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    • 专利摘要:
    VERTICAL WHEELCHAIR Vertical wheelchair device includes a wheeled base to allow the device to move on a support surface. A set of belts includes a plurality of clamps for attaching to parts of a user's body of the device, at least some adjacent clamps being connected by joints. A base-mounted lifting unit supports a hip joint in the belt assembly and is configured to raise or lower the hip joint. When the user is attached to the belt assembly and is in a sitting position, lifting a height of the hip joint causes the user to assume a vertical position. When the user is attached to the belt assembly and is in an upright position, lowering the hip joint causes the user to assume a seated or reclined position.
    公开号:BR112016004254B1
    申请号:R112016004254-9
    申请日:2013-11-19
    公开日:2021-03-16
    发明作者:Amit Goffer
    申请人:Upnride Robotics Ltd；
    IPC主号:
    专利说明:

    FIELD OF THE INVENTION
    [001] The present invention relates to a vertical wheelchair. BACKGROUND OF THE INVENTION
    [002] At least six million people worldwide require long-term or permanent confinement in wheelchairs due to lower limb deficiencies. Lower limb deficiencies can be caused by conditions such as spinal cord injury (SCI), traumatic brain injury (TBI), stroke, cerebral palsy (CP), spina bifida, multiple sclerosis (MS), and others. Long-term confinement in a seated position in a wheelchair can cause or contribute to physiological or psychological deterioration. Such deterioration can result in health problems, poor quality of life, low self-esteem and high medical expenses. In addition, sitting in a wheelchair can negatively affect or inhibit social interaction with other people who are standing.
    [003] Wheelchairs have been described which allow a wheelchair user to stand. Various configurations of such described wheelchairs have been described for various purposes. Some allow the wheelchair user to stand during limited wheelchair movement. However, these described wheelchairs are optimized for movement when the user is seated. The stable movement of the wheelchair when the wheelchair user is standing can be limited, for example, in relatively slow motion on flat surfaces. SUMMARY OF THE INVENTION
    [004] Accordingly, according to some embodiments of the present invention, a device for vertical wheelchairs is provided, including: a base with wheels to allow the device to move on a support surface; a set of belts, including a plurality of clamps for attachment to parts of a device user's body, at least a few clamps adjacent to the clamps being connected by joints; and a lifting unit mounted on the base, supporting a hip joint of the belt assembly and configured to increase or decrease the hip joint in such a way that when the user is attached to the belt assembly and is in a sitting position, lifting the height of the hip joint causes the user to assume a standing position, and when the user is attached to the belt assembly and is in a standing position, lowering the hip joint causes the user to assume a sitting position or reclined.
    [005] In addition, according to some embodiments of the present invention, the wheeled base includes drive wheels that are operable by the user to cause the device to move on the support surface.
    [006] In addition, according to some embodiments of the present invention, the wheel base includes swiveling or steering wheels.
    [007] In addition, according to some modalities of the present invention, the hip joint is an active joint.
    [008] In addition, according to some embodiments of the present invention, a knee joint in the belt assembly is an active joint.
    [009] In addition, according to some embodiments of the present invention, the lifting unit includes at least one height-adjustable column.
    [010] In addition, according to some embodiments of the present invention, the column is positioned in such a way that when the user is attached to the belt assembly and is in a vertical position, the user is positioned substantially above an epicenter of the base with wheels.
    [011] In addition, according to some embodiments of the present invention, the column includes a mechanism for adjusting the height of the column, the mechanism to be selected from a group of mechanisms consisting of a direct current motor, a gear ball screw, hydraulic plunger, pneumatic plunger, Bowden cable and pulley.
    [012] In addition, according to some embodiments of the present invention, the wheeled base includes a platform that is tiltable with respect to a chassis to which the wheels of the wheeled base are attached, the belt assembly being tilt together with the platform.
    [013] In addition, according to some embodiments of the present invention, the device includes a sensor for detecting an inclination of the platform.
    [014] In addition, according to some embodiments of the present invention, the device includes a controller that is configured to maintain the platform at a predetermined inclination with respect to the horizontal.
    [015] In addition, according to some embodiments of the present invention, the controller includes a PID controller.
    [016] In addition, according to some embodiments of the present invention, the device includes a motor that is operable to adjust an inclination of the platform.
    [017] In addition, according to some embodiments of the present invention, the device includes a user-operable control to control the operation of the device.
    [018] In addition, according to some embodiments of the present invention, the control includes a user-operable device selected from a group of user-operable devices consisting of a joystick, a tilt sensor, a force sensor and a MIC.
    [019] In addition, according to some embodiments of the present invention, the device includes at least one support arm that is extendable to prevent the device from tilting.
    [020] Furthermore, according to some embodiments of the present invention, a support arm of said at least one support arm is extendable from each side of the device.
    [021] Furthermore, according to some embodiments of the present invention, the device includes a controller that is configured to automatically extend said at least one support arm, when the inclination of the device is indicated.
    [022] In addition, according to some embodiments of the present invention, the device includes a sensor for generating a signal that is indicative of the inclination of the device.
    [023] In addition, according to some embodiments of the present invention, the sensor is selected from a group of sensors consisting of a tilt sensor, an accelerometer, a gyroscope, a force sensor and a proximity sensor. BRIEF DESCRIPTION OF THE DRAWINGS
    [024] In order to better understand the present invention and appreciate its practical applications, the following figures are provided and referenced below. It should be noted that the figures are given as examples only and in no way limit the scope of the invention. Similar components are indicated by similar reference numerals.
    [025] Figure 1A shows a vertical wheelchair that is in an upright mobility configuration, according to an embodiment of the present invention.
    [026] Figure 1B shows the vertical wheelchair shown in figure 1A as seen from another angle.
    [027] Figure 2 shows a side view of the vertical wheelchair shown in figure 1A, in a seated configuration, according to an embodiment of the present invention.
    [028] Figure 3 schematically illustrates operating systems of a vertical wheelchair, according to an embodiment of the present invention.
    [029] Figure 4A illustrates, schematically, the operation of a lateral compensation mechanism of a vertical wheelchair, according to an embodiment of the present invention.
    [030] Figure 4B schematically illustrates the operation of a compensation mechanism from the front - back of a vertical wheelchair, according to an embodiment of the present invention.
    [031] Figure 5 illustrates, schematically, the control of a vertical wheelchair compensation mechanism according to an embodiment of the present invention.
    [032] Figure 6 illustrates, schematically, the operation of a mechanism for preventing tilting of a vertical wheelchair, according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION
    [033] In the detailed description that follows, numerous specific details are presented in order to provide a complete understanding of the invention. However, it will be understood by those of ordinary skill in the art that the invention can be put into practice without these specific details. In other cases, well-known methods, procedures, components, modules, units and / or circuits have not been described in detail so as not to obscure the invention.
    [034] In accordance with the modalities of the present invention, a wheelchair is configured to allow a wheelchair user to stand upright or assume a standing position. The wheelchair is further configured to allow the wheelchair to be self-propelled by a wide variety of surfaces, in a stable manner, while the user remains standing. The wheelchair can move and be maneuvered while the user is standing, in much the same way that the wheelchair can move and be maneuvered while the user is sitting. A wheelchair that is configured to move while the user is standing is referred to here as a vertical wheelchair. (As used herein, the user is referred to as standing or in an upright position when members of the user are arranged, positioned or oriented in the form of a person who is standing. The user who is standing or in an upright position is typically supported by the vertical wheelchair.).
    [035] A vertical wheelchair, according to the modalities of the present invention, includes a base with wheels that is configured to allow the wheelchair to move on a surface. The vertical wheelchair can be pushed or pulled to make the vertical wheelchair move across the surface. The vertical wheelchair can be motorized or otherwise configured to allow the vertical wheelchair to self-propel on the surface. For example, the wheeled base may include a power supply to provide electrical or other power to propel the vertical wheelchair (and activate other functions of the vertical wheelchair). The wheels of the wheeled base can be configured to facilitate the movement of the vertical wheelchair over a variety of surfaces. A configuration of the wheeled base of a vertical wheelchair can be adapted to a certain set of surfaces on which the wheelchair is expected to move.
    [036] The vertical wheelchair, according to some modalities of the present invention, includes a set of belts that is configured to firmly hold the user when the user is standing or sitting in the vertical wheelchair. The belt set includes appropriately molded clamps, straps, clips, rods or other components that can be used to keep the user safely in the vertical wheelchair. Each clamp is configured to attach to a part of the user's body. At least some of the pairs of adjacent clamps are connected by joints that allow the clamps to bend with respect to each other. Some or all of the joints can be active joints, including an actuator that can be operated to apply a bending or extension force to the joint. The belt set includes a hip joint, which is configured to be positioned close to the user's hip. For example, the hip joint may connect a cuff that is configured to secure the user's lower torso (abdominal region), to the cuffs that are configured to secure the user's thighs. A cuff that is configured to support the user's buttocks when in a seated or reclined position can also accompany the hip joint. The buttock support (for example, can be made mainly of flexible fabric, rubber or plastic, or other flexible material).
    [037] The vertical wheelchair includes a lifting unit that is mounted on the wheeled base. The lifting unit is configured to increase or decrease the hip joint of the cable assembly, increasing or decreasing, respectively, the distance between the hip joint and the wheel base. The survey can include one or more vertical linear actuators. Each vertical actuator may include a substantially vertical support, or column, of varying length, and a mechanism for changing the length. For example, each spine can connect a hip joint in the belt assembly to the wheel base. The actuators can be operated to change a vertical wheelchair configuration backwards and forwards, between a seated (or reclined) configuration and a standing configuration. For example, the spines can be stretched to increase the distance between the hip joint and the base, resulting in stretching of the joints and therefore making the user stand. The columns can be shortened to decrease the distance between the hip joint and the base causing the joints to bend and bringing the user to a seated (or reclined) position.
    [038] When the vertical wheelchair is in a seated configuration, a user can be kept by the belt assembly in a seated position. (Unless otherwise noted, the description here of a seated configuration or position is applicable to the seated and reclined configuration or position, and should be understood to be applicable to both seated and reclined settings and positions). When the vertical wheelchair is in a standing configuration, a user can be safely held in an upright position. When standing, substantially and vertically in an upright position, the user is positioned substantially equidistant from the sides of the base. The belt set can also be configured to keep the user safe in additional configurations. For example, the belt set can be configured to keep the user in any intermediate position between standing and sitting. As another example, the belt set can be configured to keep the user standing in a forward tilt or backward tilt position, or in a position that is neither sitting, standing, nor intermediate between sitting and standing.
    [039] When the user is moved between various positions (standing, sitting, reclining and intermediate), the user's center of gravity (COG) remains substantially in place (their position remains substantially unchanged).
    [040] One or more user-operable controls can be provided to allow the user to control the operation of the vertical wheelchair. For example, controls can be operated to switch from a vertical wheelchair configuration from a current configuration to another configuration (for example, sitting, standing, or from another configuration). The controls can be operable to control the movement of the wheeled base across a surface on which the vertical wheelchair is being supported.
    [041] According to some embodiments of the present invention, one or more characteristics of the vertical wheelchair may allow the safe mobility of a user of the vertical wheelchair, whether standing or sitting. For example, the belt set can be configured so that the wheel base is always approximately symmetrically arranged around the center of gravity (COG) of the vertical wheelchair when the user is supported by the belt set. vertical wheelchair.
    [042] For example, the center of gravity can be approximately equidistant from each side of the wheeled base. In this case, the distance from the center of gravity to each side can be defined as the horizontal distance from the center of gravity to that side along a perpendicular to that side. The symmetry (or equidistance) of the wheeled base around the center of gravity can be preserved, regardless of the configuration of the belt set. For example, when changing the configuration, the set of belts can move various parts of the user's body in order to preserve symmetry. In this way, the risk of tipping is minimized in all configurations.
    [043] The vertical wheelchair can be supplied with an automatic balancing capability. The automatic balance capability allows the user to remain in an upright position when the vertical wheelchair travels on inclined surfaces or on surfaces of varying inclination. The automatic balance capability can receive a detected current tilt from the vertical wheelchair of one or more sensors. The automatic balance capability can be configured to operate one or more components of the wheeled base or belt assembly to ensure that the user remains level (for example, relative to the vertical or horizontal location). For example, one or more components of the wheeled base or set of belts can be configured to tilt in order to counteract any inclination caused by a surface on which the vertical wheelchair moves. In this way, the user feels comfortable and the risk of tilting is minimized, in any configuration and on any surface.
    [044] The vertical wheelchair, according to some embodiments of the present invention, can be provided with additional guarantees to prevent accidental tilting of the vertical wheelchair. For example, the vertical wheelchair can be provided with additional support wheels, wheeled arms or supports that can be quickly extended to prevent tilting when the danger of tilting is detected (for example, by a tilt sensor).
    [045] Figure 1A shows a vertical wheelchair in an upright mobility configuration, according to an embodiment of the present invention. Figure 1B shows the vertical wheelchair shown in figure 1A as seen from another angle. Figure 3 illustrates, schematically, operating systems of a vertical wheelchair, according to an embodiment of the present invention.
    [046] The vertical wheelchair 10 includes wheel base 12 and belt set 14. As shown, the belt set 14 is in an upright mobility configuration. In the upright mobility configuration of the belt assembly 14, components of the belt assembly 14 are configured to support a user in an upright position.
    [047] The wheel base 12 includes a tilting platform 20 that is supported by the chassis 40.
    [048] Chassis 40 includes drive wheels 18 and swivel wheels 16. In the configuration shown, wheels 18 are located in a front section of the base with wheels 12, while swivel wheels 16 are located in a rear section of the base with wheels 12 ( "front part" and "back part" are determined in relation to a direction that is faced by a vertical wheelchair user 10, when held as intended by the belt set 14). For example, drive wheels 18 can be connected via a transmission 84 to a drive motor 82 which is supported by chassis 40. The operation of motor 82 and transmission 84 can be controlled by the operation of user controls 36 via a controller 86, for example, the rotation speed of each of the driving wheels 18 can be controlled separately to orient the vertical wheelchair 10 as wheels to determine the speed of movement of the wheelchair 10. The swivel wheels 16 can rotate freely to allow unimpeded steering of the vertical wheelchair 10.
    [049] Other wheel arrangements are possible. For example, the drive wheels can be located in a rear section of the wheeled base, while the swivel wheels are located in a front section. As another example, steering wheels 89 can be provided whose steering is controllable by steering mechanism 88, instead of being configured to rotate freely. Thus, in order to assist in the orientation of the vertical wheelchair. Additional wheels can be provided. For example, one or more drive wheels can be located in a central section of the wheeled base, while the wheels near the front and rear are free to rotate or are steerable.
    [050] The wheeled base 12 can house components that allow driving drive wheels 18, or otherwise allowing the self-propulsion of the vertical wheelchair 10. The wheeled base 12 can house an engine 82 to provide propulsion to propel the wheels 18. Motor 82 may represent one or more motors (for example, electric or otherwise powered). The wheeled base 12 can also house the transmission 84 to allow movement of the engine to turn driving wheels 18 and power supply 80 to provide power to operate the engine. For example, the power supply 80 for an electric motor can include one or more of a battery or storage battery, a cable or connector for connecting a storage battery to an external power source (for example, a main power line ), transformers or energy converters for converting electrical energy supplied to a form or form that is usable by another component of the vertical wheelchair 10, photovoltaic cells or other components to allow at least partial recharging of a battery storage when not connected to an external power supply, and other components. If the engine 82 is a fuel powered engine, the power supply 80 may include a container to contain the appropriate fuel, a fuel pump or duct system, or other systems related to the supply of fuel to the engine 82.
    [051] The wheeled base 12 can include the housing or support additional components that allow safe and reliable operation of the vertical wheelchair 10. For example, the wheeled base 12 can include one or more headlights 38 or other lamps that allow the visualization of a surface on which the vertical wheelchair 10 is moving in conditions of poor or absent ambient light. The wheeled base 12 can include one or more sensors that measure movement or operation parameters of the vertical wheelchair 10. These sensors can include one or more of a speedometer, accelerometer, direction sensor (compass or gyroscope), System receiver Global Positioning System (GPS), tilt meter, proximity sensor or rangefinder (for example, to detect possible obstacles that are above or in a direction in which the vertical wheelchair moves), or another sensor that can be used to detect one or more conditions that may affect the operation of the vertical wheelchair 10. Some or all of the sensors, or additional sensors, can be located in the belt assembly 14.
    [052] The tilting platform 20 can be tilted in relation to the chassis 40. A balancing mechanism (BM) 50 can be operated to control the inclination angles (side and front to back). The belt assembly 14 is fixed in relation to the tilting platform 20. Thus, the inclination of the tilting platform 20 by an angle of inclination in relation to the chassis 40 inclines the belt assembly 14 with respect to the chassis 40 by the same angle of inclination. For example, the balancing mechanism 50 may operate one or support elements of adjustable length so as to tilt the tilting platform 20 with respect to the chassis 40. These adjustable elements may include one or more telescopic, extendable or sliding elements, or other elements or linear actuators of variable length (for example, inflatable, or mechanically, chemically, thermally or electromagnetically activated). The adjustment mechanism may include a screw mechanism, a hydraulic mechanism, a pulley system, a linear actuator operated by a direct current (dc) motor or other suitable mechanism.
    [053] Thus, for example, the balancing mechanism 50 can be operated to maintain the belt assembly 14 (and a wheelchair user who is tied to the belt assembly 14) in an upright position in relation to the vertical (for example, as determined by a plumb line) when the chassis 40 is supported by an inclined surface.
    [054] The wheel base 12 can include a tilt prevention structure operated by a tilt prevention mechanism (TPM) 70 (shown schematically in figures 3 and 6). The tip-over structure can include a plurality of support arms 76 that can be extended through openings 30, or otherwise (for example, from below the tilting platform 20 or from the chassis 40) of the base with wheels 12. The support arms 76 may include wheels or casters at their distal ends or may include another structure that allows the arms to support the vertical wheelchair 10. The support arms 76 can be individually extended, in groups of two or more or all together. Typically, at least one support arm 76 is provided to extend from each side of the wheeled base 12. The extension of the support arms 76 of the openings 30 can be controlled by the tilt prevention mechanism 70, which is configured to function automatically. A support arm 76 can be extended, for example, by abruptly releasing an inclined spring, by a pyrotechnic mechanism, by an air-pressurized mechanism, or by using another mechanism or technique.
    [055] The tilting platform 20 may include an indentation 21 that is configured to accommodate lower sections of the belt assembly 14, such as foot supports 32. For example, the indentation 21 may be U-shaped.
    [056] The belt set 14 is configured to securely hold a vertical wheelchair user 10 in place, whether the user is standing, sitting, reclining, in a position that is intermediate between other positions, or in another position for which the belt assembly 14 is configured. The belt assembly 14 is configured to move the user's body parts to change a body position, for example, from standing to sitting or vice versa.
    [057] The belt set 14 includes a set of clamps 24 for attachment to various parts of the user's body, in particular to the lower parts of the body. For example, several cuffs 24 may attach to the user's lower torso, back or pelvis, to each user's thigh, to a user's calf, shin, or lower leg, or other parts of the user's body.
    [058] The belt set 14 includes foot supports 32 for placement below and support for the user's feet support. Some or all of the clamps 24 may be provided with straps 28 or a similar support arrangement (e.g., trunk belt) that can be attached and adjusted to protect a part of the user's body from a clamp 24.
    [059] The set of belts 14 can be in the form of, or include an exoskeleton (ES) that supports the user's body mainly from the side. The ES can support the user in all various configurations (standing, sitting, reclining or in another configuration). For example, in a seated configuration, a flexible element 25 (visible in figure 2) of the cuff 24 (for example, made of a flexible fabric, plastic, rubber, mesh, mesh or other flexible material, structure or construction) can support the buttocks of the user.
    [060] Some or all of the pairs of adjacent clamps 24 are connected by folding joints. For example, folding joints may include some or all of a hip joint 26, a knee joint 27, and an ankle joint 29. Folding joints can be bent or stretched during a transition from one user position to another (for example, example, from standing to sitting to reclining, or vice versa). Some of the folding joints can be active because a force is applied directly by an actuator to each of these joints to bend or stretch that joint. Others of the foldable joints can be passive in that each of these joints is bent or stretched in response to the movement of the adjacent clamps by forces that are applied to the active joints.
    [061] According to some embodiments of the present invention, the hip joint 26 is an active joint, while the knee joint 27 and ankle joint 29 are passive. Other arrangements or combinations of active and passive joints are possible.
    [062] For example, each active joint can be supplied with a small motor with local actuation (for example, operating in direct current). As another example, a suitable transmission mechanism can be provided to transmit force to flex or extend a remote motor assembly (for example, located on the wheel base 12 or elsewhere). Such a transmission mechanism may include, for example, rods, gears, cables, Bowden cables, pulleys, or other suitable transmission mechanisms. A passive joint can include a hinge, shaft, ball-in-socket, or other mechanism that allows passive flexing or extension of the joint.
    [063] The lifting unit 33 is mounted on the wheeled base 12. The lifting unit 33 supports the hip joint 26 of the belt assembly 14, and is configured to raise or lower the hip joint 26. For example, the lifting unit 33 may include one or more extensible columns 34. Other mechanisms for lifting unit 33 are possible (for example, a pulley arrangement for raising or lowering hip joints 26 from a structure that extends above the joints hip 26, or other mechanism).
    [064] The belt assembly 14 is connected to the wheel base 12 by extensible columns 34. For example, an upper end of the extensible column 34 can connect to the hip joint 26 of the belt assembly 14. The extensible column 34 can be reinforced to resist bending forces by reinforcement struts 35.
    [065] The length of each extensible column 34 is adjustable. For example, each extensible column 34 can include two or more telescopic components, such as the column sleeve 34a into which inner column 34b can be slid. A suitable extension / retraction mechanism can be operated to adjust the length of the extensible column 34. Other mechanisms to adjust the length of the extensible column 34 can be employed.
    [066] For example, extensible column 34 may include a linear electric actuator that includes a motor that operates a ball-screw gear mechanism, or a hydraulic (or pneumatic) plunger that changes the length of the extensible column 34. A suitable pump , for example, located on the wheel base 12, can be operated to adjust the length of the extensible column 34. As another example, a motorized mechanical system (for example, including a motor and a suitable transmission, for example, including gears, rods , Bowden cables, pulleys or other components) can be operated to extend or retract the extensible column 34.
    [067] A belt assembly configuration 14 can be changed by stretching or shortening the extensible columns 34. For example, the extension of the extensible column 34 can change the vertical wheelchair configuration 10 to the vertical mobility configuration shown in the figures 1A and 1B. In the vertical mobility configuration of the vertical wheelchair 10, a user who is strapped to the belt assembly14 is placed substantially above an epicenter (in the horizontal plane) of the wheeled base 12 (for example, a user's center of gravity is substantially above the epicenter). The epicenter (in the horizontal plane) of the wheeled base 12 can substantially match the COG of the wheeled base 12. All clamps 24 are arranged approximately vertically on top of each other. Likewise, foot supports 32 are placed approximately below, where the user's body is expected to be placed.
    [068] When the vertical wheelchair 10 is initially in a vertical mobility configuration (as shown in figures 1A and 1B), extendable columns 34 can be shortened to change the configuration of the vertical wheelchair 10 to a seated configuration. Figure 2 shows a side view of the vertical wheelchair shown in figure 1A, in a seated configuration, according to an embodiment of the present invention.
    [069] In the seated configuration of the vertical wheelchair 10, shown in figures 2 and 3, the extensible columns 34 have been shortened in such a way that the hip joint 26 is approximately at the same height as the knee joint 27. Support feet 32 have been slid forward (out of indent 21).
    [070] The belt assembly 14 can include armrests 22. Armrests 22 can be configured to be raised or lowered as needed. For example, armrests 22 can be folded down or pressed to the sides when the vertical wheelchair 10 is in a seated configuration to allow the user's torso to approach a table top (with the user's legs positioned under the table).
    [071] A vertical wheelchair user 10 can operate user controls 36 to operate the various functions of the vertical wheelchair 10. For example, the user can operate user controls 36 to control the self-propelled movement of the wheelchair. vertical wheels 10 on a surface. Controlling the movement of the vertical wheelchair 10 may include controlling an engine (for example, engine operating speed or power), operating a transmission (for example, gear selection, forward / reverse movement, rotation of the right / left wheel for steering), the operation of a steering mechanism (for example, which determines the direction of a steering wheel), the operation of a brake, the selection of a power source (for example, main battery or auxiliary power supply), or other operation related to the movement of the vertical wheelchair 10. A user can operate the user controls 36 to change a vertical wheelchair configuration 10.
    [072] User controls 36 comprise one or more devices operable by the user. For example, user controls 36 may include a manually operated device, such as a joystick, a push button, a switch, a button or dial, a touchscreen, or another manually operable device. User controls 36 can include force or orientation-sensitive sensors, such as pressure sensitive regions or sensors, tilt sensors. User controls 36 may include a sound sensitive sensor, such as a microphone or audio transducer, for detecting an audible signal or voice command.
    [073] User controls 36 may include one or more output devices, such as panels or screens, warning lights, sound generation devices (loudspeaker, bell, bell, or other sound generation device), for inform a vertical wheelchair user 10 of a current vertical wheelchair status 10. For example, a status can include a battery charge status, current speed, current direction, presence of an obstacle, the warns of a potential risk situation (for example, excessive inclination or acceleration), or a state of one or more subsystems or sets of vertical wheelchairs 10.
    [074] For example, a user controls joystick 36 can be operated to control the movement of the vertical wheelchair 10 on a surface.
    [075] As another example, the movement of the vertical wheelchair 10 can be controlled in response to a detected inclination (for example, voluntary or involuntary) of the user's body.
    [076] One or more tilt sensors can be placed on the user's body (for example, on the user's arms, shoulders, chest or upper back).
    [077] A slight voluntary inclination of the upper body may mean a desire to move forward, while a right and left inclination may indicate a desire to the right or left, respectively. Likewise, tilting or bending backwards can mean a desire to stop, while continuous tilting backwards can signal a desire to move backwards. A sudden spasm (for example, involuntary) of the user's body can cause emergency braking, for example, as an indication of a frightening or unexpected situation.
    [078] As yet another example, the pressure sensors or tension gauges can be located inside the belt assembly 14 (for example, incorporated in the belts 28). An applied voltage detected in the sensors can be interpreted as indicating a desired movement of the vertical wheelchair 10. A direction (and possibly magnitude) of the detected voltage can indicate the direction (and possibly speed) of the desired movement.
    [079] As another example, spoken or spoken commands can be interpreted by a processor that is incorporated in the vertical wheelchair 10 to indicate a desired movement (or other operation) of the vertical wheelchair 10.
    [080] One or more user controls 36 (for example, a switch or push button) can be operated to change a vertical wheelchair configuration 10.
    [081] For example, a change from the vertical wheelchair 10 from a vertical mobility configuration (standing) to a seated configuration may include the shortening of extensible columns 34, flexion (active) of the hip joint 26 (and rotation of a cuff 24, which is attached to the user's thighs, and possibly another cuff 24 that is attached to the user's hips or buttocks), flexion (passive) of the knee joint 27, resulting in movement towards the front of the foot supports 32. Another change from a seated configuration to a reclined configuration may include stretching the hip joint 26 (and active stretching the knee joint 27), without any change in the length of the extensible spine 34, until the desired reclined position is reached.
    [082] A shift of the vertical wheelchair 10 from a seated configuration to a vertical mobility (standing) configuration may include, for example, stretching of extensible columns 34, stretching (active) of the hip joint 26, stretching (passive) ) of the knee joint 27, resulting in backward movement of the foot supports 32 below the user's body.
    [083] In accordance with some embodiments of the present invention, the vertical wheelchair 10 may include a compensation mechanism (BM) 50 (shown schematically in figures 3 and 5) to hold a vertical wheelchair user 10 upright , or in another desired tilt position, when the vertical wheelchair 10 is moving on an inclined surface. The balancing mechanism is configured to tilt the tilting platform 20 relative to the chassis 40 in order to keep the tilting platform 20 in a horizontal position, or other desired orientation (for example, where the user is leaning in a desired direction) . For example, separate compensation mechanisms can be provided to control the inclination of the tilting platform 20 on the side (right - left) and directions (forward and backward). Alternatively, a single compensation mechanism can control the slope in arbitrary directions.
    [084] Figure 4A illustrates, schematically, the operation of a lateral compensation mechanism of a vertical wheelchair, according to an embodiment of the present invention.
    [085] Chassis 40 is shown as tilted from the horizontal in a lateral direction. For example, this slope can result when the vertical wheelchair 10 is moving on a side sloping surface (for example, crossing a sloped path or moving on a bank or crowned road). The tilting platform 20, and thus the belt assembly 14, have been tilted by the lateral tilting angle 42 such that the tilting platform 20 remains horizontal (or tilted with another desired tilting angle).
    [086] Figure 4B schematically illustrates the operation of a front-to-back balancing mechanism of a vertical wheelchair, in accordance with an embodiment of the present invention.
    [087] Chassis 40 is shown in figure 4B, as tilted from the horizontal in a forward - backward direction. For example, this inclination can result when the vertical wheelchair 10 is moving on a sloping surface forwards or backwards (for example, on the inclined path or wheelchair access ramp). The tilting platform 20 and thus the belt assembly 14 have been tilted by the angle of inclination from front to back 44 such that the tilting platform 20 remains horizontal (or at another desired inclination angle).
    [088] The balancing mechanism that controls the inclination of the tilting platform 20 can be controlled by one or more controllers.
    [089] Figure 5 illustrates, schematically, the control of a vertical wheelchair compensation mechanism, according to an embodiment of the present invention.
    [090] For example, the compensation mechanism 50 can be configured to maintain the tilting platform 20 in a certain desired orientation defined by the lateral reference angle θRX and front-to-back reference angle θRy. Alternatively or in addition, another set of angles can be defined, such as a magnitude and orientation (for example, azimuth) of the desired slope. The reference angles can be permanently defined (for example, θRX = θRY = 0 for a horizontal tilting platform 20, or with another value). Alternatively, or in addition, the reference angles can be defined by a user, or according to predefined criteria, for a particular user or situation.
    [091] The tilting platform 20 (or a component that is connected to the tilting platform 20, such as the belt set 14) can be provided with one or more inclination sensors. For example, the tilt sensors can include side tilt sensor 64a to measure the side tilt angle, θX, and front-rear tilt sensor 64b to measure the front-rear tilt angle θy.
    [092] Alternatively or in addition, one or more sensors can measure another set of values, such as a magnitude of a slope, and a direction (for example, azimuth) of the slope. Tilt sensors can include an accelerometer, a gyroscope, or another type of tilt sensor. The sensor can be incorporated into an integrated circuit or other electronic device.
    [093] The balancing mechanism 50 controls one or more components that adjust the inclination of the tilting platform 20 in relation to the chassis 40. For example, the components can include one or more active components or actuators, represented by the side tilting actuator 60a and the front - rear tilt actuator 60b. The side tilt actuator 60a and the front - rear tilt actuator 60b can include linear motors or actuators (for example, a strut of variable length), which determine a distance between the corresponding points on the tilting platform 20 and on chassis 40. Alternatively, or in addition, other combinations of motors or actuators can be used (for example, a tilt-azimuth actuator). The components may include one or more passively operated components, represented by the side restoration spring 62a and front - rear restoration spring 62b. For example, a single actuator, such as a side tilt actuator 60a, can operate close to an edge of the tilting platform 20 and the chassis 40, while a passively operated component, such as a side restoration spring 62a, can be placed close by. from the opposite edge.
    [094] The operation of the side tilt actuator 60a is controlled through the side actuator 58a, in response to a time (t) dependent on the side control signal ux (t) produced by the side controller 52a. The operation of the front - rear tilt actuator 60b is controlled by the front - rear driver 58b in response to a control signal from the front - rear uy (t) produced by the controller front - rear 52b.
    [095] The side controller 52a and the front - rear controller 52b can include a single controller or two or more separate controllers. Each controller can include a processor or circuit that is configured to control the inclination of the tilting platform 20 to achieve a specific reference angle. For example, the side controller 52a or the front-to-back controller 52b can be configured as a proportional-integral-differential controller (PID), or as a closed-loop controller or other controller.
    [096] The side controller 52a and the front - rear controller 52b can be configured to operate on the basis of input reference angles, θRx and θRy, respectively, and a tilt angle measured in real time, θX and θy, from the tilting platform 20. A difference or error value, such as from a time function t, ex (t) or eY (t), can be calculated (for example, ex (t) = θX - θRx). The PID controller theory, or other control algorithm, can be applied to produce uX (t) and uy (t) control signals, which can be applied to the appropriate side driver 58a and front - rear driver 58b to control the side tilt actuator 60a and the corresponding front - rear actuator 60b. For example, the control signal uX (t) and uy (t) can be configured to optimally achieve the inclination of the tilting platform 20, as specified by the reference angles θRX and θRY, or the maximally rapid minimization of the functions of error ex (t) and eY (t) (for example, Iex (t) l, ley (t) l) -> min, where vertical bars designate absolute value).
    [097] In accordance with some embodiments of the present invention, a vertical wheelchair is provided with a tilt prevention mechanism.
    [098] Figure 6 illustrates, schematically, the operation of a mechanism for preventing tilting of a vertical wheelchair, according to an embodiment of the present invention.
    [099] The tilt prevention mechanism 70 controls the extension of the stabilizing arms 76 of the base with wheels 12. [100] The sensor 71 is configured to measure an amount that is indicative of stability or tilt of the base with wheels 12 of. a vertical wheelchair. For example, sensor 71 may include one or more tilt sensors (for example, including a level, gyroscope, or accelerometer) that measure an amount that is interpretable to indicate a stable or unstable state of the wheel base 12 or chair vertical wheelchair. For example, an angle of inclination or the rate of change of inclination of the vertical wheelchair can be measured, or an acceleration of one or more components of the wheelchair can be measured. The sensor 71 can include a proximity sensor (for example, optical, acoustic, electromagnetic or mechanical) that can detect a change in the distance between the wheel base 12 and a surface on which the vertical wheelchair is being supported. The sensor 71 may include a pressure or force sensor that measures the force exerted by a set of belts from a vertical wheelchair user. The sensor 71 can include a pressure or force sensor that measures a force between a base wheel with wheels 12 and a surface on which the wheel is placed. The sensor 71 can measure a measured quantity as a function of time or it can measure a rate of change of the measured quantity. [101] The tilt prevention controller 72 is configured to receive a signal from sensor 71 and to control the operation of the arm extension mechanism 74. For example, the tilt prevention controller 72 may include a processor that is configured to function according to programmed instructions that are stored in associated memory or data storage unit. As another example, the tilt prevention controller 72 may include dedicated circuits (for example, including a properly configured integrated circuit) that is configured to operate the arm extension mechanism 74, according to a signal that is received from the sensor 71 [102] The tilt prevention controller 72 is configured to interpret signals that are received from sensor 71 and to detect an indication of tilt, or danger of tilt, from the vertical wheelchair. [103] For example, a detected tilt angle can be compared to a limit angle. A detected angle of inclination that exceeds the limit angle can be indicative of inclination. [104] Likewise, a rapid change in the angle of inclination may be indicative of inclination. Inclination angles (or their rates of change or their absolute values) in each direction (for example, right, left, front, or back) can be compared separately with angle thresholds for a given direction (for example, which may be different each other due to asymmetry in the shape or structure of the vertical wheelchair). Alternatively or in addition, a magnitude of the angle of inclination or a change in magnitude (for example, regardless of direction) can be compared with a limit value. After detecting this indicated excessive tilt, the tilt prevention controller 72 can operate the arm extension mechanism 76 to extend one or more stabilizing arms 76. [105] Other conditions detected may be indicative of tilt. For example, a sudden change in distance between the base with wheels 12 and a surface below the base with wheels 12 can be indicative of approaching or crossing an edge, such as a curb, ladder, depression (for example, hole, sewer , gutter, ditch, channel, edge), or any other change in topography that could precipitate the slope. Likewise, a detected increase in the user's strength or in the set of belts can indicate excessive lateral force (for example, the centrifugal force), which could precipitate the inclination. A sudden reduction in ground force on a base wheel with wheels 12 may be indicative of an inclination or crossing of an edge that could precipitate the inclination. Any of these indications, when greater than a threshold value for that indication, can be interpreted as requiring operation of the arm extension mechanism 74 to extend one or more stabilizing arms 76. [106] The arm extension mechanism 74 can be operated to extend one or more stabilizing arms 76. For example, stabilizing arms 76 can be extended only on one side for which inclination is indicated (or on two sides when diagonal inclination is indicated). Stabilizing arms 76 can be extended diagonally downwards or downwards. Alternatively, or in addition, all stabilizing arms 76 can be extended when tilt is indicated (for example, to allow simplification of the arm extension mechanism 74), or in circumstances where potential tilt in any direction is indicated . The distal ends of the stabilizing arms 76 may include casters or wheels. Casters or wheels may allow at least limited mobility or vertical wheelchair displacement after extension of the stabilization arms 76. [107] The arm extension mechanism 74 can be configured to quickly implement stabilization arms 76. [ 108] For example, the arm extension mechanism 74 may include a pre-compressed or reinforced spring that is configured to extend a stabilizing arm 76. A stop prevents the restoring force of the spring from extending the stabilizing arm 76 when not necessary. The operation of the arm extension mechanism 74 then releases the stop, allowing the spring restoring force to quickly extend and implement the stabilization arm 76. An appropriate strut or stop mechanism can pierce the stabilization arm 76 in the its extended state. As another example, the arm extension mechanism 74 may include a source of pressurized gas (e.g., a container behind each stabilization arm 76) that can be introduced to extend quickly and implant a stabilization arm 76. Other mechanisms (for example, magnetic, electromagnetic, hydraulic, pyrotechnic, mechanical or other mechanisms) can be provided to quickly position a stabilizing arm 76. [109] Depending on the implantation mechanism, once the indicated tilt situation has ended , stabilizing arms 76 can be restored to their pre-implantation state. For example, a mechanism or control may be provided to allow a user of the vertical wheelchair to retract the stabilizing arms 76. Alternatively, or in addition, assistance in retracting the stabilizing arms 76 may be required by a person who is not strapped to the vertical wheelchair belt assembly. For example, the stabilizing arms 76 can be manually pushed onto the wheeled base 12 to their pre-implantation positions. In some cases (for example, with a mechanical spring or electromagnetic implantation mechanism), pushing the stabilizing arms 76 back to the wheel base 12 can prepare stabilizing arms 76 for possible future implantation. In other cases (for example, with a compressed gas or pyrotechnic implantation mechanism), additional actions (for example, compressing the gas, replacing a gas container, or replacing an explosive charge) may be necessary to prepare stabilizing arms 76 for future deployment. [110] Before, simultaneously with, or after implantation of stabilization arms 76, one or more alarm signals can be generated, for example, by the tilt prevention controller 72, using an appropriate output device. For example, a signal that is detectable by the user can warn the user of an impending tilt indication, or it can inform the user of the implantation of stabilization arms 76. [111] A signal that can be detected by an outside party (for example , an acquaintance of the user, a service provider, or passerby) may indicate the need to come to assist the user. More alarm signals may indicate a lack of availability of the tilt prevention mechanism 70 (for example, after a previous implantation, or after a self-check indicates the need for maintenance). When the tilt prevention mechanism 70 is not available, the operation of a vertical wheelchair drive mechanism may be limited. For example, a maximum available self-propelled speed of the vertical wheelchair can be reduced while the tilt prevention mechanism 70 is not fully operational.
    权利要求:
    Claims (17)
    [0001]
    1. Vertical wheelchair device (10), characterized by the fact that it comprises: a base with wheels to allow the device to move on a support surface, the base with wheels including a platform (20) that is tiltable with respect to to a chassis (40) in which wheels of the wheeled base are connected, a set of belts being tilted together with the platform; a proportional-integral-differential controller (PID) (52a, 52b) that is configured to maintain the platform at a predetermined inclination with respect to the horizontal; the set of belts (14) comprising a set of clamps (24) for attaching to parts of a body of a user of the device, at least some adjacent clamps of said set of clamps being connected by joints; and a lifting unit (33) mounted on the base, supporting a hip joint (26) of the belt assembly and configured to raise or lower the hip joint so that when the user is attached to the belt assembly and is in a seated position, raising a height of the hip joint makes the user assume a vertical position. And when the user is attached to the set of belts and is in an upright position, lowering the hip joint makes the user assume the seated or reclined position.
    [0002]
    2. Device according to claim 1, characterized in that the wheeled base comprises drive wheels that are operable by the user to move the device through the support surface.
    [0003]
    3. Device according to claim 1, characterized in that the base with wheels comprises rotating or steering wheels.
    [0004]
    4. Device according to claim 1, characterized by the fact that the hip joint is an active joint.
    [0005]
    5. Device according to claim 1, characterized by the fact that a knee joint in the belt assembly is an active joint.
    [0006]
    6. Device according to claim 1, characterized by the fact that it comprises a sensor for detecting an inclination of the platform.
    [0007]
    7. Device according to claim 1, characterized by the fact that it comprises a motor that is operable to adjust an inclination of the platform.
    [0008]
    8. Device, according to claim 1, characterized by the fact that it comprises a control operable by the user to control the operation of the device.
    [0009]
    9. Device according to claim 8, characterized in that the control comprises a device operable by the user selected from a group of devices operable by the user consisting of a joystick, a tilt sensor, a force sensor and a microphone.
    [0010]
    10. Device according to claim 1, characterized in that the lifting unit comprises at least one height-adjustable column.
    [0011]
    11. Device according to claim 10, characterized by the fact that said at least one column is positioned so that, when the user is attached to the set of belts and is in the vertical position, the user is positioned above an epicenter the base with wheels.
    [0012]
    Device according to claim 10, characterized in that said at least one column comprises a mechanism for adjusting a height of the at least one column, the mechanism being selected from a group of mechanisms consisting of a chain motor continuous, a ball screw gear, a hydraulic plunger, a pneumatic plunger, a Bowden cable and a pulley.
    [0013]
    13. Device according to claim 1, characterized in that it comprises at least one support arm that is extendable to prevent the device from tilting.
    [0014]
    Device according to claim 13, characterized in that a support arm of said at least one support arm is extendable from each side of the device.
    [0015]
    15. Device according to claim 13, characterized by the fact that it comprises a controller that is configured to automatically extend said at least one support arm, when the inclination of the device is indicated.
    [0016]
    16. Device according to claim 13, characterized by the fact that it comprises a sensor to generate a signal that is indicative of the inclination of the device.
    [0017]
    17. Device according to claim 16, characterized in that the sensor is selected from a group of sensors consisting of a tilt sensor, an accelerometer, a gyroscope, a force sensor and a proximity sensor.
    类似技术:
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    同族专利:
    公开号 | 公开日
    RU2647777C2|2018-03-19|
    RU2016109484A|2017-10-03|
    JP2016530013A|2016-09-29|
    CN105916478A|2016-08-31|
    EP3038583B1|2018-01-10|
    CA2922012C|2021-01-26|
    US20160045382A1|2016-02-18|
    US20150060162A1|2015-03-05|
    US9173792B2|2015-11-03|
    US10172752B2|2019-01-08|
    EP3038583A4|2017-04-19|
    EP3038583A1|2016-07-06|
    KR20160065101A|2016-06-08|
    JP6317447B2|2018-04-25|
    CA2922012A1|2015-03-05|
    AU2013399469A1|2016-04-07|
    WO2015029005A1|2015-03-05|
    AU2013399469B2|2019-06-06|
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    CN112587364B|2020-12-08|2022-02-25|上海大学|Sit-stand training robot, sit-stand training method and sit-stand training system of sit-stand training robot|
    法律状态:
    2019-10-08| B06U| Preliminary requirement: requests with searches performed by other patent offices: suspension of the patent application procedure|
    2020-09-29| B06A| Notification to applicant to reply to the report for non-patentability or inadequacy of the application according art. 36 industrial patent law|
    2021-01-12| B09A| Decision: intention to grant|
    2021-03-16| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 19/11/2013, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    US201361870955P| true| 2013-08-28|2013-08-28|
    US61/870,955|2013-08-28|
    PCT/IL2013/050953|WO2015029005A1|2013-08-28|2013-11-19|Standing wheelchair|
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