JP6123907B2 - 手押し車 - Google Patents
手押し車 Download PDFInfo
- Publication number
- JP6123907B2 JP6123907B2 JP2015542623A JP2015542623A JP6123907B2 JP 6123907 B2 JP6123907 B2 JP 6123907B2 JP 2015542623 A JP2015542623 A JP 2015542623A JP 2015542623 A JP2015542623 A JP 2015542623A JP 6123907 B2 JP6123907 B2 JP 6123907B2
- Authority
- JP
- Japan
- Prior art keywords
- angle
- main body
- wheel
- unit
- brake
- 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.)
- Expired - Fee Related
Links
- 230000007423 decrease Effects 0.000 claims 1
- 230000005484 gravity Effects 0.000 description 8
- 230000000694 effects Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000000725 suspension Substances 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 239000000758 substrate Substances 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K17/00—Cycles not otherwise provided for
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
- A61H2003/046—Wheeled walking aids for patients or disabled persons with braking 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
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
- A61H2201/018—By limiting the applied torque or force
-
- 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
- A61H2201/5058—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
- A61H2201/5084—Acceleration sensors
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (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)
- Mechanical Engineering (AREA)
- Epidemiology (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Rehabilitation Tools (AREA)
- Handcart (AREA)
- Regulating Braking Force (AREA)
Description
11…車輪
15…把持部
20…傾斜角センサ
21…制御部
22…ROM
23…RAM
24…ジャイロセンサ
25…駆動部
26…車輪用ロータリエンコーダ
27…支持部用ロータリエンコーダ
28…ブレーキ指示部
29…支持部ロック機構
211…目標角度決定部
212…目標角速度計算部
213…トルク指令生成部
214…斜度推定部
215…ブレーキ判断部
530…補助輪
531…支持部
Claims (2)
- 車輪と、
前記車輪に動力を与える駆動部と、
前記車輪に対してピッチ方向に回転可能に連結され、把持部を備える本体部と、
前記本体部の進行方向前方に設けられ、前記本体部または前記車輪に対してピッチ方向に回転可能に連結された支持部と、
前記支持部に設けられた補助輪と、
前記車輪の回転を制御するために前記駆動部に制御信号を与える制御部と、
前記把持部のピッチ方向の傾斜角の角度変化を検出する角度変化検出手段と、
前記車輪の回転にブレーキをかける指示を受け付けるブレーキ指示部と、
を備え、
前記制御部は、
前記本体部の角度変化が0となり、かつ鉛直方向に対する前記本体部の傾斜角度が第1の角度になるよう前記車輪を制御する第1の制御モードと、
前記ブレーキ指示部が前記指示を受け付けた場合、前記本体部の角度変化が0となり、かつ鉛直方向に対する前記本体部の傾斜角度が、前記第1の角度より前記本体部の進行方向後方である第2の角度になり、前記車輪の回転速度が減少するよう前記車輪を制御する第2の制御モードと、
前記第2の制御モードの後、前記本体部の傾斜角度を、前記第2の角度から前記第1の角度に近づけた後、前記本体部と前記支持部の交差角を所定の角度に固定し、前記車輪の回転を停止させる第3の制御モードと、
を有する手押し車。 - 前記ブレーキ指示部は、ブレーキ量を検出し、
前記制御部は、前記ブレーキ指示部が検出した前記ブレーキ量が所定の閾値を超えた場合に前記第2のモードから前記第3のモードに移行する請求項1に記載の手押し車。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013216985 | 2013-10-18 | ||
JP2013216985 | 2013-10-18 | ||
PCT/JP2014/077375 WO2015056686A1 (ja) | 2013-10-18 | 2014-10-15 | 手押し車 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2015056686A1 JPWO2015056686A1 (ja) | 2017-03-09 |
JP6123907B2 true JP6123907B2 (ja) | 2017-05-10 |
Family
ID=52828129
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015542623A Expired - Fee Related JP6123907B2 (ja) | 2013-10-18 | 2014-10-15 | 手押し車 |
Country Status (2)
Country | Link |
---|---|
JP (1) | JP6123907B2 (ja) |
WO (1) | WO2015056686A1 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6020328B2 (ja) * | 2013-04-18 | 2016-11-02 | トヨタ自動車株式会社 | 移動体制御装置、移動体制御方法、及び制御プログラム |
CN109744672B (zh) * | 2019-03-11 | 2020-08-11 | 陈展天 | 一种使四脚拐杖使用更安全省力的方法 |
WO2021132325A1 (ja) * | 2019-12-25 | 2021-07-01 | ナブテスコ株式会社 | 電動制動機構付き車両、車輪ユニット、及び車輪ユニットの制御用プログラム |
TWI761971B (zh) * | 2020-09-28 | 2022-04-21 | 緯創資通股份有限公司 | 主動式助行器 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4802622B2 (ja) * | 2005-09-06 | 2011-10-26 | トヨタ自動車株式会社 | 走行体および走行体の動作調節方法 |
JP2009142127A (ja) * | 2007-12-10 | 2009-06-25 | Equos Research Co Ltd | 車輌制御装置 |
CN103370039B (zh) * | 2011-02-23 | 2015-10-14 | 株式会社村田制作所 | 步行辅助车 |
-
2014
- 2014-10-15 WO PCT/JP2014/077375 patent/WO2015056686A1/ja active Application Filing
- 2014-10-15 JP JP2015542623A patent/JP6123907B2/ja not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
WO2015056686A1 (ja) | 2015-04-23 |
JPWO2015056686A1 (ja) | 2017-03-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4605227B2 (ja) | 転倒防止制御装置 | |
US10232871B2 (en) | Pushcart | |
KR101234302B1 (ko) | 전도 방지 제어장치 및 컴퓨터 프로그램 | |
JP5429427B2 (ja) | 歩行補助車 | |
JP6123907B2 (ja) | 手押し車 | |
US20100268446A1 (en) | Traveling device and its control method | |
JP6164300B2 (ja) | 手押し車 | |
EP2664528A1 (en) | Inverted pendulum type vehicle | |
JP5943154B2 (ja) | 手押し車 | |
JP5652578B2 (ja) | 手押し車 | |
JP5884930B2 (ja) | 手押し車 | |
JP5854181B1 (ja) | 移動体 | |
WO2016121465A1 (ja) | 歩行補助車 | |
US9139224B2 (en) | Inverted pendulum type vehicle | |
JP6252683B2 (ja) | 手押し車 | |
JP5958581B2 (ja) | 手押し車 | |
JP5979322B2 (ja) | 手押し車 | |
WO2015053244A1 (ja) | 手押し車 | |
JP5565487B1 (ja) | 手押し車 | |
JP5979321B2 (ja) | 手押し車 | |
JP5935965B1 (ja) | 手押し車 | |
WO2014045955A1 (ja) | 手押し車 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20161122 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20170120 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20170307 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20170320 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6123907 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
LAPS | Cancellation because of no payment of annual fees |