JP3113742U - Walker and wheelchair with electric standing assist device - Google Patents

Walker and wheelchair with electric standing assist device Download PDF

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JP3113742U
JP3113742U JP2004007842U JP2004007842U JP3113742U JP 3113742 U JP3113742 U JP 3113742U JP 2004007842 U JP2004007842 U JP 2004007842U JP 2004007842 U JP2004007842 U JP 2004007842U JP 3113742 U JP3113742 U JP 3113742U
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hydraulic cylinder
wheelchair
walker
telescopic arm
assist device
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延盛 王
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延盛 王
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Abstract

【課題】使用者が片手で操作でき、介護者がいなくても独立してベッドから立ち、行きたい所へ行くことができ、機械一台で電動歩行器、車椅子、リフトの三つの機能が実現する電動起立補助装置付歩行器兼車椅子の提供。
【解決手段】対称状の肘掛け１０二本と下部梁９二本及び前支脚３から構成したコ形枠である。枠の前下方に駆動輪１が二つあり、二本の肘掛けにそれぞれ同時に伸縮できる伸縮アーム４がある。二本の下部梁にそれぞれ同時に前後伸縮もできる被動輪２付けの伸縮棒５がある。１は駆動輪、２は被動輪、３は前支脚、４は伸縮アーム、５は伸縮棒、６は腋托、７は腰保護板、８は座席、９は下部梁、１０は肘掛け、３１はペダル。
【選択図】図１[PROBLEMS] A user can operate with one hand, can stand up from a bed independently without a caregiver, and go to the place he wants to go, and realizes the three functions of an electric walker, wheelchair and lift with one machine. Providing a walker and wheelchair with an electric standing assist device.
A U-shaped frame composed of two symmetrical armrests, two lower beams, and a front support leg. There are two drive wheels 1 at the front lower side of the frame, and there are telescopic arms 4 that can be expanded and contracted simultaneously on the two armrests. There are telescopic rods 5 with driven wheels 2 that can simultaneously expand and contract at the same time on the two lower beams. 1 is a driving wheel, 2 is a driven wheel, 3 is a front support leg, 4 is a telescopic arm, 5 is a telescopic rod, 6 is a heel, 7 is a waist protection plate, 8 is a seat, 9 is a lower beam, 10 is an armrest, 31 Is a pedal.
[Selection] Figure 1

Description

本考案は、歩行器と車椅子とリフトに関する分野。  The present invention relates to the field of walker, wheelchair and lift.

車椅子は体の不自由な人の為の移動装置である。手動或いは電動のものがある。しかし使用者が車椅子に移るには今まで他人の手助けがなければならなかった。しかも障害者にはある程度歩行訓練も必要である。しかし現在ある歩行器は使用者がベッドから立ち上がり歩行器に入る事が難しく、使用者の足にかかる負担も調整できない。  A wheelchair is a mobile device for people with reduced mobility. There are manual or electric ones. However, until now, the user had to be helped by someone else to move to the wheelchair. In addition, people with disabilities also need some walking training. However, with existing walker, it is difficult for the user to get up from the bed and enter the walker, and the load on the user's foot cannot be adjusted.

背景技術に書いた問題に対して、体不自由な人が必要とするのは車椅子としても歩行器としても使え、足にかかる負担も調整でき、使用者が独立でベッドから立ち上がり、いきたい所にいけ、且つ操作の簡単な機械である。前述の機械の開発が課題である。  For the problem described in the background art, the handicapped person needs to be able to use it as a wheelchair or a walker, adjust the burden on the foot, and the user wants to stand up from the bed independently This machine is easy to operate and easy to operate. The development of the aforementioned machines is a challenge.

本考案はリモコンで制御でき、機械を自動的に走らせることができる。最初の状態は（図７）のように、使用者がベッドに座ったまま、リモコンで機械をバックさせ、使用者の前まで移動させる。機械の前支脚が低位にあり、肘掛けと下部梁が伸びた状態にあるので、使用者が腋托に寄りかかり、装置変形のボタンの操作をすることによって前支脚が上昇し、同時に肘掛けと下部梁が短縮し、体を前上に持ち上げ、人は（図８）のように立った状態になる。この時腰保護板が自動的に合わさり、後ろに倒れるのを防ぐ。駆動モーターを起動すると、駆動輪に引っ張られて、機械について歩くことができる（図９）。その時、下部梁が短縮したので、駆動輪と被動輪の距離が短くなり、方向を切るには便利である。使用者は座ろうとする時は、スイッチで座席とペダルを下ろす。変形ボタンを操作して前支脚が下降、肘掛けと下部梁が同時に伸長し、機械は電動車椅子状態になる（図１０）。  The present invention can be controlled by a remote control and can automatically run the machine. In the initial state, as shown in FIG. 7, while the user is sitting on the bed, the machine is backed by the remote controller and moved to the front of the user. Since the front support leg of the machine is in the low position and the armrest and the lower beam are in the extended state, the user leans on the heel and the front support leg rises by operating the device deformation button, and at the same time the armrest and the lower beam Shortens, lifts the body forward, and the person stands as shown in FIG. At this time, the waist protection plate automatically fits to prevent falling back. When the drive motor is activated, it is pulled by the drive wheel and can walk about the machine (FIG. 9). At that time, since the lower beam is shortened, the distance between the driving wheel and the driven wheel is shortened, which is convenient for cutting the direction. When trying to sit down, the user lowers the seat and pedal with a switch. By operating the deformation button, the front support leg is lowered, the armrest and the lower beam are simultaneously extended, and the machine is in an electric wheelchair state (FIG. 10).

本考案は使用者が片手で操作でき、介護者がいなくても独立してベッドから立ち、行きたい所へ行くことができる。機械一台で電動歩行器、電動車椅子、リフトの三つの機能が実現する。体不自由の人が求めている自立的な移乗動作や移動など活動範囲の拡大による生活レベルの向上の問題を直接的に解決できる。  The present invention can be operated by the user with one hand, and can stand up from the bed independently and go to the place where he / she wants to go without a caregiver. Three functions of electric walker, electric wheelchair and lift can be realized with one machine. It can directly solve the problem of improving the standard of living due to the expansion of the range of activities such as independent transfer operation and movement that is handicapped.

以下、添付図面に従って実施の形態を説明する。図１のように本考案の組成は、対称状の肘掛け１０二本と下部梁９二本及び前支脚３から構成したコ形枠である。枠の前下方に駆動輪１が二つあり、二本の肘掛けにそれぞれ同時に伸縮できる伸縮アーム４がある。二本の下部梁にそれぞれ同時に前後伸縮もできる被動輪２付けの伸縮棒５がある。前支脚３に上伸縮の主油圧シリンダー１４（図５）がある。主油圧シリンダーと上伸縮アーム４と下伸縮棒５の間は連動している。その連動関係は主油圧シリンダーが上昇する時、上伸縮アーム４と下伸縮棒５は同時に収縮し、主油圧シリンダーが下降する時、上伸縮アーム４と下伸縮棒５は同時に伸長するのである。これらの連動は変形制御部分（図５）によって実現する。  Hereinafter, embodiments will be described with reference to the accompanying drawings. As shown in FIG. 1, the composition of the present invention is a U-shaped frame composed of two symmetrical armrests 10, two lower beams 9, and the front support legs 3. There are two drive wheels 1 at the front and lower side of the frame, and there are extendable arms 4 that can be simultaneously expanded and contracted on two armrests. There are telescopic rods 5 with driven wheels 2 that can simultaneously expand and contract at the same time on the two lower beams. The front support leg 3 has an upper telescopic main hydraulic cylinder 14 (FIG. 5). The main hydraulic cylinder, the upper telescopic arm 4 and the lower telescopic bar 5 are interlocked. The interlocking relationship is that when the main hydraulic cylinder rises, the upper telescopic arm 4 and the lower telescopic bar 5 contract simultaneously, and when the main hydraulic cylinder descends, the upper telescopic arm 4 and the lower telescopic bar 5 extend simultaneously. These linkages are realized by the deformation control part (FIG. 5).

図５は変形制御部分です。この部分は前支脚の中に据え付けた電動部品と組み立て作動筒から成り立ち、組み立て作動筒は二組である。構成は主油圧シリンダー１４と補助油圧シリンダー１５と１６が含まれている。スイッチで制御したモーター１１は減速器１２を通して減速した後、その輸出軸に引っ張る操作のワイヤー３０を据付、滑車１３を通してそれぞれ前支脚中に取り付けられた主油圧シリンダー１４の外套筒２６に固定し、油圧シリンダーの伸縮が実現する。その時上伸縮アーム４と下伸縮棒５の補助油圧シリンダー１５と１６も同時に伸縮を制御する。  Figure 5 shows the deformation control part. This part consists of an electric part installed in the front support leg and an assembly operation cylinder, and there are two assembly operation cylinders. The configuration includes a main hydraulic cylinder 14 and auxiliary hydraulic cylinders 15 and 16. The motor 11 controlled by the switch is decelerated through the speed reducer 12, and then a wire 30 for pulling the export shaft is installed and fixed through the pulley 13 to the outer cylinder 26 of the main hydraulic cylinder 14 mounted in the front support leg. The expansion and contraction of the hydraulic cylinder is realized. At that time, the auxiliary hydraulic cylinders 15 and 16 of the upper telescopic arm 4 and the lower telescopic rod 5 simultaneously control expansion and contraction.

図４は座席とペダルの連動関係仕組みです。この仕組みは座板８二枚とペダル３１二枚から成り立ち、それぞれの外側に回転軸２０と３２があり、軸２０の端部は揺腕仕組み１９である。この仕組みの各自助力アームは補助駆動装置１７のワイヤーに駆動されて同時に回転し、座板とペダルの作動或いは収納が実現したのである。  Figure 4 shows the interlocking mechanism between the seat and the pedal. This mechanism is composed of two seat plates 8 and two pedals 31, and the rotation shafts 20 and 32 are provided on the outer sides of each, and the end of the shaft 20 is a swing arm mechanism 19. Each self-help arm of this mechanism was driven by the wire of the auxiliary drive device 17 and rotated at the same time, thereby realizing the operation or storage of the seat plate and the pedal.

腰保護仕組みは図３から見える。この仕組みは開閉できる対称状の腰保護板７二枚から成り立ち、各腰保護板の回転軸は上伸縮アーム４の端に固定され、上伸縮アーム４の外側に固定された導套２２の中に頂棒２１があり、頂棒と導套の間に復位バネ２３が取り付けられている。もし上伸縮アーム４が収縮する時には、頂棒が後に弾出、腰保護板が閉合する。  The waist protection mechanism can be seen from FIG. This mechanism is composed of two symmetrical waist protection plates 7 that can be opened and closed. The rotation axis of each waist protection plate is fixed to the end of the upper telescopic arm 4 and inside the guide sleeve 22 fixed to the outside of the upper telescopic arm 4. There is a top bar 21, and a restoring spring 23 is attached between the top bar and the guide rod. If the upper telescopic arm 4 contracts, the top bar will be ejected later and the waist protection plate will close.

前述の各機能のように、先ず使用者がベッドに座ったまま、リモコンで機械を使用者の前まで移動させ、機械の前支脚が低位にあり、肘掛と下部梁が伸びた状態にあるので、使用者が腋托に寄りかかり（図７）、装置変形のボタンの操作をすることによって前支脚が上昇し同時に肘掛けと下部梁が短縮して体を前上に持ち上げ、人は（図８）のように立った状態になる。この時腰保護板が自動的に合わさり、後ろに倒れるのを防ぐ。駆動モーターを起動すると主動輪に引っ張られて機械について歩くことができる（図９）。その時下部梁が短縮したので主動輪と被動輪の距離が短くなり、方向を切るには便利である。使用者は座ろうとする時は、スイッチで座席とペダルを下ろす。変形ボタンを操作して前支脚が下降、肘掛けと下部梁が伸長し、機械は電動車椅子状態（図９）になる。  As in the previous functions, first the user is sitting on the bed, the machine is moved to the front of the user with the remote control, the front support leg of the machine is in the lower position, and the armrest and lower beam are in the extended state. The user leans on the heel (Fig. 7), and the front support leg is raised by operating the device deformation button, and at the same time the armrest and lower beam are shortened to lift the body forward. It will be in the state which stood like. At this time, the waist protection plate automatically fits to prevent falling back. When the drive motor is activated, it is pulled by the main driving wheel and can walk about the machine (FIG. 9). Since the lower beam was shortened at that time, the distance between the driven wheel and the driven wheel was shortened, which is convenient for turning the direction. When trying to sit down, the user lowers the seat and pedal with a switch. By operating the deformation button, the front support leg is lowered, the armrest and the lower beam are extended, and the machine is in an electric wheelchair state (FIG. 9).

本考案の立体図。3D view of the present invention. 本考案の前カバー外しの変形構造工作原理図。FIG. 4 is a diagram showing the principle of deformation structure work with the front cover removed according to the present invention. 本考案の側面一部の透視断面図。The perspective sectional drawing of the side surface part of this invention. 活動座席とペダルの系統図。System diagram of active seats and pedals. 変形制御構造原理図。Deformation control structure principle diagram. 複合シリンダー構造図。Composite cylinder structure diagram. ベッドに座って使用状態図。The state of use sitting on the bed. 立姿使用状態図。Standing use state diagram. 電動歩行器使用状態図。Electric walker use state diagram. 電動車椅子使用状態図。Electric wheelchair use state diagram.

符号の説明Explanation of symbols

１・・・・・・駆動輪
２・・・・・・被動輪
３・・・・・・前支脚
４・・・・・・伸縮アーム
５・・・・・・伸縮棒
６・・・・・・腋托
７・・・・・・腰保護板
８・・・・・・座席
９・・・・・・下部梁
１０・・・・・・肘掛け
１１・・・・・・モーター
１２・・・・・・減速器
１３・・・・・・滑車
１４・・・・・・主油圧シリンダー
１５・・・・・・補助油圧シリンダー
１６・・・・・・補助油圧シリンダー
１７・・・・・・減速器
１８・・・・・・滑車
１９・・・・・・揺腕仕組み
２０・・・・・・座席軸
２１・・・・・・頂棒
２２・・・・・・導套
２３・・・・・・バネ
２４・・・・・・ベアリング
２５・・・・・・ベアリング
２６・・・・・・主油圧シリンダー外套筒
２７・・・・・・主油圧シリンダー油棒
２８・・・・・・主油圧シリンダー内套筒
２９・・・・・・主油圧シリンダー台
３０・・・・・・ワイヤー
３１・・・・・・ペダル
３２・・・・・・ペダル軸DESCRIPTION OF SYMBOLS 1 ... Drive wheel 2 ... Driven wheel 3 ... Front support leg 4 ... Telescopic arm 5 ... Telescopic rod 6 ... ··· ・ 7 ··· Back protection plate 8 ··· Seat 9 · · · Lower beam 10 · · · Armrest 11 · · · Motor 12 ··· .... Reducer 13 ... Pulley 14 ... Main hydraulic cylinder 15 ... Auxiliary hydraulic cylinder 16 ... Auxiliary hydraulic cylinder 17 ... · Reducer 18 ··· Pulley 19 ··· Swing arm mechanism ··· Seat axis 21 ··· Top rod 22 ··· Guide 23 ·・ ・ ・ ・ ・ Spring 24 ・ ・ ・ ・ ・ ・ Bearing 25 ・ ・ ・ ・ ・ ・ Bearing 26 ・ ・ ・ ・ ・ ・ Main hydraulic cylinder sleeve 27 ・ ・ ・ ・ ・ ・ Main hydraulic cylinder oil rod 28 ・ ・.... Main oil Cylinder in 套筒 29 ...... main hydraulic cylinder block 30 ...... wire 31 ...... pedal 32 ...... pedal shaft

Claims (6)

対称状の肘掛け二本と下部梁二本及び前支脚から構成したコ形枠である。枠の前下方に駆動輪が二つある、二本の肘掛けにそれぞれ同時に伸縮できる伸縮アームがあり、二本の下部梁にそれぞれ同時に前後伸縮もできる被動輪付けの伸縮棒がある。前支脚に上伸縮の主油圧シリンダーがあり、主油圧シリンダーと上伸縮アームと下伸縮棒の間は連動している。その連動関係は主油圧シリンダーが上昇する時、上伸縮アームと下伸縮棒は同時に収縮し、主油圧シリンダーが下降する時、上伸縮アームと下伸縮棒は同時に伸長するのである。これらの連動は変形制御部分によって実現する電動起立補助装置付歩行器兼車椅子。  It is a U-shaped frame composed of two symmetrical armrests, two lower beams, and a front support leg. There are two drive wheels on the front lower side of the frame, two armrests have telescopic arms that can be expanded and contracted simultaneously, and two lower beams have telescopic bars with driven wheels that can be expanded and contracted simultaneously. There is an upper telescopic main hydraulic cylinder on the front support leg, and the main hydraulic cylinder, upper telescopic arm and lower telescopic bar are linked. The interlocking relationship is that when the main hydraulic cylinder rises, the upper telescopic arm and the lower telescopic bar contract simultaneously, and when the main hydraulic cylinder descends, the upper telescopic arm and the lower telescopic bar extend simultaneously. These linkages are a walker and wheelchair with an electric standing assist device realized by a deformation control part. 座席とペダルは連動している。この仕組みは座板二枚とペダル二枚から成り立ち、それぞれの外側に回転軸があり、座板軸の端部は揺腕仕組みである。この仕組みの各自助力アームは輔助駆動装置のワイヤーに駆動されて同時に回転し、座板とペダルの作動或いは収納が実現した請求項１に記載の電動起立補助装置付歩行器兼車椅子。  The seat and pedal are linked. This mechanism consists of two seat plates and two pedals, each of which has a rotating shaft, and the end of the seat plate shaft is a swing arm mechanism. The walker / wheelchair with an electric standing assist device according to claim 1, wherein each self-help arm of this mechanism is driven by the wire of the assist drive device and rotates simultaneously to realize the operation or storage of the seat plate and the pedal. 腰保護仕組みである。この仕組みは開閉できる対称状の腰保護板二枚から成り立ち、各腰保護板の回転軸は上伸縮アームの端に固定され、上伸縮アームの外側に固定された導套の中に頂棒があり、頂棒と導套の間に復位バネが取り付けられている。上伸縮アームが収縮するとき、頂棒が後ろに弾出、腰保護板が閉合する請求項１又は２に記載の電動起立補助装置付歩行器兼車椅子。  It is a waist protection mechanism. This mechanism consists of two symmetrical waist protection plates that can be opened and closed. The rotation axis of each waist protection plate is fixed to the end of the upper telescopic arm, and the top bar is placed in the guide arm fixed to the outside of the upper telescopic arm. Yes, a restoring spring is attached between the top bar and the guide sleeve. The walker / wheelchair with an electric standing assist device according to claim 1 or 2, wherein when the upper telescopic arm contracts, the top bar protrudes backward and the waist protection plate closes. 構造には腋托が含まれている。上伸縮アーム端の内側に対称状の腋托套管があり、腋托は挿し込んである。そこで腋托の高さを調節できる請求項１、２又は３に記載した電動起立補助装置付歩行器兼車椅子。  The structure contains cocoons. There is a symmetrical mantle tube inside the upper telescopic arm end, and the heel is inserted. Therefore, the walker / wheelchair with an electric standing assist device according to claim 1, wherein the height of the heel can be adjusted. 変形制御部分は前支脚の中に据え付けた電動部品と組み立て作動筒から成り立ち、組み立て作動筒は二組である。構成は主油圧シリンダーと補助油圧シリンダーが含まれている。スイッチで制御したモーターは減速器を通して減速した後、その輸出軸に同時に引っ張る操作のワイヤーを据付、滑車を通してそれぞれ前支脚中に取り付けられた主油圧シリンダーの外套筒に固定し、油圧シリンダーの伸縮が実現する。その時上伸縮アームと下伸縮棒の補助油圧シリンダーも同時に伸縮を制御する請求項１、２、３又は４の何れかに記載の電動起立補助装置付歩行器兼車椅子。  The deformation control part is composed of an electric part installed in the front support leg and an assembly operation cylinder, and there are two assembly operation cylinders. The configuration includes a main hydraulic cylinder and an auxiliary hydraulic cylinder. The motor controlled by the switch is decelerated through the speed reducer, and then a wire for pulling simultaneously to the export shaft is installed, fixed to the outer cylinder of the main hydraulic cylinder installed in the front support leg through the pulley, and the expansion and contraction of the hydraulic cylinder Is realized. The walker / wheelchair with an electric standing assist device according to any one of claims 1, 2, 3 and 4, wherein at that time, the upper hydraulic arms of the upper telescopic arm and the lower telescopic rod also control expansion and contraction. 上伸縮アームと下伸縮棒は補助油圧シリンダーの活動筒に連接している。補助油圧シリンダーの台は肘掛けと下部梁に固定され、入口はそれぞれ主油圧シリンダーの内外層に接する。主油圧シリンダーは二重套筒構造であり、内套筒は油圧シリンダーの台に固定され、外套筒は内套筒の外側に嵌め、外套筒の内側の底に固定された油棒は内套筒の中に挿し込んである。外套筒が上昇する時、内套筒中の油棒が同時に上昇し、第一負圧室が形成され、内套筒の上端と外套筒の内壁と油棒の間にまた第二負圧室が形成される。二つの負圧室はそれぞれ上伸縮アームと下伸縮棒のシリンダーに連接して同時に収縮をする請求項１、２、３、４、５の何れかに記載の電動起立補助装置付歩行器兼車椅子。  The upper telescopic arm and the lower telescopic bar are connected to the active cylinder of the auxiliary hydraulic cylinder. The base of the auxiliary hydraulic cylinder is fixed to the armrest and the lower beam, and the inlet contacts the inner and outer layers of the main hydraulic cylinder. The main hydraulic cylinder has a double sleeve structure, the inner sleeve is fixed to the base of the hydraulic cylinder, the outer sleeve is fitted to the outside of the inner sleeve, and the oil rod fixed to the bottom inside the outer sleeve is It is inserted into the inner sleeve. When the cannula is raised, the oil rod in the inner cannula rises simultaneously, forming a first negative pressure chamber, and between the upper end of the inner cannula, the inner wall of the outer cannula and the oil rod, A pressure chamber is formed. The walker / wheelchair with electric standing assist device according to any one of claims 1, 2, 3, 4, and 5, wherein the two negative pressure chambers are connected to the cylinders of the upper telescopic arm and the lower telescopic rod, respectively, and simultaneously contract. .
JP2004007842U 2004-12-10 2004-12-10 Walker and wheelchair with electric standing assist device Expired - Fee Related JP3113742U (en)

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012030077A (en) * 2010-07-30 2012-02-16 Toyota Motor Engineering & Manufacturing North America Inc Physical assistive robotic device and system
JP2012506289A (en) * 2008-10-22 2012-03-15 インダストリー ユニヴァーシティー コオペレイション ファウンデイション ソーガン ユニヴァーシティー Wheelchair walking assist robot
KR101356520B1 (en) * 2011-02-28 2014-01-29 엘지전자 주식회사 Walking assistance system
JP2016016099A (en) * 2014-07-08 2016-02-01 株式会社ジェイテクト Assistance rendering device
CN110547952A (en) * 2019-09-12 2019-12-10 桐乡市爱康康复设备有限公司 high-order disease paralysis helps a station to help helps capable car
CN112089543A (en) * 2020-09-09 2020-12-18 浙江工业大学 Device for assisting old people in sitting up
KR20210042244A (en) * 2019-10-07 2021-04-19 치엔청 수 Multifunctional wheelchair
CN114452115A (en) * 2022-01-19 2022-05-10 广东中匠福健康产业股份有限公司 Armpit supporting type shifting machine
CN116617013A (en) * 2023-05-18 2023-08-22 国家康复辅具研究中心 Wheelchair walker integrated machine control method and system

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012506289A (en) * 2008-10-22 2012-03-15 インダストリー ユニヴァーシティー コオペレイション ファウンデイション ソーガン ユニヴァーシティー Wheelchair walking assist robot
JP2012030077A (en) * 2010-07-30 2012-02-16 Toyota Motor Engineering & Manufacturing North America Inc Physical assistive robotic device and system
KR101356520B1 (en) * 2011-02-28 2014-01-29 엘지전자 주식회사 Walking assistance system
JP2016016099A (en) * 2014-07-08 2016-02-01 株式会社ジェイテクト Assistance rendering device
CN110547952A (en) * 2019-09-12 2019-12-10 桐乡市爱康康复设备有限公司 high-order disease paralysis helps a station to help helps capable car
KR20210042244A (en) * 2019-10-07 2021-04-19 치엔청 수 Multifunctional wheelchair
KR102468660B1 (en) 2019-10-07 2022-11-18 치엔청 수 Multifunctional wheelchair
CN112089543A (en) * 2020-09-09 2020-12-18 浙江工业大学 Device for assisting old people in sitting up
CN112089543B (en) * 2020-09-09 2024-05-07 浙江工业大学 Device for assisting old people in sitting up
CN114452115A (en) * 2022-01-19 2022-05-10 广东中匠福健康产业股份有限公司 Armpit supporting type shifting machine
CN116617013A (en) * 2023-05-18 2023-08-22 国家康复辅具研究中心 Wheelchair walker integrated machine control method and system
CN116617013B (en) * 2023-05-18 2023-12-08 国家康复辅具研究中心 Wheelchair walker integrated machine control method and system

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