EP2433604A2 - Dispositif d'entraînement auxiliaire, fauteuil roulant et procédé d'établissement de données de puissance physiques d'un conducteur de fauteuil roulant - Google Patents

Dispositif d'entraînement auxiliaire, fauteuil roulant et procédé d'établissement de données de puissance physiques d'un conducteur de fauteuil roulant Download PDF

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Publication number
EP2433604A2
EP2433604A2 EP11172333A EP11172333A EP2433604A2 EP 2433604 A2 EP2433604 A2 EP 2433604A2 EP 11172333 A EP11172333 A EP 11172333A EP 11172333 A EP11172333 A EP 11172333A EP 2433604 A2 EP2433604 A2 EP 2433604A2
Authority
EP
European Patent Office
Prior art keywords
user
impeller
force
wheelchair
drive motor
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Withdrawn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
EP11172333A
Other languages
German (de)
English (en)
Other versions
EP2433604A3 (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 EP2433604A2 publication Critical patent/EP2433604A2/fr
Publication of EP2433604A3 publication Critical patent/EP2433604A3/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Withdrawn legal-status Critical Current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
    • A61G5/1054—Large wheels, e.g. higher than the seat portion
    • 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 physical performance data 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.
  • the driving force or drive torque act on the one hand manually by the wheelchair user in the impeller, 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 support level depending on the manually introduced force, that the control device drives 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 a device and a method by which or in a particularly advantageous manner physical performance data of a wheelchair user can be determined and, in a specific embodiment of the invention, a suitable Presetting, that is, a user-specific default setting of control parameters for controlling the drive motor, for example, the degree of support, is possible.
  • 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 analysis operating mode in which it is designed to determine physical performance data of the wheelchair user.
  • auxiliary drive device In order to fulfill its task as an auxiliary drive device, this has a sensor device which is adapted to a manual in to detect the impeller initiated driving force. It also has a control device which is designed to drive the drive motor for driving the impeller according to a degree of support in dependence on the manually initiated by a user in the impeller driving force. According to the present invention, therefore, the controller is extended by a user force analysis mode of operation that allows it to do so allows you to determine the physical performance data of the wheelchair user and thus of the user.
  • the wheelchair user can thus deliver the power exactly where it is used later in the intended use of the auxiliary drive device. It can thus be carried out without additional effort on hardware experiments that are not only practical, but are identical to practice. Transmissions and analogies, which regularly lead to blurring of test results, are therefore eliminated. In addition, the expense of material and costs for additional experimental facilities eliminated.
  • the control device is designed to record a measured value or a plurality of measured data during use by a wheelchair user, which takes place without the assistance of the drive motor.
  • these include the measuring time, the measuring period, the amount of manually introduced force, the effective direction of the manually introduced force, the duration of action of the manually introduced force, the rotational frequency of the impeller, the rotation angle of the impeller and an identity code of the impeller.
  • the relevant inventive method for determining physical performance data of a wheelchair user with regard to the manual drive of a wheelchair which is provided with the auxiliary drive device according to the invention, thus designed such that the wheelchair user takes place in such a wheelchair and this manually without support from the drive motor drives.
  • one or more of the aforementioned measured values and measured data are recorded.
  • control device also has a user maximum force determination operating mode in which it is designed to control the drive motor in such a way that in response to a A driving force introduced manually into the impeller generates a torque counter to the direction of action of the driving force introduced manually into the impeller.
  • 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 amplify a braking force, in this embodiment of the auxiliary drive device of the present invention in the maximum user determination operating mode the engine torque applied opposite to the direction of force of the manual drive. 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 against which It can be determined which slopes could be managed by the wheelchair user.
  • Such an auxiliary drive device as well as a wheelchair equipped with an auxiliary drive device whose control device has the above-described user maximum force determination operating mode offer the advantage that the maximum force of the wheelchair user can be determined with the device itself, without, for example, providing ramps with different inclines Need to become.
  • measurement data in the user force analysis mode of operation and / or in the user maximum force determination mode of operation is transmitted in real time to a data processing device, such as a personal computer.
  • a data processing device such as a personal computer.
  • control device has a default setting determination operating mode in which it is designed to use at least one user-specific one, using the measured data determined in the user force analysis operating mode and / or in the maximum user determined operating mode on the basis of preprogrammed functional relationships Define default setting of control parameters to control the drive motor.
  • the auxiliary drive device of the present invention not only serves to detect the wheelchair user's physical performance data, but one or more based on the determined performance data and corresponding functional relationships that can be preprogrammed into the control device based on these performance data user-specific default setting / s of control parameters for controlling the auxiliary motor.
  • the control device not only serves to detect the wheelchair user's physical performance data, but one or more based on the determined performance data and corresponding functional relationships that can be preprogrammed into the control device based on these performance data user-specific default setting / s of control parameters for controlling the auxiliary motor.
  • control device can be designed to determine one or more control parameters for controlling the drive motor. These include in particular the degree of support of the drive motor proportional to the manually introduced force, the swelling time of the torque of the drive motor and the Abschwellzeit the torque of the drive motor.
  • the wheelchair user can select a specific default setting according to their own criteria. These criteria include in particular the place of deployment, the duration of use and the current physical condition. At the place of use, for example, a distinction can be made between operation of the wheelchair in closed rooms on the one hand and operation outside the home on the other hand. Also, the duration of use may be a decision criterion, since a longer period of use naturally indicates a particular household with the forces of the wheelchair user. In addition, the wheelchair user on days when he feels weaker, choose a different default setting than on those days when he is doing well.
  • 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 or parts of 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 acts. 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 electromotive by applying a torque in the same direction in which the manually introduced force acts, the auxiliary drive device according to the invention also has a maximum user determination mode in which a torque against the Direction of action of the manually introduced into the impeller 10 driving force generated.
  • the controller of the auxiliary drive device is set in the user maximum force determination operating mode.
  • the drive motor develops an initially small counter-torque due to the control of the control device in the maximum user determination operating mode, which is gradually increased in time, 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 just barely a rotational movement has been recorded as the maximum force.
  • Fig. 2 shows a corresponding diagram for a total mass of 115 kg and a rolling friction coefficient of 0.015.
  • the controller may also be operated in a user force analysis mode of operation.
  • a user force analysis mode of operation In such an operation of the wheelchair and the related auxiliary drive device in particular the kinematics of the driving operation and the starting behavior of the wheelchair user are analyzed at the level and the relevant performance data of the User determined.
  • the user ie wheelchair user, takes place in the wheelchair and drives it manually without assistance from the auxiliary drive device. It moves the wheelchair as quickly on a flat surface as physically possible, during which data such as the time of measurement, the duration of the measurement, the amount of manually applied force, the effective direction of the manually introduced force, the duration of the manually initiated Force, the rotational frequency of the impeller 10, the rotation angle of the impeller 10, and an identity code of the impeller is detected and stored.
  • the measurement data can be transmitted in real time wirelessly to an external data processing device such as a personal computer and / or stored in the control device itself.
  • an external data processing device such as a personal computer and / or stored in the control device itself.
  • the identity code of the impeller 10 is therefore to be included in order to separately record the measurement data on the left side of the user and on the right side of the user.
  • the recorded and transmitted to an external personal computer data can be displayed on a screen, as well as other data, such as the tangential force on the handgrip and the wheelchair speed, for example in the form of a time chart. This allows an analysis to be carried out in real time.
  • the data obtained gives the user and his therapist information about whether a supply of such an auxiliary drive is basically useful or even necessary.
  • the maximum force of the user determined in the user maximum force determination operating mode provides information about which maximum gradient the wheelchair user can master without motorized drive assistance. This level value can be compared by the wheelchair user with the gradients that are given in his personal environment.
  • the achievable speed is an essential parameter. Studies have shown that it is necessary for a wheelchair user to reach a minimum speed of 3.8 km / h in order to be able to quickly cross roads without major hazard. Also in this regard, by determining the physical performance data of the user in the user force analysis operation mode, a practical value can be obtained.
  • the relationship between the starting angle and the roll angle of the wheel can be determined in connection with the other measured variables.
  • the therapist can see from this whether the wheelchair user moves efficiently or whether the danger of physical discomfort is more likely to be feared. Studies have shown that launch angles should be within a certain bandwidth to ensure speedy movement. If the wheelchair user is not able to apply correspondingly long and uniform start-up impulses, this can be taken into account by means of a residual-force-supporting system of the present type in that a back-up in the overturning phases is provided.
  • an optimal setting for the degree of assistance for dealing with slopes to be traveled can be determined.
  • a suitable level of support can ensure that the wheelchair user can safely reach a speed of at least 3.8 km / h. If the ratio between the starting angle and the roll angle is unfavorable, a correspondingly high setting of the auxiliary caster optimally supports the gripping phase so that a smooth ride can be achieved.
  • Suitable characteristics and functional parameters can be entered by the user or his therapists or else automatically determined and defined by a program stored on the external personal computer or programmed in the control device. Based on this, one or more driving steps can be programmed from which the wheelchair user can choose, for example via a remote control. Depending on the terrain to be driven or its physical condition, which can vary depending on the day, the wheelchair user can thus select from, for example, two driving levels. Since the respective operating data are stored in the control device and, as explained above, are individually tailored to the wheelchair user, the wheelchair user can operate his wheelchair with motor-assisted, ideally-programmed assistance values.
  • adjustment parameters that are programmed and usable separately for each gear and each wheel include, for example, the degree of support of the drive motor proportional to the manually introduced force, the swelling time of the torque of the drive motor and the deceleration time of the torque of the drive motor.
  • the parameterization data can be transmitted, for example, via a wireless interface between the control device and an external data processing device.
  • the wheelchair user thus receives a wheelchair optimally adapted to his needs, with which he can move safely and without overexertion.
  • the vote on this requires no external gauges and no special test track, for example ramps of appropriate pitch, and can be determined in real time on the wheelchair actually being used by the wheelchair user.

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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)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Electric Motors In General (AREA)
EP11172333.4A 2010-09-22 2011-07-01 Dispositif d'entraînement auxiliaire, fauteuil roulant et procédé d'établissement de données de puissance physiques d'un conducteur de fauteuil roulant Withdrawn EP2433604A3 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102010037710.4A DE102010037710B4 (de) 2010-09-22 2010-09-22 Hilfsantriebsvorrichtung, Rollstuhl und Verfahren zur Ermittlung von physischen Leistungsdaten eines Rollstuhlfahrers

Publications (2)

Publication Number Publication Date
EP2433604A2 true EP2433604A2 (fr) 2012-03-28
EP2433604A3 EP2433604A3 (fr) 2014-12-31

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EP11172333.4A Withdrawn EP2433604A3 (fr) 2010-09-22 2011-07-01 Dispositif d'entraînement auxiliaire, fauteuil roulant et procédé d'établissement de données de puissance physiques d'un conducteur de fauteuil roulant

Country Status (3)

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US (1) US8641070B2 (fr)
EP (1) EP2433604A3 (fr)
DE (2) DE202010017965U1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3053563A1 (fr) * 2015-02-04 2016-08-10 Alber GmbH Dispositif de direction en double traction pour attelage de fauteuil roulant

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US9398990B2 (en) 2011-07-06 2016-07-26 W Mark Richter Motion-based power assist system for wheelchairs
DE102012109932B4 (de) * 2012-10-18 2016-02-25 Aat Alber Antriebstechnik Gmbh Kleinfahrzeug, insbesondere Rollstuhl
US9144525B2 (en) 2013-03-14 2015-09-29 Max Mobility, Llc. Motion assistance system for wheelchairs
EP3095683A4 (fr) * 2014-01-15 2017-10-18 Sunstar Giken Kabushiki Kaisha Unité d'assistance électrique, corps mobile d'assistance électrique, ensemble de corps mobiles d'assistance électrique et procédé de commande de corps mobile d'assistance électrique
US9795524B2 (en) 2015-02-24 2017-10-24 Max Mobility, Llc Assistive driving system for a wheelchair
US11504286B2 (en) * 2016-01-04 2022-11-22 University of Pittsburgh—of the Commonwealth System of Higher Education Pneumatic powered mobility devices
GB2559589B (en) * 2017-02-10 2022-07-06 Roma Medical Aids Ltd Wheelchair driving system
TWI656043B (zh) 2017-11-08 2019-04-11 財團法人工業技術研究院 電動輪
US10167051B1 (en) 2017-12-12 2019-01-01 Max Mobility, Llc Assistive driving system for a wheelchair and method for controlling assistive driving system
US12042444B2 (en) 2018-01-31 2024-07-23 University of Pittsburgh—of the Commonwealth System of Higher Education Pneumatic powered mobility control systems
US11628102B2 (en) 2018-05-21 2023-04-18 Hill-Rom Services, Inc. Patient support apparatus adaptable to multiple modes of transport
DE102018122360B4 (de) 2018-09-13 2025-06-26 Alber Gmbh Hilfsantriebsvorrichtung für einen Rollstuhl
DE102018122368B4 (de) * 2018-09-13 2025-07-03 Alber Gmbh Antriebsvorrichtung für einen Rollstuhl
DE102018122357A1 (de) * 2018-09-13 2020-03-19 Alber Gmbh Bediensatellit zur Ansteuerung einer Antriebsvorrichtung für einen Rollstuhl und Antriebsvorrichtung mit einem Bediensatelliten
TWI676472B (zh) 2018-10-05 2019-11-11 財團法人工業技術研究院 助力輪
NL2029083B1 (en) * 2021-08-31 2023-03-15 Univ Delft Tech A method for automatically measuring a propulsive power applied to a pushrim of a wheelchair by a user of the wheelchair.
DE102022124524A1 (de) * 2022-09-23 2024-03-28 Motion Advantage Verwaltungs-GmbH Muskelkraftbetriebener rollstuhl und verfahren zur steuerung eines hilfsantriebs für einen solchen

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Publication number Priority date Publication date Assignee Title
EP3053563A1 (fr) * 2015-02-04 2016-08-10 Alber GmbH Dispositif de direction en double traction pour attelage de fauteuil roulant

Also Published As

Publication number Publication date
EP2433604A3 (fr) 2014-12-31
DE202010017965U1 (de) 2013-05-02
DE102010037710A1 (de) 2012-03-22
US8641070B2 (en) 2014-02-04
DE102010037710B4 (de) 2016-03-17
US20120068435A1 (en) 2012-03-22

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