EP1878416A2 - Dispositif d'actionnement supplémentaire pour fauteuils roulants manuels - Google Patents

Dispositif d'actionnement supplémentaire pour fauteuils roulants manuels Download PDF

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Publication number
EP1878416A2
EP1878416A2 EP07108018A EP07108018A EP1878416A2 EP 1878416 A2 EP1878416 A2 EP 1878416A2 EP 07108018 A EP07108018 A EP 07108018A EP 07108018 A EP07108018 A EP 07108018A EP 1878416 A2 EP1878416 A2 EP 1878416A2
Authority
EP
European Patent Office
Prior art keywords
wheelchair
steering
drive device
scooter
drive
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Withdrawn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
EP07108018A
Other languages
German (de)
English (en)
Other versions
EP1878416A3 (fr
Inventor
Tobias Amann
Matthias Bitzer
Martin Steiner
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 EP1878416A2 publication Critical patent/EP1878416A2/fr
Publication of EP1878416A3 publication Critical patent/EP1878416A3/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Withdrawn legal-status Critical Current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
    • A61G5/047—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven by a modular detachable drive system
    • 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
    • A61G5/1051—Arrangements for steering
    • 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

Definitions

  • the invention relates to an auxiliary drive device for manual wheelchairs, which is also called wheelchair scooter in the trade.
  • Such a wheelchair scooter serves to be detachably connected to a wheelchair, in particular a manually driven wheelchair, in order to drive this wheelchair.
  • a known wheelchair scooter marketed under the name "RollAid” is shown in FIG.
  • a conventional wheelchair with two front pivoting wheels 2003, also called castors, and two large rear wheels 2004, to which the wheelchair scooter can be connected, is shown in a partially sectional view in FIG.
  • the left rear running wheel seen in the direction of travel is omitted for the purpose of better illustration of fastening means.
  • the known wheelchair scooter 1000 has a drive wheel 1001 which can be driven by means of a drive motor 1002.
  • the motor 1002 is designed as an electric motor, which is supplied with power during operation by a rechargeable battery (rechargeable battery) 1003.
  • the drive wheel 1001 can be pivoted together with the drive motor 1002 via a steering column 1004 and a handlebar 1005 with respect to the wheelchair scooter housing to perform steering movements.
  • the known wheelchair scooter 1000 has first holding means 1006 and second holding means 1007 as well Centering bevels 1008, which are arranged in pairs and on both sides of the wheelchair scooter. Furthermore, the wheelchair scooter 1000 has at its end opposite the drive wheel 1001 via two small rollers 1009, of which only one roller is shown in FIG. 19.
  • the wheelchair scooter 1000 on the drive wheel 1001 and the two rollers 1009 are moved.
  • the wheelchair 2000 is driven from behind over the wheelchair scooter 1000, whereby the steering column 1004 opposite the end of the wheelchair scooter between the footrests 2001 of the wheelchair 2000 passes.
  • the wheelchair scooter 1000 is centered over the centering ramps 1008 in cooperation with crossbars 2002 of the wheelchair 2000 opposite the wheelchair 2000.
  • the second holding means 1007 of the wheelchair scooter 1000 engage in corresponding holding elements of the wheelchair 2000.
  • a pivotable holding mechanism which is fixed to the wheelchair 2000, in cooperation with run-up slopes 1007A of the second holding means 1007, causes the rear end of the wheelchair scooter 1000 to be raised with the casters 1009 in the ready-coupled state of the wheelchair scooter 1000 on the wheelchair 2000 opposite the floor surface is.
  • the wheelchair scooter 1000 is thus held in the ready-docked state at its rear end to a holding element of the wheelchair 2000 (not shown) and rests with its drive wheel 1001 on the running surface.
  • the centering bevels 1008 are such that the front end of the wheelchair when performing the docking process is raised so far that the two front pivotable wheels 2003 are lifted off the ground in fully docked condition.
  • the wheelchair scooter 1000 described above is for this reason designed so that the steering column 1004 is arranged in front of the steering axis of the drive wheel.
  • the steering column 1004 therefore not only performs a rotation, but also translationally moves on a circular arc whose radius corresponds to the distance between the central axis of the steering column 1004 and the steering axis of the drive wheel. The larger this distance, the more adversely this affects the steering feel.
  • the invention has the object to improve a wheelchair scooter of the type described above in terms of its usability and usability.
  • the auxiliary drive device which is designed to be connected to a wheelchair and to pull the wheelchair in this docked state, has a steerable drive wheel, a drive motor, a steering column and fasteners for docking to a wheelchair.
  • a steering gear is provided between the steering column and the steerable drive wheel.
  • the steering column with respect to the steering column axis in the direction of travel can be moved forward without the advantage is lost that a steering movement is caused by exclusive rotation of the steering column.
  • a bicycle consistent steering feel thus the available space between front seat edge and cross brace of a wheelchair can be optimally used for the cultivation of a wheelchair scooter.
  • the steered drive wheel moves farther away from the footrests of the wheelchair and the legrests holding them to the rear, so that a greater safety distance to the feet of the wheelchair user can be ensured.
  • the auxiliary drive device can thus be attached to a wider range of different wheelchair variants.
  • the dimension of the axial offset between the steering column axis and the steering axis of the steerable drive wheel can be influenced by the choice and dimensioning of the steering gear.
  • a steering gear As a steering gear, a spur gear, a belt transmission, wherein preferably a toothed belt transmission is used, which has no slip, or a coupling gear can be used.
  • a spur gear the distance between the steering column axis and the steering axis of the steerable drive wheel can be varied by the distance of the spur gears. As will be apparent to those skilled in the art, the variation in the spacing of the two axes in question in belt and compound transmissions is also easy to accomplish.
  • the steering gear can have a direct ratio, ie a gear ratio of one. This means that a rotation of the steering column by an angle ⁇ causes a steering movement of the steered drive wheel by the same angle ⁇ . This again corresponds to the direct and intuitive steering feel of a bicycle.
  • the transmission ratio can also be selected larger or smaller than one.
  • a translation of the steering angle between steering column and steered drive wheel cause small steering rashes on a steering column attached to the steering handlebar larger steering movements of the steered drive wheel.
  • the steerable drive wheel is preferably guided by a Einarmgabel. This is particularly recommended when using a wheel hub motor as a drive motor.
  • the steering axis of the steerable drive wheel can be designed as a hollow shaft. This provides the possibility of laying power supply and control lines, for example between a drive motor designed as a hub motor and a control device in the region of the handlebar through the hollow shaft. As a result, permanent bending stresses in the steering angle and the associated risk of cable breaks are avoided because the lines are only subjected to torsion, which is a less critical burden.
  • a brushless, commutated DC motor can be used as a drive motor.
  • This can be installed gearless or even with a transmission or reduction gear, for example, a planetary gear.
  • the drive is integrated in the wheel hub.
  • the wheel hub is rigidly connected to the drive shaft of the drive. As a result, the drive stands still while the wheel hub rotates about the drive.
  • Such a wheel hub drive is characterized by compact size, high performance and good efficiency.
  • Fig. 7 shows an embodiment of an auxiliary driving device for manual wheelchairs (wheelchair scooter) in a state in which the system is turned off
  • Fig. 8 shows the wheelchair scooter according to Fig. 1 in a state in which the system is turned on.
  • the wheelchair scooter is movable on two drive wheels 1, 2 and two rollers 3, 4.
  • the drive wheels 1, 2 can be driven by a drive motor 5 and directed by a steering column 6 and a handlebar 7.
  • the steering rod 7 is fastened to a pivotable operating unit 100.
  • the drive motor 5 is designed as an electric motor and is powered by a rechargeable battery (accumulator) 8 with power.
  • the operating unit 100 has two actuation levers 101, 102 designed as a rocker, which can be actuated, for example, with the forefinger and / or the thumb of an operator to cause a forward and / or reverse movement.
  • control unit On the control unit also provided a push button for issuing a Hubsignals, a light switch, which can also be designed as a push button, two push-button for uncoupling the wheelchair scooter from a wheelchair (will be explained in detail below), a rotary potentiometer, by turning a default setting of the driving speed allows and can be switched on and off by pressing, a display with an LED (light emitting diode) indicator to indicate the state of charge of the battery 8 and an immobilizer to secure the vehicle against unauthorized use.
  • a push button for issuing a Hubsignals
  • a light switch which can also be designed as a push button, two push-button for uncoupling the wheelchair scooter from a wheelchair (will be explained in detail below)
  • a rotary potentiometer by turning a default setting of the driving speed allows and can be switched on and off by pressing
  • a display with an LED (light emitting diode) indicator to indicate the state of charge of the battery 8 and an immobilizer to secure the vehicle against unauthorized
  • this switched-off state which is also referred to below as idle state, the wheelchair scooter can be pushed by unlocking a brake provided on the drive by an operator, for example, for storage at his storage place or for mounting to a wheelchair to a point from which the wheelchair can be connected to the wheelchair scooter.
  • the rechargeable battery (accumulator) 8 can be easily removed and replaced with a handle from its corresponding holder.
  • a charge socket provided on the housing of the battery 8 also allows charging of the accumulator outside of the wheelchair scooter. For example, one fully charged battery 8 may always be kept, while another Battery 8 is in use.
  • the easy dismantling of the wheelchair scooter by removing the steering column 6 and removing the rechargeable battery 8 also allows easy transport of the wheelchair scooter.
  • Fig. 8 shows the wheelchair scooter according to Fig. 7 in the operating state, but without docked wheelchair. It can be seen that in this operating state, the fastening part 200 is raised relative to the drive part 300. If one selects the fastening part 200 as a reference system for this positional shift in relation to the position according to FIG. 7, then in FIG. 8 the drive part 300 is lowered relative to the fastening part 200. The meaning of this operating position is explained below in connection with the docking of the wheelchair scooter on a wheelchair and with the driving operation of the composite between wheelchair scooter and wheelchair.
  • FIG. 9 shows the wheelchair scooter in the operating state of FIG. 8, ie in the on state, and a commercially available manually driven wheelchair 600.
  • the wheelchair 600 has two large wheels 601, which (not shown) may be provided with gripping rings over which the Person sitting in a wheelchair can drive the wheelchair by hand, as well as two freely rotatable small wheels 602, which are articulated by means of appropriate handlebars with a large trailer and castors called.
  • the wheelchair also has handles 603, over which the wheelchair, possibly with a person sitting in the wheelchair, through a Assistant can be pushed.
  • the wheelchair has one or more cross braces 610.
  • the wheelchair 600 also has hinged footrests 604 (see, for example, FIG. 10) which are attached to swing-away or removable legrests and are not shown in FIG. 9 for purposes of clarity.
  • FIG. 9 To dock the wheelchair to the wheelchair scooter, the wheelchair is moved up in the manner shown in FIG. 9 to the wheelchair scooter ready for operation.
  • the folding footrests are folded up or the legrests completely pivoted to the side and the wheelchair is driven over the mounting part 200 until the steering column 6 of the wheelchair scooter approaches the front edge of the seat cushion of the wheelchair 600.
  • FIGS. 10 and 12 Figures 11 and 13 are enlarged details to more fully illustrate the docking and mounting elements, with Figure 11 corresponding to Figure 10 and Figure 13 to Figure 12.
  • the wheelchair scooter has pairwise front fasteners 210, of which only one is shown due to the perspective view, for example in Figures 8 and 9.
  • Each of the two front fastening elements 210 has a centering bevel 211 and a hook 212, resulting in a J-shaped cross section results.
  • the centering bevel 211 serves to center the wheelchair scooter in cooperation with the cross struts 610 of the wheelchair 600 with respect to the wheelchair 600 when assembling the wheelchair and the wheelchair scooter.
  • the centering bevels 211 are inclined both with respect to an imaginary plane that runs vertically through the central axis running in the direction of travel of the wheelchair, for example the folding plane of a foldable wheelchair, and with respect to the running surface on which the wheelchair is moving.
  • the inclination relative to the imaginary vertical median plane of the wheelchair which substantially corresponds to the inclination of the cross struts, causes the centering of the wheelchair scooter with respect to the wheelchair 600
  • the inclination relative to the running surface has the consequence that in the course of assembly the small wheels ( Castors) 602 be lifted off the running surface or from the ground.
  • the hooks 212 surround the cross struts 610 of the wheelchair 600.
  • front fasteners 210 may be provided in different sizes and replaceable to allow the wheelchair scooter to be assembled with different wheelchairs 600 that may have cross struts of varying thickness.
  • the wheelchair scooter has rear fastening elements 220, which are likewise designed in pairs.
  • the rear fastening elements 220 each have an insertion ramp 221 and a hook element 222.
  • a stroke locking device 700 is attached on the wheelchair 600.
  • This stroke locking device 700 allows docking of the wheelchair scooter on any standard wheelchair. It is designed specifically for the wheelchair scooter and in terms of their Mounting options on the wheelchair 600 carried out so, for example, by variable attachment means with holes at different distances and the like that it can be attached to a variety of different wheelchairs.
  • the stroke locking device has a pivotable lifting element 710 with a lifting rod 711.
  • the lifting element 710 is designed so that during the docking process in the course of bringing together wheelchair 600 and wheelchair scooter, the lifting rod 711 engages with the insertion ramp 221. This causes a pivoting of the lifting element 710 about a pivot axis which passes through the bearing points 712, 713 of the lifting element 710.
  • the lifting element 710 is brought here from a substantially horizontal position, as shown in Figures 10 to 13, in an approximately vertical position, as shown in Figures 14 and 15. During this pivoting movement, which in the view according to the figures 10 to 15 in the prime sense, the attachment part 200 of the wheelchair scooter is raised, so that the rollers 3, 4 lose contact with the running surface or underlay. This state is shown in FIGS. 14 and 15.
  • a locking hook 720 arranged on the lifting locking device 700 encompasses the locking rod 711 and thereby causes the lifting element 710 to be held in this end position.
  • a lifting magnet 230 is provided on the fastening part 200, above the rollers 3, 4 and arranged between them.
  • the solenoid 230 of the locking hook 720 is pivoted so that it releases the lifting rod 711 and running as a swivel bracket lifting element 710 from its operating position shown in Figures 14 and 15, ie approximately vertical position, pivoted back into the approximately horizontal position according to Figures 10 to 13.
  • the rear part of the fastening part 200 is lowered and released, the rollers 3, 4 again put on the running surface or support.
  • the person sitting in the wheelchair can now preselect a speed via the corresponding switch on the operating unit 100 and initiate a forward or reverse drive with the actuating levers 101, 102.
  • the steering takes place via the handlebar 7. Steering direction and steering movement thus arise intuitively.
  • the drive part 300 can be changed relative to the fastening part 200 in its position. This is possible not only in the undocked state of the wheelchair scooter, as shown in Figs. 7 and 8, but also in the docked state. Also in this state, the driving part 300 can be raised. This has the consequence that the small drive wheels (Castoren) 602 lower and get back into contact with the running surface or the ground. The drive part 300 can also be raised so far that the drive wheels 1, 2 are completely raised from the ground. In this position, although the wheelchair scooter is docked, the wheelchair can easily be driven and controlled manually via the large wheels 601. Unlike the prior art described in the introduction, the rolling resistance of the electric drive does not have to be overcome here.
  • the wheelchair user must therefore in the event that he wants to move the wheelchair manually on the large wheels 601 or pushing handles, not the wheelchair scooter again, but can only the drive wheels 1, 2 of the wheelchair scooter and this completely stand off the ground and thus achieves the same maneuverability and easy maneuverability of the manual wheelchair 600 without a wheelchair scooter, although it is still connected to the wheelchair 600. If the wheelchair user so wishes, he can also remove the steering column 6. This allows, for example, a closer approach to a table.
  • the electric drive is desired or needed again, it is available by simply switching on the system almost immediately available again.
  • the drive wheels are then lowered again and the small drive wheels (castors) 602 lifted off the ground.
  • a renewed coupling of the wheelchair scooter is, unlike the prior art, not required.
  • Fig. 16 shows in a partially sectioned view in which the steering column 6 shown only as a fragment and essential parts of the fastening part 200 are omitted for the purpose of better illustration, the Fig. 7 corresponding position in which the drive member 300 and thus the Drive wheels 1, 2 are raised in the docked to a wheelchair state of the wheelchair scooter or in which the mounting portion 200 of the wheelchair scooter is lowered in the undocked state.
  • This position corresponds to the resting state, i. the state in which the wheelchair scooter is switched off. It is also the maximum raised position of the drive wheels 1, 2.
  • Fig. 17 corresponds to Fig. 16, but unlike Fig. 16 shows the operating condition, ie the state in which the small wheels (castors) 602 of the wheelchair 600 are lifted from the ground or the running surface in the docked state or, in other words, at is raised in the undocked state of the fastening part 200, as shown in Fig. 8, so that the docking operation can take place.
  • This position corresponds to the operating state, ie the state in which the wheelchair scooter pulls the docked wheelchair. It is also the maximum lowered position of the drive wheels 1, 2.
  • the drive part 300 including the drive wheels 1, 2 of the drive motor 5 and the steering column 6 and the components connected thereto are movably mounted relative to the attachment part 200 via a linear column guide 320, which extends substantially vertically.
  • the rotational movement generated by the gear motor 321 is converted into a linear movement via an additional gear with a push rod 322 and a push rod gear 323.
  • the push rod 322 is at top dead center of the additional gear.
  • the two bearing axes of the push rod 322 and the axis of rotation of the push rod gear 323 are in this case in a common plane. This means that no moments due to external load on the geared motor 321 act.
  • the push rod is at fully or maximally lowered drive wheels, i. the position shown in Fig. 8, in the bottom dead center of the additional gear. Even in this position, no moments due to external load acting on the geared motor 321 act.
  • the wheelchair scooter according to the invention individually or in any combination can have all the features of the above-described embodiment of a wheelchair scooter and additionally the features explained below, in particular a corresponding steering gear.
  • the wheelchair scooter according to the invention for example, have a vertical movability of the drive wheel, as this is explained in connection with Figures 7 to 18.
  • the corresponding components for linear movability are omitted in the embodiment according to Figures 1 to 6 only for the purpose of easier representation of the steering gear.
  • the wheelchair scooter connected in the illustration according to FIG. 1 with a commercially available wheelchair 600 has a drive wheel 2001 with a drive motor 2005 designed as a hub motor, as well as a steering column 2006 and a steering rod 2007.
  • the steering column 2006 is rotatable about a rotation axis X.
  • the steering axis of the steerable drive wheel 2001 is shown in Fig. 2 by the axis Y.
  • the distance between the axes X and Y has the length a. It is bridged by a steering gear 2400, which is shown in the figures as a spur gear.
  • the transmission ratio of the steering gear and the distance a can be determined by appropriate choice of the spur gears.
  • the drive wheel 2001 is guided by a Einarmgabel 2900.
  • a hub motor 2005 Disposed in the drive wheel 2001 is a hub motor 2005, which is shown in section in FIG. Power supply and control lines 2130 of the hub motor 2005, which is designed so that the drive unit is stationary while the wheel hub rotates about the drive, are guided along the outside of the single-arm rocker 2900 and run through a steering shaft designed as a hollow shaft 2910.

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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)
  • Automatic Cycles, And Cycles In General (AREA)
  • Carriages For Children, Sleds, And Other Hand-Operated Vehicles (AREA)
  • Power Steering Mechanism (AREA)
EP07108018A 2006-07-14 2007-05-11 Dispositif d'actionnement supplémentaire pour fauteuils roulants manuels Withdrawn EP1878416A3 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102006032843A DE102006032843B4 (de) 2006-07-14 2006-07-14 Zusatzantriebsvorrichtung für manuelle Rollstühle

Publications (2)

Publication Number Publication Date
EP1878416A2 true EP1878416A2 (fr) 2008-01-16
EP1878416A3 EP1878416A3 (fr) 2008-06-18

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ID=38526741

Family Applications (1)

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EP07108018A Withdrawn EP1878416A3 (fr) 2006-07-14 2007-05-11 Dispositif d'actionnement supplémentaire pour fauteuils roulants manuels

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Country Link
EP (1) EP1878416A3 (fr)
DE (1) DE102006032843B4 (fr)
NO (1) NO20072942L (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104013501A (zh) * 2014-05-21 2014-09-03 苏州标图高级座椅有限公司 一种残疾人用座椅
CN105287122A (zh) * 2015-11-13 2016-02-03 长春大学 一种轮椅自动壁障控制***
CN110179604A (zh) * 2019-06-15 2019-08-30 大连亿斯德环境科技有限公司 一种智能轮椅用全方位转向驱动轮及控制***
CN115071812A (zh) * 2022-02-28 2022-09-20 优跑汽车技术(上海)有限公司 转向臂结构、转向装置、角单元、行走装置、电动车辆
FR3142083A1 (fr) * 2022-11-21 2024-05-24 Valentin PIERRAT Système d’assistance pour fauteuil roulant manuel

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018122357A1 (de) * 2018-09-13 2020-03-19 Alber Gmbh Bediensatellit zur Ansteuerung einer Antriebsvorrichtung für einen Rollstuhl und Antriebsvorrichtung mit einem Bediensatelliten
DE102018122368A1 (de) * 2018-09-13 2020-03-19 Alber Gmbh Antriebsvorrichtung für einen Rollstuhl
AT525292B1 (de) * 2021-07-19 2023-09-15 Rudolf Fux Verbinderer

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4386672A (en) * 1981-06-11 1983-06-07 Coker Theodore R Detachable electric drive unit for wheelchair
US5244051A (en) * 1991-11-04 1993-09-14 Wu Kung Hsiung Central steerable driving means of wheelchair
US5280937A (en) * 1992-03-03 1994-01-25 Dennis Needham Steered wheeled framework

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4386672A (en) * 1981-06-11 1983-06-07 Coker Theodore R Detachable electric drive unit for wheelchair
US5244051A (en) * 1991-11-04 1993-09-14 Wu Kung Hsiung Central steerable driving means of wheelchair
US5280937A (en) * 1992-03-03 1994-01-25 Dennis Needham Steered wheeled framework

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104013501A (zh) * 2014-05-21 2014-09-03 苏州标图高级座椅有限公司 一种残疾人用座椅
CN105287122A (zh) * 2015-11-13 2016-02-03 长春大学 一种轮椅自动壁障控制***
CN110179604A (zh) * 2019-06-15 2019-08-30 大连亿斯德环境科技有限公司 一种智能轮椅用全方位转向驱动轮及控制***
CN115071812A (zh) * 2022-02-28 2022-09-20 优跑汽车技术(上海)有限公司 转向臂结构、转向装置、角单元、行走装置、电动车辆
FR3142083A1 (fr) * 2022-11-21 2024-05-24 Valentin PIERRAT Système d’assistance pour fauteuil roulant manuel
WO2024110495A1 (fr) * 2022-11-21 2024-05-30 Pierrat Valentin Systeme d'assistance pour fauteuil roulant manuel

Also Published As

Publication number Publication date
NO20072942L (no) 2008-01-15
DE102006032843A1 (de) 2008-01-17
EP1878416A3 (fr) 2008-06-18
DE102006032843B4 (de) 2008-09-04

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