EP2433603A2 - Dispositif d'entraînement auxiliaire, fauteuil roulant et procédé d'établissement de la force d'entraînement manuelle d'un conducteur de fauteuil roulant - Google Patents

Dispositif d'entraînement auxiliaire, fauteuil roulant et procédé d'établissement de la force d'entraînement manuelle d'un conducteur de fauteuil roulant Download PDF

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Publication number
EP2433603A2
EP2433603A2 EP11172325A EP11172325A EP2433603A2 EP 2433603 A2 EP2433603 A2 EP 2433603A2 EP 11172325 A EP11172325 A EP 11172325A EP 11172325 A EP11172325 A EP 11172325A EP 2433603 A2 EP2433603 A2 EP 2433603A2
Authority
EP
European Patent Office
Prior art keywords
impeller
user
force
wheelchair
manually
Prior art date
Legal status (The legal status 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 status listed.)
Withdrawn
Application number
EP11172325A
Other languages
German (de)
English (en)
Other versions
EP2433603A3 (fr
Inventor
Thomas Birmanns
Ralf Ledda
Bernd Engels
Paul-Gerhard Bitzer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Alber GmbH
Original Assignee
Alber GmbH
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 Alber GmbH filed Critical Alber GmbH
Publication of EP2433603A2 publication Critical patent/EP2433603A2/fr
Publication of EP2433603A3 publication Critical patent/EP2433603A3/fr
Withdrawn legal-status Critical Current

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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
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/045—Rear wheel drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/048—Power-assistance activated by pushing on hand rim or on handlebar
    • 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
    • A61G5/1005—Wheelchairs having brakes
    • A61G5/1032—Wheelchairs having brakes engaging an element of the drive or transmission, e.g. drive belt, electrodynamic brake

Definitions

  • the invention relates to an auxiliary drive device for a wheelchair, a wheelchair with auxiliary drive device and a method for determining the manual drive force of a wheelchair user.
  • An auxiliary drive device of the type in question is from the DE 198 57 786 A1 known.
  • Such an auxiliary drive device for a wheelchair has a drive motor, an impeller, a sensor device configured to detect a drive force manually input to the impeller, and a controller configured to drive the drive motor to drive the impeller according to a support degree in response to the manually initiated in the impeller drive power.
  • Such wheelchairs give the wheelchair user the opportunity to manually drive the wheelchair, for example via corresponding gripping rings on the wheels, but support this manual drive as needed by the one or more drive motors.
  • the sensor device detects the respectively force manually introduced into the gripping ring and the control device controls the drive motor or motors for driving the impeller according to a degree of support in dependence on the force introduced into the gripping ring.
  • Propulsion systems of the type in question are thus suitable to physically relieve the wheelchair user.
  • a driving force or drive torque act on the one hand manually by the wheelchair user in the wheel, for example via a gripping ring, initiated manual Force and the torque resulting therefrom and additionally an electric drive force or a corresponding drive torque of the drive motor, which are generated according to a degree of support in dependence on the manually introduced force, that the control device controls the drive motor accordingly.
  • the manual drive force and the resulting torque and the torque of the drive motor act in the same direction.
  • the two torques add up according to the amount. The same applies accordingly for a braking operation.
  • the wheelchair user thus brings only a part of the force required for locomotion or braking and can therefore move without great effort on inclines or slopes.
  • the ratio between the manually introduced forces and the torques generated by the electric motor, that is, the degree of support, can be adjustable and possibly preselected according to the personal needs of the wheelchair user.
  • the invention has for its object to provide an apparatus and a method, with the or the Maximum strength of a wheelchair user to drive a wheelchair in a simple manner, especially in economic terms and in terms of space requirements, can be determined.
  • an auxiliary drive device for a wheelchair comprising a drive motor, an impeller, a sensor device adapted to detect a drive force manually inputted to the impeller, and a control device adapted to drive the drive motor to drive the drive motor Impeller according to a degree of support in response to the manually initiated by a user in the impeller driving force, has.
  • the control device of the auxiliary drive device according to the invention has a user force determination operating mode, in which it is designed to control the drive motor so that in response to a manually introduced into the impeller drive torque against the direction of action of the manually introduced into the impeller driving force is generated.
  • auxiliary drive devices While in such prior art auxiliary drive devices conventionally the motor torque acts in the same direction as the manually-input torque to respectively assist propulsion or to boost a braking force, in the inventive auxiliary drive device in the user force determining mode of operation, the engine torque is opposite to that of FIG Force direction of the manual drive applied. Thus, a resistance to the manual driving force is generated. From the size of this resistance, the manually applied force can be determined.
  • auxiliary drive device itself generates a corresponding resistance, eliminates the need to provide external resistances in the form of, for example, a ramp.
  • the manual driving force that can be applied by a wheelchair user can thus be determined by the auxiliary drive device itself.
  • the torque is increased counter to the effective direction of the manually introduced into the impeller driving force gradually.
  • This braking torque or counter torque is successively increased time-dependent, until such time as the test person is no longer able to turn the wheel manually. From that counter torque, in which just by the user a rotational movement could be brought about, a maximum force of the user can be determined. This maximum force is a measure by which it can be determined which slopes could be managed by the wheelchair user.
  • such measurements can be carried out independently for both sides, that is, for the left and right hands.
  • the weaker force is to be used as a reference value, because only in this way a straight ahead on slopes can be ensured.
  • measured data are transmitted in real time to a data processing device, for example a PC.
  • a data processing device for example a PC.
  • This synchronous data transmission not only ensures that an evaluation is available immediately upon completion of the measurement, but also gives a therapist the opportunity to read the measurement results during to monitor and, where appropriate, intervene or stop the measurement, if necessary for medical reasons.
  • auxiliary drive device according to the invention and a wheelchair equipped with such an auxiliary drive device according to the invention offer the advantage that the device itself can be used to test the performance of the user without having to provide ramps with corresponding space requirements.
  • wheelchair is stored or jacked so that the wheels are freely rotatable.
  • the user then takes place in the wheelchair and can thus freely rotate the drive wheels, with the only counterforce acting counter to the rotation driving force of the drive motor acts.
  • the auxiliary drive device may have a gripping ring via which force can be manually introduced into the impeller.
  • the drive motor can be designed as an electric motor and in particular as a hub motor. Such a drive motor may be arranged together with a rechargeable battery and the control device in the hub of the impeller.
  • Fig. 1 shows in a perspective view a wheelchair with two wheels 10.
  • Each impeller 10 has a hub 11 which is connected by means of commercial spokes 17 with a rim 18 on which a tire 19 is mounted.
  • a drive motor which is an electric motor (not shown), a rechargeable battery (not shown), and a controller (not shown).
  • a gripping ring 12 is connected to the hub 11 via three struts 13 and three spoke elements 14.
  • a sensor device detects the effect of the force acting on a spoke element 14. This effect is, on the one hand, a tension generated in the spoke element 14 and, on the other hand, a deformation of the spoke element 14. At least one of these effects is detected and serves as a measure of the force introduced into the grip ring 12. According to this measure, the drive motor is driven by the control device to provide a torque. In this case, variable or permanently preprogrammed degrees of support can be provided.
  • Suitable such sensor devices or sensors are for example in the EP 0 945 113 A2 disclosed.
  • the auxiliary drive device In addition to the usual operating mode, which amplifies the manually initiated driving force or braking force by electric motor by applying a torque in the same direction in which acts the manually introduced force, the auxiliary drive device according to the invention also has a user force determination operating mode in which a torque against the Direction of action of the manually introduced into the impeller 10 driving force generated.
  • the control device of the auxiliary drive device is placed in the user force detection operating mode. A user takes place in the wheelchair. If the user now starts to rotate the wheels 10 by manually introduced into the gripping ring 12 force, the drive motor develops due to the control of the control device in the user force determination operating mode initially low counter-torque, which is gradually increased successively, until the Test person is no longer able to put the impeller 10 via the gripping ring 12 in a rotary motion. This determined starting force, which has just led to a rotary motion, is recorded as a maximum force.
  • Fig. 2 shows a corresponding diagram for a total mass of 115 kg and a rolling friction coefficient of 0.015.
  • the supply is indicated with a residual force supporting drive system, ie a wheelchair with a generic auxiliary drive device.

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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)
  • Control Of Electric Motors In General (AREA)
EP11172325.0A 2010-09-22 2011-07-01 Dispositif d'entraînement auxiliaire, fauteuil roulant et procédé d'établissement de la force d'entraînement manuelle d'un conducteur de fauteuil roulant Withdrawn EP2433603A3 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102010037705.8A DE102010037705B4 (de) 2010-09-22 2010-09-22 Hilfsantriebsvorrichtung, Rollstuhl und Verfahren zur Ermittlung der manuellen Antriebskraft eines Rollstuhlfahrers

Publications (2)

Publication Number Publication Date
EP2433603A2 true EP2433603A2 (fr) 2012-03-28
EP2433603A3 EP2433603A3 (fr) 2014-12-31

Family

ID=45001614

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11172325.0A Withdrawn EP2433603A3 (fr) 2010-09-22 2011-07-01 Dispositif d'entraînement auxiliaire, fauteuil roulant et procédé d'établissement de la force d'entraînement manuelle d'un conducteur de fauteuil roulant

Country Status (2)

Country Link
EP (1) EP2433603A3 (fr)
DE (1) DE102010037705B4 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012109833B4 (de) * 2012-10-16 2015-11-26 Bettina Kuhlmann Zugmittel mit einem Motor und einer Steuerung für einen Rollstuhl
DE102015102381B4 (de) * 2015-02-19 2018-05-30 Alber Gmbh Vorspannlenkvorrichtung und Rollstuhlgespann
DE102017222036A1 (de) 2017-12-06 2019-06-06 Robert Bosch Gmbh Sensorvorrichtung zur Erfassung einer Betätigungsgröße, Sensorsystem, Rollstuhl und Verfahren zur Ermittlung einer Vortriebskraft eines Rollstuhlfahrers

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0945113A2 (fr) 1998-03-21 1999-09-29 Ulrich Alber GmbH Dispositif de propulsion auxiliaire pour fauteuil roulant propulsé par le patient

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4050533A (en) * 1976-06-22 1977-09-27 Government Of The United States Of America Rep. Administration Of Veterens Affairs Powered wheel chair
DE19527680A1 (de) * 1995-07-28 1997-03-06 Efa Gmbh Entwicklungsgesellsch Muskelkraftbetriebenes Radfahrzeug mit einem elektrischen Hilfsantrieb
DE10040521C2 (de) * 1999-10-13 2001-11-08 Alber Ulrich Gmbh & Co Kg Fahrzeug, insbesondere Rollstuhl
DE10308210A1 (de) * 2003-02-25 2004-09-09 Klaus Dr. Becker Trainingsgerät sowie Verfahren zum Betreiben eines Trainingsgerätes
DE102008002993B3 (de) * 2008-08-08 2009-11-05 Ulrich Alber Gmbh Hilfsantriebsvorrichtung für einen Rollstuhl und Rollstuhl mit Hilfsantriebsvorrichtung

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0945113A2 (fr) 1998-03-21 1999-09-29 Ulrich Alber GmbH Dispositif de propulsion auxiliaire pour fauteuil roulant propulsé par le patient
DE19857786A1 (de) 1998-03-21 1999-09-30 Alber Ulrich Gmbh & Co Kg Hilfsantriebsvorrichtung für Selbstfahrer-Rollstühle

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Publication number Publication date
DE102010037705A1 (de) 2012-03-22
DE102010037705B4 (de) 2014-04-24
EP2433603A3 (fr) 2014-12-31

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