).
  • the slider assembly 17 provides for a linear displacement between slider 18 along the rail 16 and accordingly between the carrier assembly 11 and the mobility assembly 12.
  • Carrier and mobility assemblies 11 and 12 are connected (directly or indirectly) to the slider assembly through pivot connections P2 and Pl.
  • one part (slider 18 or rail 16) of the slider assembly 17 is connected to the carrier assembly through a pivot connection and the other part is connected to mobility assembly.
  • rail 16 is connected to carrier assembly 11 and slider 18 is connected to mobility assembly 12.
  • the carrier assembly 11 is pivotally attached to the coupling system 14 via a pivot P2.
  • the coupling system 14 includes a slider assembly 17 having a guiding rail 16 and a slider 18 mounted thereon for linear movement (e.g. sliding) along the axis of the guiding rail.
  • Rail 16 is mounted for pivotal movement with respect to the mobility assembly 12. In the present example, this is implemented by mounting the rail 16 on the pivot connection Pl.
  • Slider 18 is mounted on pivot connection P2 providing pivotal movement of the carrier assembly 11 relative to the rail (generally, to the coupling system 14). It should be understood that the rail 16 and the slider 18 can be mounted directly on their respective pivot connection or indirectly (e.g. through an intermediary connecting frame attached to the respective pivot connection).
  • the slider assembly 17 provides for a linear displacement between slider 18 along the rail 16 and accordingly between the carrier assembly 11 and the mobility assembly 12.
  • Carrier and mobility assemblies 11 and 12 are connected (directly or indirectly) to the slider assembly through pivot connections P2 and Pl.
  • one part (slider 18 or rail 16) of the slider assembly 17 is connected to the carrier assembly through a pivot connection and the other part is connected to mobility assembly.
  • rail 16 is connected to carrier assembly 11 and slider 18 is connected to mobility assembly 12.
  • the mobility assembly 12 and the carrier assembly 11 are thus interconnected with one another through the coupling system 14 which enables relative movements of three degrees of freedom between them: rotational movements about pivot connections Pl and P2 and a linear movement along the axis of the slider assembly. These relative movements enable multiple positions of the carrier assembly 11 with respect to the mobility assembly 12 and with respect to the ground plane G.
  • the above movements can be executed automatic or semi-automatic using a powered design of the movable platform or manually.
  • the platform utilizing the invention may be of any suitable kind, e.g. the so- called "walk behind" design (controlled by handles 31), robotic system, etc.
  • Fig. IB there is illustrated a wheelchair configured constituting a movable platform, which in this example is configured generally similar to the platform exemplified with respect to Fig. IA.
  • the same reference numbers are used for identifying components that are common in all the examples of the invention.
  • the carrier assembly 11 is designed for supporting a patient in a manner allowing his multiple positions.
  • Carrier assembly thus has a seat HA and a back support HB.
  • carrier assembly of Fig. IA can be detached from the slider assembly and replaced by seat-and-back support assembly of Fig. IB, or alternatively, carrier assembly of Fig. IA can present the seat HA of Fig. IB and the back support HB can be appropriately attached thereto.
  • carrier assembly 11 is pivotally attached to the coupling system 14 via a pivot P2, which in the present example is optionally located on seat HA.
  • Seat HA and back support HB are in turn pivotally connected to one another through a pivot connection P3.
  • the pivot axis of the pivot connection P3 coincides with the pivot axis of the pivot connection P2.
  • the carrier assembly 11 may further include leg support(s) HC which may be rigidly or pivotally connected to the seat HA.
  • leg support HC is pivotally connected to the seat HA by a pivot connection P4 which provides various positions of the legs with respect to the seat (e.g. about
  • pivots P3 and P4 provide for a variety of the carrier assembly 11 positions: upright sitting (an angle of about 90° degrees between the seat HA and the back support HB and an angle of about 90° degrees between the seat HA and the leg support HC), a laying/standing position (an angle of about 180° between the seat HA and the back support HB and an angle of about 180° between the seat HA and the leg support HC), and intermediate positions.
  • the coupling system 14 includes a slider assembly 17 formed by a guiding rail 16 and a slider 18 mounted for linear movement along the axis of the guiding rail.
  • Rail 16 is mounted for pivotal movement with respect to the mobility assembly 12, e.g. by mounting the rail 16 on the pivot connection Pl.
  • Slider 18 is mounted on pivot connection P2 providing pivotal movement of the seat assembly H relative to coupling system 14.
  • the mobility assembly 12 and the seat assembly H are interconnected with one another through the coupling system 14 which enables relative movements of three degrees of freedom between them.
  • the wheelchair might be configured for an upright sitting position, while the slider assembly (the rail 16) is in the horizontal (or near horizontal) position (as shown for example in Fig. 1) or is in a substantially vertical position as shown in Fig. 2A.
  • the transition between vertical and horizontal positions of the slider assembly 17 can be achieved while maintaining the upright sitting position of the carrier assembly 11, as shown in Fig. 2B illustrating an intermediate state between horizontal and vertical positions of the slider assembly.
  • Bringing the slider assembly to the horizontal or intermediate (between vertical and horizontal) positions enables to utilize the linear displacement movement of the seat assembly slider to shift the horizontal position of the carrier assembly 11 towards a front side FS or a rear side RS of the wheelchair 10.
  • a change in the position of the center of mass of the wheelchair 10 (occupied or not) with respect to the wheels is effected.
  • This may be achieved by utilizing the slider assembly to shift the seat assembly 11 towards the rear side RS when the chair is in a descent direction or towards the front side FS when the chair is an ascent direction of a slope.
  • Fig. 3A shows how the slider assembly is positioned to shift the carrier assembly 11 towards the rear side RS of the wheelchair 10 when the wheelchair 10 is in a descent direction of a slope Sl (tilted surface).
  • the slider assembly may be configured for varying the length of the slider path along the rail.
  • a telescopic slider assembly 17 is used, allowing extension of the rail, shown in the figure in dashed lines.
  • slider 18 is capable of extraction beyond the length of the guiding rail 16 thereby providing extended range of linear movement of the slider assembly 17.
  • Fig. 3B shows the slider assembly position when shifting the carrier assembly 11 towards the front side FS when the wheelchair 10 is in an ascent direction of a slope S2.
  • Fig. 3C shows more specifically an example where ascending slope S2 is constituted by a non-planar path (a stairway) and accordingly the mobility assembly 12 is of the type capable of traversing such non-planar surface.
  • the mobility assembly 12 utilizes a traction system configured for upstairs/downstairs movement.
  • traction system is disclosed for example in US 7,334,850 and US 6,422,576 both assigned to the assignee of the present application and incorporated herein by reference.
  • a traction system for a vehicle has a support frame that defines a circular track belt support that is revolvable about an axis at its center, a flexible track belt; and a track belt stretching assembly comprising one or more track belt stretching rollers.
  • the traction system includes a flexible traction belt which is held on a support track forming a substantially circular, wheel-like traction surface, and which can change to a stretching state in which rollers engage the belt and stretch it from its circular state to a stretched state to define one or more other traction configurations of the system.
  • the mobility assembly of the wheelchair may include rollers associated with the main wheel and may be operable for selective controllable shifting between a normally circular shape of the main wheel and non-circular shapes thereof.
  • the mobility assembly when with the non-circular shape of the main wheel, allow the wheelchair movement along a tilted surface.
  • Fig. 4A showing that by placing the slider assembly in a vertical or intermediate position the linear displacement movement of the carrier assembly can be utilized in order to adjust the height of the carrier assembly with respect to the mobility assembly and accordingly with respect to the ground plane.
  • This enables an elevated position of the carrier assembly, where the slider assembly is extended upwards while maintaining the carrier assembly vertically above the mobility assembly 12 thus maintaining a required position of the wheelchair (e.g. control the position of the center of mass).
  • the slider assembly may utilize a telescopic mechanism thus extending the length of the rail and accordingly increasing the possible path of the seat assembly in its linear movement.
  • the rail 16 has two joints 16A and 16B that are shown in their extracted state providing for about twice the linear displacement that can be provided by a non telescopic slider assembly and rail of the same length.
  • Fig. 4B shows the wheel chair 10 in its lowermost position while the slider assembly is substantially vertical and the carrier assembly 11 is lowered to enable a patient sitting on the chair to reach the floor.
  • a stable position of the wheelchair 10 is maintained by keeping the center of mass of the wheelchair 10 (occupied or not) above the base of the wheelchair 10.
  • the legs support HC may be rotated to be positioned with an angle of 180 with respect to the seat HA.
  • Figs. 5A and 5B illustrate the standing and laying positions of the wheelchair 10 respectively. In both positions, as described above, angles of about 180 degrees are maintained between the seat HA and both the legs and back support (HC and HB) of the carrier assembly 11.
  • a standing position is achieved by rotating the slider assembly 17 to a substantially vertical direction.
  • the slider 18 linear displacement can be also adjusted to locate the leg supports adjacent to the ground.
  • the laying position is similar to the standing position shown in Fig. 5A but the slider assembly is rotated to a substantially horizontal direction and the linear displacement of the slider is adjusted to maintain the wheelchair's center of mass above its base.
  • Fig. 6 illustrates a powered wheelchair 10 according to the present invention.
  • the powered wheelchair includes an energy source unit 22 (which in the present example uses a battery pack), and a driving system 24.
  • the latter is connected to the energy source and includes one or more actuation units 26 (a single electric motor is used as the actuation unit 26 in the present example).
  • the driving system is configured for driving at least one of the main wheels of the wheelchair 10, for example by utilizing a transmission system 28 such as a gear and/or differential units.
  • the driving system 24 is adapted for actuating relative motions between the various elements of the wheelchair which are associated with at least some of the pivot connections Pl, P2, P3, P4 and the slider assembly.
  • the actuation of relative motions between the various elements of the wheelchair associated with the pivot connections Pl, P2, P3, P4 and with the slider assembly 17 is achieved by utilizing a hydraulic actuation system
  • the hydraulic actuation system includes hydraulic a pumping system 30 and hydraulic actuation elements Al, A2, A3, A4 and A5.
  • the hydraulic pumping system 30 is connected to the actuation unit 26 through the transmission system 28.
  • the transmission system 28 is configured to enable using the single actuation unit 26 for driving the wheels of the wheelchair and for driving the hydraulic pumping system 30 either simultaneously or at different times. It should also be understood the according to other embodiments of the present invention more than one, dedicated, actuation units can be used, such that at least one actuation unit is dedicated for actuation of at least one of the wheels of the wheelchair 10 and another one is dedicated for actuation of the hydraulic pumping system 30. In such configurations where multiple, dedicated, actuation units are used, a transmission system 28 might not be required or a much simpler transmission system can be used.
  • the hydraulic pumping system 30 is connected through pressure cables to the hydraulic actuation elements Al, A2, A3, A4 and A5 which are associated respectively with the pivot connections Pl, P2, P3, P4 and the slider assembly. This enables adjusting various positions of the wheelchair 10 as described above.
  • all or some of the actuation elements Al, A2, A3, A4 and A5 have electric actuators (electric motors) connected to the battery pack 22 and residing respectively in the vicinity of the pivot connection and/or slider assembly which are thereby actuated (directly or through proper transmission assemblies). In the case that no hydraulic actuators are used (e.g.
  • the hydraulic pumping system 30 may no longer be required and thus does not form a part of the driving system 24.
  • control box 20 such as the actuation unit 26, the hydraulic pump 30 and the transmission system 28 are accommodated within a control box 20.
  • the total mass of the control box 20 is of a considerable value with respect to the mass of the wheelchair itself and with respect to the mass of a patient sitting thereon. This enables to utilize the control box mass in order to provide improved balancing of the wheelchair when in its various positions.
  • the control box is displaceable with respect to the mobility assembly.
  • the control box is attached to the coupling system thus being an integral part thereof, and is rotatable together with the guiding rail. Turning back to Figs.
  • a control box 20 is shown there being attached to the coupling system 14 such that the slider assembly 17 is located in between the control box 20 and the seat assembly 11 (which is pivotally connected to the slider assembly).
  • the control box 20 In the position of the wheelchair 10 shown in Fig. 5B, the control box 20 is located relatively low near the base of the wheelchair thereby lowering the total center of mass of the wheelchair 10 and providing an improved stability of the chair in this position.
  • the massive control box 20 which is attached to one side of the slider assembly, counter acts the mass of the seat assembly (when occupied with a patient or not) which is connected through the pivot connection P2 to the opposite side of the slider assembly.
  • the location of the control box in these positions enables to shift the center of mass of the wheelchair towards a vertical position substantially above the center of the base of the chair to provide an optimal balancing/stability to the chair.
  • the mass of the control box might be further adjusted (e.g. by adding weights or redistributing the parts of the wheelchair that are accommodated therein) according to a patient weight in order to provide an optimally balanced wheelchair adapted for specific patient.
  • the massive control box 20 is fixed to the mobility assembly 12 to increase the mass of the mobility assembly thus enabling it to remain stable at the various positions of the wheelchair. This may also provide for a lower center of mass of the wheelchair.
  • the wheelchair is preferably equipped with a sensing system (not shown) for sensing the mobility assembly orientation with respect to the tilted surface.
  • a sensing system may include one or more optical, and/or ultrasonic, and/or mechanical, and/or inertial, and/or other sensors.
  • the mechanical sensor may be operable to detect a shift of balance of the main wheel caused by the mobility assembly interaction with the tilted surface.
  • seat shifting and control mechanism with an appropriate sensor acts as a stabilizer mechanism to allow climb and descent stairs and or slopes.

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  • 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

La présente invention concerne une plate-forme mobile telle qu'un fauteuil roulant. La plate-forme comprend un ensemble de mobilité, un ensemble porteur, et un système de couplage pour coupler et ajuster l'ensemble porteur à l'ensemble de mobilité. Le système de couplage comprend : un élément de guidage doté d'un axe et monté de façon à pouvoir effectuer un mouvement de pivot autour de l'ensemble de mobilité ; et un coulisseau fixé à l'ensemble porteur, et monté sur ledit élément de guidage de façon à pouvoir effectuer un mouvement linéaire le long dudit axe de l'élément de guidage. La fixation entre le coulisseau et l'ensemble porteur permet leur déplacement relatif de pivotement. Ce mouvement de pivotement de l'élément de guidage par rapport à l'ensemble de mobilité ainsi que le mouvement coulissant de l'ensemble porteur le long de l'élément de guidage permettent maintes positions relatives de l'ensemble porteur, incluant le soulèvement et l'abaissement de l'ensemble porteur.
PCT/IL2010/000250 2009-03-24 2010-03-24 Fauteuil roulant WO2010109466A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US16273609P 2009-03-24 2009-03-24
US61/162,736 2009-03-24

Publications (1)

Publication Number Publication Date
WO2010109466A1 true WO2010109466A1 (fr) 2010-09-30

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015029005A1 (fr) * 2013-08-28 2015-03-05 Amit Goffer Fauteuil roulant vertical
CN105213119A (zh) * 2015-09-30 2016-01-06 河南科技大学 一种爬楼轮椅
WO2016001451A1 (fr) * 2014-07-04 2016-01-07 Universite De Versailles Saint-Quentin-En-Yvelines Vehicule comprenant un fauteuil articule comprenant un mecanisme de verticalisation
CN105832472A (zh) * 2016-03-14 2016-08-10 张学海 电动轮椅
WO2018096175A1 (fr) * 2016-11-28 2018-05-31 Universite De Versailles Saint-Quentin-En-Yvelines Véhicule à gyropode
DE102013000724B4 (de) * 2013-01-17 2018-06-21 Bruno Walter Geländegängiger Rollstuhl
EP3598959A1 (fr) * 2018-07-27 2020-01-29 Scewo AG Véhicule gyropode
WO2023152533A1 (fr) * 2022-02-08 2023-08-17 Bui Chanh Nhon Véhicule à auto-équilibrage transversal

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2517418A1 (de) * 1975-04-19 1976-11-04 Wienand Rollstuhl
WO2003029070A1 (fr) * 2001-10-03 2003-04-10 Galileo Mobility Instruments Ltd. Systeme de traction adaptable d'un vehicule
EP1997466A2 (fr) * 2007-05-29 2008-12-03 Vassilli s.r.l. Fauteuil roulant à mise en position debout simplifiée

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2517418A1 (de) * 1975-04-19 1976-11-04 Wienand Rollstuhl
WO2003029070A1 (fr) * 2001-10-03 2003-04-10 Galileo Mobility Instruments Ltd. Systeme de traction adaptable d'un vehicule
EP1997466A2 (fr) * 2007-05-29 2008-12-03 Vassilli s.r.l. Fauteuil roulant à mise en position debout simplifiée

Cited By (17)

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WO2015029005A1 (fr) * 2013-08-28 2015-03-05 Amit Goffer Fauteuil roulant vertical
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JP2016530013A (ja) * 2013-08-28 2016-09-29 アップンライド ロボティクス リミテッド 起立式車椅子
CN105916478A (zh) * 2013-08-28 2016-08-31 阿普恩莱德机器人技术有限公司 站立式轮椅
FR3023160A1 (fr) * 2014-07-04 2016-01-08 Univ Versailles Saint Quentin En Yvelines Fauteuil articule comprenant un mecanisme de verticalisation pour un vehicule roulant.
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