[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

WO2021047686A1 - 医用助行器行走安全保护系统 - Google Patents

医用助行器行走安全保护系统 Download PDF

Info

Publication number
WO2021047686A1
WO2021047686A1 PCT/CN2020/127463 CN2020127463W WO2021047686A1 WO 2021047686 A1 WO2021047686 A1 WO 2021047686A1 CN 2020127463 W CN2020127463 W CN 2020127463W WO 2021047686 A1 WO2021047686 A1 WO 2021047686A1
Authority
WO
WIPO (PCT)
Prior art keywords
walking
medical
angle
protection system
slope
Prior art date
Application number
PCT/CN2020/127463
Other languages
English (en)
French (fr)
Inventor
杨宏宇
缪丰东
Original Assignee
江苏美安医药股份有限公司
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 江苏美安医药股份有限公司 filed Critical 江苏美安医药股份有限公司
Publication of WO2021047686A1 publication Critical patent/WO2021047686A1/zh

Links

Images

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

Definitions

  • the invention relates to the technical field of walking aids, in particular to a walking safety protection system for medical walking aids.
  • Medical walking aids are suitable for a series of walking motion-related motions to support disabled users with mobility impairments.
  • the above-mentioned walking aids can be used in different hospitals or different medical institutions.
  • the above medical walker can walk smoothly on level roads, but when the medical walker walks on a sloped road, especially when the slope exceeds 3 degrees, the center of gravity of the medical walker changes relative to the position of the walker. It may become unstable in walking, which may cause medical accidents such as falls.
  • the present invention provides a walking safety protection system for a medical walker.
  • the medical walker When the medical walker encounters a slope while walking, the medical walker will determine whether it is safe to walk according to its own detection, thereby judging whether to continue walking or stop. Safely protect medical walking aids and users to avoid medical accidents.
  • the present invention is a medical walking aid walking safety protection system applied to a medical walking aid, including:
  • the pressure sensor is installed on the two foot boards of the medical walking aid, such as on the bottom surface of the foot board. When any footboard touches the ground, the corresponding pressure sensor generates a pressure signal of the footboard on the road surface;
  • the angle sensor is installed on the two calves of the medical walking aid, such as installed in the middle of the calf and connected to the pressure sensor on the same side.
  • the angle sensor that receives the pressure signal measures the angle of the slope of the road and will measure it The value is sent to the central control processor;
  • the central control processor is connected with the angle sensor, and compares the received measurement value with the slope safety angle allowable value. If the measured value is not greater than the slope safety angle allowable value, continue walking. If the measured value is greater than the slope safety angle allowable value, Then stop walking.
  • the working principle of the present invention is: the user adjusts the use height according to his own height, stands on the medical walker, opens the walking safety protection system of the medical walker, and the system automatically saves the slope safety angle allowable value.
  • the pressure sensor on the footboard on the road When the medical walking aid is walking, when the previously lifted footboard steps on the road, the pressure sensor on the footboard on the road generates the pressure signal of the footboard on the road surface, and sends the pressure signal to the angle sensor on the same side
  • the corresponding angle sensor measures the slope angle of the road surface according to the received pressure signal, and sends the measured value to the central control processor.
  • the central control processor compares the measured value with the allowable slope safety angle. When the measured value is When it is not greater than (less than or equal to) the allowable value of the slope safety angle, the central control processor issues an instruction to continue walking, and when the measured value is greater than the allowable value of the slope safety angle, the central control processor issues an instruction to stop walking.
  • Figure 1 is a schematic diagram of a walking safety protection system for a medical walking aid of the present invention
  • Figure 2 is a schematic diagram of the structure of a walking safety protection system for a medical walking aid of the present invention.
  • the present invention provides a medical walking aid walking safety protection system.
  • the medical walking aid will determine whether it is safe to walk according to its own detection, thereby determining whether to continue walking or stop, thereby Safely protect medical walking aids and users to avoid medical accidents.
  • the medical walking aid 10 includes:
  • the two foot boards are defined as the left foot board 8 and the right foot board 12 respectively.
  • the left foot board 8 or the right foot board 12 is in contact with the road surface.
  • the two lower legs are positioned as the left lower leg 9 and the right lower leg 11 respectively.
  • the walking safety protection system for medical walking aids mainly includes:
  • pressure sensor the pressure sensor is respectively installed on the footboard, and at least one pressure sensor is installed on each footboard.
  • the left footboard pressure sensor 1 is installed on the left footboard 8 and the right footboard pressure sensor 7 is installed on the right footboard 12.
  • Angle sensor the angle sensor is respectively installed on the lower leg, and at least one angle sensor is installed on each lower leg.
  • the left foot angle sensor 3 is installed on the left calf 9 and the right foot angle sensor 4 is installed on the right calf 11.
  • the left foot angle sensor 3 and the left footboard pressure sensor are located on the same side, that is, on the left side, and they are connected by the trigger signal transmission line 2.
  • the right foot angle sensor 4 and the right footboard pressure sensor 7 are on the same side, that is, on the right side, and both pass the trigger signal. Transmission line 2 is connected.
  • the central control processor 5 is installed on the control center of the medical walking aid.
  • the central control processor 5 is connected to the left foot angle sensor 3 and the right foot angle sensor 4 through the angle signal transmission line 6 respectively.
  • the left footboard pressure sensor 1 is installed on the left footboard 8
  • the left foot angle sensor 3 is installed on the left calf 9
  • the right footboard pressure sensor 7 is installed on the right footboard 12
  • the right foot angle sensor 4 is installed on the right calf. 11 on.
  • the left foot plate pressure sensor 1 corresponds to the left foot angle sensor 3, and the two are connected by a trigger signal transmission line 2.
  • the right foot plate pressure sensor 7 corresponds to the right foot angle sensor 4, and the two are connected by the trigger signal transmission line 2.
  • left foot angle sensor 3 and the right foot angle sensor 4 are respectively connected to the central control processor 5 by an angle signal transmission line 6.
  • the left foot board 8 (or right foot board 12) that is still in the raised state walks and touches the ground
  • its corresponding left foot board pressure sensor 1 (or right foot board pressure sensor 7) generates a foot board pair
  • the pressure signal of the road surface the pressure signal is transmitted to its corresponding left foot angle sensor 3 (or right foot angle sensor 4) through the trigger signal transmission line 2, and the corresponding left foot angle sensor 3 (or right foot angle sensor 4) is on the road surface
  • the slope angle is measured, and the measured value is transmitted to the central control processor 5 through the angle signal transmission line 6.
  • the central control processor 5 compares the measured value of the slope angle of the road surface with the allowable value of the slope safety angle, and continues walking according to the comparison result Or an instruction to stop walking.
  • the main purpose of the present invention is to add a medical walking aid walking safety protection system to the existing medical walking aids.
  • the medical walking aid walking safety protection system will automatically determine Whether it is in a safe state, that is, to determine whether the measured value of the slope is within the allowable value of slope safety, and then issue an instruction to continue walking or stop walking, so that the medical walking aid can always be used in a safe state to achieve the safety protection of the medical walking aid and The purpose of the user.
  • the walking safety protection system for medical walking aids can be applied to the medical walking aids invented and produced by Rex Bionics Co., Ltd. in Auckland, New Zealand.

Landscapes

  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

一种应用在医用助行器（10）上的医用助行器（10）行走安全保护系统，包括：压力传感器（1、7），安装在医用助行器（10）的两个脚板（8、12）上，当任一脚板（8、12）触地时，与其对应的压力传感器（1、7）生成脚板（8、12）对路面的压力信号；角度传感器（3、4），安装在医用助行器（10）的两个小腿（9、11）上并与同侧的压力传感器（1、7）连接，接收到压力信号的角度传感器（3、4）对路面的斜坡角度进行角度测量，并将测量值发送至中央控制处理器（5）；中央控制处理器（5），与角度传感器（3、4）连接，将接收到的测量值与斜坡安全角度允许值进行比较，若测量值不大于斜坡安全角度允许值，则继续行走，若测量值大于斜坡安全角度允许值，则停止行走。

Description

医用助行器行走安全保护系统 技术领域
本发明涉及助行器技术领域，具体涉及医用助行器行走安全保护系统。
背景技术
医用助行器，适用于一系列与行走运动相关的运动来支承行动障碍的残障用户，上述助行器可应用在不同的医院或不同的医疗机构中。
以上医用助行器，能够在水平路面上平稳行走，但当医用助行器行走在有斜坡路面时，特别是斜坡超过3度时，医用助行器重心相对助行器的作用位置发生变化，可能会变成行走不稳，容易造成摔倒等医疗事故。
发明内容
本发明提供一种医用助行器行走安全保护系统，当上述医用助行器行走遇到斜坡，医用助行器会根据自身的检测，判定行走是否安全，从而判断是否继续行走或是停止，从而安全保护医用助行器及使用者，避免发生医疗事故。
本发明发明一种应用在医用助行器上的医用助行器行走安全保护系统，包括：
压力传感器，安装在医用助行器的两个脚板上，如安装在脚板的底面上。当任一脚板触地时，与其对应的所述压力传感器生成脚板对路面的压力信号；
角度传感器，安装在医用助行器的两个小腿上，如安装在小腿的中部，并与同侧的压力传感器连接，接收到压力信号的角度传感器对路面的斜坡角度进行角度测量，并将测量值发送至中央控制处理器；
中央控制处理器，与角度传感器连接，将接收到的测量值与斜坡安全角度允许值进行比较，若测量值不大于斜坡安全角度允许值，则继续行走，若测量值大于斜坡安全角度允许值，则停止行走。
本发明的工作原理是：使用者根据自身身高，调节好使用高度，站到医用助行器上，打开医用助行器行走安全保护系统，该系统内部自行保存有斜坡安全角度允许值。
当医用助行器行走时，先前处于抬起的脚板踩到路面时，踩到路面上的脚板上的压力传感器生成该脚板对路面的压力信号，并将该压力信号发送至同侧的角度传感器上，对应的角度传感器根据接收到的压力信号对路面的斜坡角度进行测量，并把测量值发送至中央控制处理器，中央控制处理器将测量值与斜坡安全角度允许值进行对比，当测量值不大于(小于或等于)斜坡安全角度允许值时，中央控制处理器发出指令继续行走，当测量值大于斜坡安全角度允许值时，中央控制处理器发出指令停止行走。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图
图1为本发明一种医用助行器行走安全保护系统的原理图；
图2为本发明一种医用助行器行走安全保护系统的结构示意图。
具体实施方式
本发明提供一种医用助行器行走安全保护系统，当上述医用助行器行走遇到斜坡，医用助行器会根据自身的检测，判定行走是否安全，从而判断是否继续行走或是停止，从而安全保护医用助行器及使用者，避免发生医疗事故。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
如图2所示，医用助行器10包括：
(1)两个脚板，为了便于说明，两个脚板分别定义为左脚板8和右脚板12。在使用医用助行器10行走的过程中，左脚板8或右脚板12与路面接触。
(2)两个小腿，为了便于说明，两个小腿分别定位为左小腿9和右小腿11。
如图2所示，医用助行器行走安全保护系统主要包括：
(1)压力传感器，压力传感器分别安装在脚板上，每一个脚板上至少安装一个压力传感器。为了便于说明，设定左脚板8上安装左脚板压力传感器1，右脚板12上安装右脚板压力传感器7。
(2)角度传感器，角度传感器分别安装在小腿上，每一个小腿上至少安装一个角度传感器。为了便于说明，设定左小腿9上安装左脚角度传感器3，右小腿11上安装右脚角度传感器4。左脚角度传感器3和左脚板压力传感器位于同侧即左侧，两者通过触发信号传输线2连接；右脚角度传感器4和右脚板压力传感器7位于同侧即右侧，两者同样通过触发信号传输线2连接。
(3)中央控制处理器5，中央控制处理器5安装在医用助行器的控制中心上，中央控制处理5通过角度信号传输线6分别与左脚角度传感器3和右脚角度传感器4连接。
可以理解的是，左脚板压力传感器1安装在左脚板8上，左脚角度传感器3安装在左小腿9上，右脚板压力传感器7安装在右脚板12上，右脚角度传感器4安装在右小腿11上。
左脚板压力传感器1对应左脚角度传感器3，且两者用触发信号传输线2连接。同理，右脚板压力传感器7对应右脚角度传感器4，且两者用触发信号传输线2连接。
此外，左脚角度传感器3、右脚角度传感器4分别用角度信号传输线6和中央控制处理器5连接。
如图1所示，上述医用助行器行走安全保护系统的工作原理是：
在医用助行器行走过程中，当还处于抬起状态的左脚板8(或右脚板12)行走触地时，它相对应的左脚板压力传感器1(或右脚板压力传感器7)生成脚板对路面的压力信号，压力信号通过触发信号传输线2传输给它对应的左脚角度传感器3(或右脚角度传感器4)，所对应的左脚角度传感器3(或右脚角度传感器4)对路面的斜坡角度进行测量，并把测量值通过角度信号传输线6传输到中央控制处理器5，中央控制处理器5将路面的斜坡角度的测量值和斜坡安全角度允许值进行对比，根据对比结果作出继续行走或停止行走的指令。
通过上述描述可知，本发明主要目的是在现有医用助行器上增加医用助行器行走安全保护系统，当医用助行器行走遇到斜坡时，医用助行器行走安 全保护系统会自动判定是否处于安全状态，即判断斜坡的测量值是否在斜坡安全允许值内，从而发出继续行走或停止行走的指令，从而使医用助行器始终在安全状态下使用，达到安全保护医用助行器及使用者的目的。
医用助行器行走安全保护系统可以应用在新西兰奥克兰的雷克斯仿生学有限公司发明和生产的医用助行器上。
以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (4)

  1. 一种医用助行器行走安全保护系统，其特征在于，包括：
    压力传感器，安装在医用助行器的两个脚板上，当任一脚板触地时，与其对应的所述压力传感器生成脚板对路面的压力信号；
    角度传感器，安装在医用助行器的两个小腿上并与同侧的压力传感器连接，接收到压力信号的角度传感器对路面的斜坡角度进行角度测量，并将测量值发送至中央控制处理器；
    中央控制处理器，与角度传感器连接，将接收到的测量值与斜坡安全角度允许值进行比较，并发出指令停止行走或继续行走。
  2. 根据权利要求1所述的医用助兴器行走安全保护系统，其特征在于，若测量值不大于斜坡安全角度允许值，则继续行走，若测量值大于斜坡安全角度允许值，则停止行走。
  3. 根据权利要求1所述的医用助行器行走安全保护系统，其特征在于，角度传感器与同侧的压力传感器通过触发信号传输线连接。
  4. 根据权利要求1所述的医用助行器行走安全保护系统，其特征在于，角度传感器与中央控制处理器通过角度信号传输线连接。
PCT/CN2020/127463 2019-09-09 2020-11-09 医用助行器行走安全保护系统 WO2021047686A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910846155.X 2019-09-09
CN201910846155.XA CN110731881B (zh) 2019-09-09 2019-09-09 医用助行器行走安全保护系统

Publications (1)

Publication Number Publication Date
WO2021047686A1 true WO2021047686A1 (zh) 2021-03-18

Family

ID=69267508

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/127463 WO2021047686A1 (zh) 2019-09-09 2020-11-09 医用助行器行走安全保护系统

Country Status (2)

Country Link
CN (1) CN110731881B (zh)
WO (1) WO2021047686A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110731881B (zh) * 2019-09-09 2022-09-16 无锡美安雷克斯医疗机器人有限公司 医用助行器行走安全保护系统

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103860357A (zh) * 2014-02-25 2014-06-18 北京航空航天大学 一种适用于外骨骼辅助支撑机器人的具有踝关节参数测量的足部装置
CN104188675A (zh) * 2014-09-24 2014-12-10 哈尔滨工业大学 具有人体运动检测功能的外骨骼机器人系统及控制方法
CN105411813A (zh) * 2015-12-29 2016-03-23 华南理工大学 一种可穿戴仿生外骨骼机械腿康复装置
US9775727B2 (en) * 2013-09-26 2017-10-03 Samsung Electronics Co., Ltd. Wearable robots and control methods thereof
CN107998609A (zh) * 2018-01-04 2018-05-08 浙江大学城市学院 一种基于多传感器融合的辅助行走外骨骼机器人系统
CN108938337A (zh) * 2017-05-19 2018-12-07 南京拓步智能科技有限公司 一种足踝康复助力型外骨骼装置
CN109223461A (zh) * 2018-08-28 2019-01-18 国家康复辅具研究中心 智能助行器控制系统
CN110731881A (zh) * 2019-09-09 2020-01-31 江苏美安医药股份有限公司 医用助行器行走安全保护系统

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2231096B1 (en) * 2007-12-26 2013-04-03 Rex Bionics Limited Mobility aid
JP2010148637A (ja) * 2008-12-25 2010-07-08 Toyota Motor Corp 歩行補助装置
CN104523404B (zh) * 2009-07-01 2018-04-13 瑞克仿生学有限公司 助动器的控制系统
US20120101415A1 (en) * 2010-10-21 2012-04-26 Amit Goffer Locomotion assisting apparatus with integrated tilt sensor
CN105456000B (zh) * 2015-11-10 2018-09-14 华南理工大学 一种可穿戴仿生外骨骼机械腿康复装置的行走控制方法
US10624809B2 (en) * 2017-11-09 2020-04-21 Free Bionics Taiwan Inc. Exoskeleton robot and controlling method for exoskeleton robot
CN108379038B (zh) * 2018-01-15 2019-07-09 浙江大学 一种下肢康复外骨骼系统及其步行控制方法

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9775727B2 (en) * 2013-09-26 2017-10-03 Samsung Electronics Co., Ltd. Wearable robots and control methods thereof
CN103860357A (zh) * 2014-02-25 2014-06-18 北京航空航天大学 一种适用于外骨骼辅助支撑机器人的具有踝关节参数测量的足部装置
CN104188675A (zh) * 2014-09-24 2014-12-10 哈尔滨工业大学 具有人体运动检测功能的外骨骼机器人系统及控制方法
CN105411813A (zh) * 2015-12-29 2016-03-23 华南理工大学 一种可穿戴仿生外骨骼机械腿康复装置
CN108938337A (zh) * 2017-05-19 2018-12-07 南京拓步智能科技有限公司 一种足踝康复助力型外骨骼装置
CN107998609A (zh) * 2018-01-04 2018-05-08 浙江大学城市学院 一种基于多传感器融合的辅助行走外骨骼机器人系统
CN109223461A (zh) * 2018-08-28 2019-01-18 国家康复辅具研究中心 智能助行器控制系统
CN110731881A (zh) * 2019-09-09 2020-01-31 江苏美安医药股份有限公司 医用助行器行走安全保护系统

Also Published As

Publication number Publication date
CN110731881B (zh) 2022-09-16
CN110731881A (zh) 2020-01-31

Similar Documents

Publication Publication Date Title
Dickstein et al. Fingertip touch improves postural stability in patients with peripheral neuropathy
US7834770B2 (en) Bed apparatus having movable bedboard
US10276021B2 (en) Patient support apparatus having articulated mattress support deck with load sensors
US8381336B2 (en) Bed apparatus provided with bed-departure prediction and detection system
RU2014136777A (ru) Человеко-машинный интерфейс для ортопедических аппаратов нижних конечностей
WO2021047686A1 (zh) 医用助行器行走安全保护系统
KR101342009B1 (ko) 능동형 보행보조 및 기립보조기, 및 능동 보행보조 및 기립보조방법
KR101787557B1 (ko) 보행보조기를 이용한 보행자 넘어짐 판단방법
US20130296741A1 (en) Ankle-foot orthotic devices with integrated vibrotactile biofeedback and related methods
KR100929361B1 (ko) 자세 균형 재활 훈련용 보행보조기
WO2023035456A1 (zh) 基于助行器的防摔倒助行方法、系统和终端设备
KR101476889B1 (ko) 보행 보조 장치 및 그 구동 방법
GB2538445A (en) System for aiding a user to move
KR102269659B1 (ko) 무릎 보호대, 및 이를 이용한 IoT 기반의 질병 정보 예측 방법
TWI511715B (zh) 意向偵測與步態調整裝置及方法
US10254727B2 (en) Feedback control for a person support apparatus with a mattress replacement system and methods for automatically pausing a turn and hold operation
KR20180107015A (ko) 보행 보조기의 위험 상황 판단 방법 및 장치
TWI587843B (zh) Detection of lower extremity spasticity
JP2019535334A (ja) 歩行プロファイラシステムおよび方法
TWI657800B (zh) 步態分析方法與系統
KR101024084B1 (ko) 2인이 함께하는 균형 감각 재활 훈련기기
KR20160005816A (ko) 착용로봇의 보행의도감지시스템 및 그 제어방법
KR20220095769A (ko) 보행 보조기
US20240138709A1 (en) Care system monitoring method and care system
TW202123914A (zh) 感測型多功能拐杖

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20863008

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20863008

Country of ref document: EP

Kind code of ref document: A1