EP3518858A1 - Robot mobile d'assistance comprenant au moins un systeme d'appui pivotant - Google Patents
Robot mobile d'assistance comprenant au moins un systeme d'appui pivotantInfo
- Publication number
- EP3518858A1 EP3518858A1 EP17787472.4A EP17787472A EP3518858A1 EP 3518858 A1 EP3518858 A1 EP 3518858A1 EP 17787472 A EP17787472 A EP 17787472A EP 3518858 A1 EP3518858 A1 EP 3518858A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- robot
- support system
- mobile base
- person
- robot according
- 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.)
- Granted
Links
- 230000000284 resting effect Effects 0.000 claims description 6
- 210000002414 leg Anatomy 0.000 description 8
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 238000005096 rolling process Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- VJYFKVYYMZPMAB-UHFFFAOYSA-N ethoprophos Chemical compound CCCSP(=O)(OCC)SCCC VJYFKVYYMZPMAB-UHFFFAOYSA-N 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
- A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
- A61H2201/1215—Rotary drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
- A61H2201/1215—Rotary drive
- A61H2201/1223—Frequency controlled AC motor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5025—Activation means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5038—Interfaces to the user freely programmable by the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5043—Displays
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5079—Velocity sensors
Definitions
- the present application relates to a mobile assistance robot comprising at least one pivoting support system.
- the document WO-2008/149018 describes a polyvalent robot more particularly adapted for the assistance of a person.
- This robot comprises a mobile base which comprises in the lower part of the wheels and a control system comprising actuators, sensors and controls for controlling the movements of the mobile base.
- the multipurpose robot described in this document WO-2008/149018 is thus fully efficient for moving in a domestic environment for example.
- the robot is more particularly adapted for the assistance of a person and may be equipped with accessories.
- the multi-purpose robot can tow a walking device that includes a rolling base coupled to the multi-purpose robot.
- the robot follows a trajectory he has determined and the person pressing on the walking device follows the path imposed by the robot.
- the trajectory followed by the robot and imposed on the person is not necessarily the ideal trajectory for the person. Since the ideal trajectory varies from person to person, it is difficult to configure the control system so that the trajectories of each robot are adapted to the trajectories of each person.
- the present invention aims to overcome the disadvantages of the prior art.
- the subject of the invention is a mobile robot comprising:
- a mobile base which has a control system configured to control the movement characteristics of the mobile base
- a support system configured to be entered by a person
- the support system is configured to pivot freely relative to the movable base along a vertical axis of rotation and in that the robot comprises at least a first sensor configured to detect at least one characteristic of a movement of rotation of the support system with respect to the mobile base and to inform the system of control which is configured to change the trajectory of the robot according to the characteristic of the rotational movement of the support system detected by the first sensor.
- the person can choose a path independent of that of the mobile base and impose on the moving base a trajectory.
- FIG. 1 is a side view of a robot equipped with a walking device which illustrates an embodiment of the invention
- FIG. 2 is a perspective view of the robot equipped with a walking device visible in FIG. 1,
- FIG. 3 is a perspective view of the walking device visible in FIG. 1 which illustrates an embodiment of the invention
- FIG. 4 is a perspective view of a robot equipped with a walking device which illustrates another embodiment of the invention
- FIGS. 5A and 5B are diagrams of a robot equipped with a walking device which illustrate the transition from a sitting position to a standing position of a person resting on the walking device,
- FIG. 6 is a view from above of a robot equipped with a walking device and a person illustrating a first configuration of trajectories followed by the robot and the person,
- FIG. 7 is a plan view of a robot equipped with a walking device and a person illustrating a second configuration of trajectories followed by the robot and the person,
- FIG. 8 is a top view of a robot equipped with a walking device and a person illustrating a third configuration of trajectories followed by the robot and the person,
- FIG. 9 is a first perspective view of a robot equipped with a walking device which illustrates another embodiment of the invention.
- FIG. 10 is a second perspective view of the robot visible in FIG. 9.
- a mobile robot This robot is particularly suitable for the assistance of a person.
- This robot 10 comprises a mobile base 12.
- the mobile base 12 is identical to that described in the document WO-2008/149018.
- the mobile base 12 is not further described.
- this mobile base 12 allows the robot 10 to move autonomously in an environment, such as for example inside a house or building.
- the mobile base 12 comprises a base 100 resting on at least three wheels 16, a control system 14 configured to control the characteristics (speed, trajectory, %) of the movement of the mobile base 12.
- the mobile base 12 comprises two driving wheels 16 and at least one idler wheel 16 ', the characteristics (rotation speeds, direction of rotation) of the rotational movement of the two driving wheels 16 being controlled by the control system 14.
- the driving wheels 16 are configured to operate in differential mode.
- the mobile base 12 follows a curved trajectory by imposing on the 16-wheel drive wheels different speeds.
- the movable base 12 is configured to pivot on itself along a pivot axis 18 perpendicular to the ground (therefore vertical if the ground is horizontal) and positioned in the middle of the two wheels.
- the movable base 12 comprises four wheels, namely two side wheels 16 with axes perpendicular to a direction of advance and two idlers 16 'configured to rotate according to a vertical axis, positioned at the front and at the rear in the direction of advance relative to the side wheels 16.
- the mobile base 12 comprises three wheels, namely two driving lateral wheels 16, with axes perpendicular to a direction of advance and a idler wheel 16 'configured to pivot according to a vertical axis, positioned at the front in the direction of advance relative to the side wheels 16.
- This configuration allows to release more space for the feet of the person.
- the mobile base 12 also comprises at least one environment sensor 102 configured to detect obstacles and inform the control system 14 so that the latter optionally modifies the characteristics of the movement of the mobile base 12.
- this sensor 102 is positioned in a first horizontal slot 104 formed on the base 100 and which extends over at least a portion of the periphery of the base 100.
- the robot is equipped with a walking device 20.
- the robot 10 or the ambulatory device 20 comprises a body 22 movable in rotation with respect to the mobile base 12 along an axis of rotation A22 parallel to the pivot axis 18 of the mobile base 12 and preferably coinciding with said axis of rotation. pivoting 18.
- the robot comprises a vertical column 24 whose lower end is connected to the rolling base 12 and whose upper end 26 supports the body 22.
- the ambulatory device 20 is integral with the robot 10 and can not be dismantled, as illustrated in FIG.
- the ambulation device 20 is coupled to the robot 10 by a coupling system 28 making it possible to connect or disassociate the walking device 20 of the robot 10, as illustrated in FIGS. 2 and 3.
- the body 22 is secured to the robot 10 and the coupling system 28 is provided between the body 22 and the walking device 20.
- the body is secured to the ambulation device 20 and the coupling system 28 is provided between the body 22 and the column 24.
- the ambulatory device 20 comprises at least one gripping support system 30, connected to the body 22 and configured to serve as a support for a person.
- the support system 30 comprises at least one handrail 32 in the form of a tube which follows, in a plane perpendicular to the axis of rotation A22, a U-shaped profile.
- U-shaped handrail 32 comprises two branches 34, 34 'parallel to the direction of advance, with 34E ends curved downwards.
- Prehensile support system means an element of the robot that a person can grip with at least one of his hands and on which the person can exert a force with a component facing the ground.
- the ambulation device may comprise only a support system 30 configured to pivot freely relative to the mobile base 12 along a vertical axis of rotation A22.
- the person can choose a path independent of that of the mobile base.
- the radius of curvature of the trajectory C1 of the person may be greater than that of the trajectory C2 of the mobile base 12 as illustrated in FIG. 6, or the radius of curvature of the trajectory C1 of the person may be smaller. than that of the trajectory C2 of the mobile base 12 as illustrated in FIG. 7.
- FIG. 8 insofar as the pivoting of the support system 30 is independent of that of the mobile base 12, the latter can rotate on itself without the person having to move. Thus, it is possible to assist lateral movements of the person.
- the body 22 and the handrail 32 have cooperating shapes.
- the body 22 has the shape of a circular plate and the base 36 of the U formed by the handrail 32 describes an arc that circle whose diameter is proportional to that of the plate.
- the base 36 of the U has a diameter slightly greater than that of the plate so as to leave a spacing between the handrail 32 and the body 22 to allow gripping of the handrail 32 by a person.
- the ambulatory device 20 comprises at least two connectors 38 which connect the handrail 32 to the body 22. These connectors 38 are arranged around the body 22 and are preferably diametrically opposed. According to one configuration, a coupling system 28 is positioned between each coupling 38 and the body 22.
- the ambulatory device 20 comprises, for each branch
- each leg 40, 40' vertical, positioned under the branch 34, 34 ', a lower end rests on the ground and an upper end is rigidly connected to the branch.
- the lower end of each leg 40, 40 ' includes a idler wheel 42, 42'.
- the legs 40, 40 'ensure the recovery of the downward forces generated during the support of a person on the walking device 20, especially during a change of posture (sitting /standing).
- the support system 30 comprises two tubular frames 44, 44 'each with two vertical uprights arranged in the same vertical planes as the branches 34, 34 'of the handrail 32, for each of them one of the branches 34, 34' of the handrail 32 forming the upper side of the frame 44, 44 '.
- each leg 40, 40 ' is connected to the lower side 46, 46' of the corresponding tubular frame 44, 44 '.
- the ambulation device is configured so that the distance between the idler wheels 42, 42 'of the legs 40, 40' is substantially equal to the spacing between the side wheels 16, 16 'driving the mobile base 12.
- the branches 34, 34 'and the legs 40, 40' are arranged in the same planes as the side wheels 16, 16 'driving the mobile base 12, the idlers 42, 42 'being positioned offset rearward with respect to the driving side wheels 16 of the mobile base 12.
- the support system 30 comprises two vertical uprights arranged under each branch 34, 34 '.
- the uprights allow to offer several levels of grip.
- the walking device may comprise at least one cane support 48, at least one basket 50 and / or at least one screen 52.
- the ambulation device 20 comprises at least one control configured to transmit at least one signal to the control system 14 of the mobile base 12 in order to control the movements of the mobile base 12.
- the walking device 20 comprises at least one manual control operable directly by the person.
- the ambulation device 20 comprises a first control 54, positioned on the straight leg 34, configured to control a change of direction of the robot to the right and a second control 56, positioned on the branch 34 'left, configured to control a change of direction of the robot to the left.
- the walking device 20 comprises a third control 58 configured to control a change of speed of the mobile base 12.
- the ambulatory device 20 comprises at least one automatic control.
- the robot comprises at least a first sensor 60 configured to detect at least one characteristic of a rotational movement of the support system 30 relative to the mobile base 12 and to inform the control system 14 so that the latter optionally modifies the characteristics of the movement of the mobile base 12 according to the characteristic of the rotational movement detected by the first sensor 60.
- this first sensor 60 is configured to detect the direction of rotation of the support system 30 relative to the base 12.
- the rotation of the support system 30 in a first direction generates a change of direction to the right of the mobile base 12 and the rotation of the body 22 according to a second direction generates a change of direction to the left.
- the first sensor 60 is configured to determine an angle of rotation of the rotational movement of the support system 30 relative to the mobile base 12, the radius of rotation. turning of the mobile base 12 being inversely proportional to the angle of rotation of the support system 30 relative to the movable base 22 as a function of the values measured by the second sensor 106.
- the mobile base 12 comprises at least one second sensor 106 configured to detect a speed of movement of a person resting on the support system and to inform the control system 14 so that the latter optionally modifies the characteristics of the movement of the mobile base 12.
- This second sensor 106 is configured to detect movement of the person's legs and is positioned in a second substantially horizontal slot 108 in the base 100 and positioned approximately at the knee height of a person.
- This second slot 108 may extend all around the base 100. The same is true of the first slot 104.
- the walking device comprises a display device such as the screen 52 for displaying information relating to the movements of the robot, for example the direction of advance of the robot (forward / backward direction), the speed of the robot (slow / moderate / fast), a future change of direction (right / left direction change) or destination.
- This information relating to the movements of the robot can be communicated to the person by means of sound messages.
- the robot can operate in several modes.
- a first so-called manual mode the person resting on the walking device can control the changes of direction of the robot by pivoting the support system 30 around the axis of rotation A22.
- the robot comprises sensors configured to detect the speed, direction and direction of the person and a command to control the speed, direction and direction of movement of the mobile base 22 from the data. detected by the sensors.
- the mobile base 12 moves autonomously and the pivoting of the support system 30 with respect to the mobile base 12 has no influence on the trajectory of the mobile base 12.
- the robot adapts its speed of advance to that of the person resting on the walking device 20.
- the robot equipped with the ambulatory device can make it possible to make the person pressing on the walking device exercise.
- a succession of movements can be programmed and performed automatically by the mobile base 12.
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1659321A FR3056434B1 (fr) | 2016-09-29 | 2016-09-29 | Robot mobile d'assistance comprenant au moins un systeme d'appui pivotant |
PCT/FR2017/052601 WO2018060597A1 (fr) | 2016-09-29 | 2017-09-27 | Robot mobile d'assistance comprenant au moins un systeme d'appui pivotant |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3518858A1 true EP3518858A1 (fr) | 2019-08-07 |
EP3518858B1 EP3518858B1 (fr) | 2020-12-23 |
Family
ID=57680405
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17787472.4A Active EP3518858B1 (fr) | 2016-09-29 | 2017-09-27 | Robot mobile d'assistance comprenant au moins un système d'appui pivotant |
Country Status (7)
Country | Link |
---|---|
US (1) | US10603244B2 (fr) |
EP (1) | EP3518858B1 (fr) |
JP (1) | JP2019536498A (fr) |
CN (1) | CN109862861B (fr) |
ES (1) | ES2863666T3 (fr) |
FR (1) | FR3056434B1 (fr) |
WO (1) | WO2018060597A1 (fr) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109381325B (zh) * | 2018-10-10 | 2021-02-05 | 上海傅利叶智能科技有限公司 | 一种延续性强的五自由度混联下肢康复机器人 |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10216183A (ja) * | 1997-02-04 | 1998-08-18 | Sony Corp | 歩行補助装置と歩行補助方法 |
FR2796548B1 (fr) * | 1999-07-19 | 2001-10-05 | Burin Gilles Payet | Ambulateur a moteur d'assistance a la marche |
JP2007139710A (ja) * | 2005-11-22 | 2007-06-07 | Advanced Telecommunication Research Institute International | 歩行補助ロボット |
JP2007301071A (ja) * | 2006-05-10 | 2007-11-22 | Toyota Motor Corp | 歩行介助装置 |
WO2008062408A2 (fr) * | 2006-11-22 | 2008-05-29 | Noga Nishry | Dispositif de mobilité personnel |
FR2916152B1 (fr) | 2007-05-14 | 2010-03-05 | Robosoft | Robot polyvalent |
KR100963276B1 (ko) * | 2008-07-21 | 2010-06-11 | 이선경 | 전동식 보행기 |
DE102008049035A1 (de) * | 2008-09-25 | 2010-04-01 | Schaeffler Kg | Stützhilfe zur Unterstützung einer Person |
JP2011224294A (ja) * | 2010-04-19 | 2011-11-10 | Shiro Numata | 歩行補助装置 |
CN102551994B (zh) * | 2011-12-20 | 2013-09-04 | 华中科技大学 | 一种康复助行机器人及其控制*** |
DE202012007865U1 (de) * | 2012-08-16 | 2012-08-27 | Gerd Wilsdorf | Gehwagen |
JP2014230681A (ja) * | 2013-05-30 | 2014-12-11 | 船井電機株式会社 | パワーアシスト装置及び歩行補助車 |
WO2015011839A1 (fr) * | 2013-07-26 | 2015-01-29 | 富士機械製造株式会社 | Robot d'assistance |
JP6187049B2 (ja) * | 2013-08-30 | 2017-08-30 | 船井電機株式会社 | 歩行アシスト移動体 |
JP5800110B2 (ja) * | 2013-10-10 | 2015-10-28 | 株式会社村田製作所 | 手押し車 |
US9677774B2 (en) | 2015-06-08 | 2017-06-13 | Alto-Shaam, Inc. | Multi-zone oven with variable cavity sizes |
CN205108273U (zh) * | 2015-11-26 | 2016-03-30 | 哈尔滨博强机器人技术有限公司 | 一种适应调节和互动辅助行走机器人 |
SE540001C2 (en) * | 2016-04-05 | 2018-02-20 | Kyttinge Invest Ab | Self-propelling trolley assembly |
CN208710425U (zh) * | 2017-10-06 | 2019-04-09 | 原星股份有限公司 | 助行车的座面结构 |
-
2016
- 2016-09-29 FR FR1659321A patent/FR3056434B1/fr not_active Expired - Fee Related
-
2017
- 2017-09-27 JP JP2019515851A patent/JP2019536498A/ja active Pending
- 2017-09-27 ES ES17787472T patent/ES2863666T3/es active Active
- 2017-09-27 CN CN201780060634.8A patent/CN109862861B/zh active Active
- 2017-09-27 WO PCT/FR2017/052601 patent/WO2018060597A1/fr unknown
- 2017-09-27 EP EP17787472.4A patent/EP3518858B1/fr active Active
- 2017-09-27 US US16/337,671 patent/US10603244B2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
CN109862861B (zh) | 2021-09-21 |
US20190269572A1 (en) | 2019-09-05 |
US10603244B2 (en) | 2020-03-31 |
WO2018060597A1 (fr) | 2018-04-05 |
FR3056434B1 (fr) | 2020-02-07 |
FR3056434A1 (fr) | 2018-03-30 |
CN109862861A (zh) | 2019-06-07 |
ES2863666T3 (es) | 2021-10-11 |
EP3518858B1 (fr) | 2020-12-23 |
JP2019536498A (ja) | 2019-12-19 |
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