TWI544913B - Walking assistance device - Google Patents
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- TWI544913B TWI544913B TW103107403A TW103107403A TWI544913B TW I544913 B TWI544913 B TW I544913B TW 103107403 A TW103107403 A TW 103107403A TW 103107403 A TW103107403 A TW 103107403A TW I544913 B TWI544913 B TW I544913B
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Description
本發明提供一種助行器，且特別是一種幫助使用者抬腿的助行器。 The present invention provides a walker, and more particularly a walker that assists a user in lifting a leg.
一般來說，許多行動不便的患者，例如是關節退化的老人或者是受過傷害的殘障人士，會選擇利用行動輔助產品來輔助患者行走。行動輔助產品可以分為主動式以及被動式產品，主動式的產品包括電動輪椅以及電動代步車，被動式的產品則包括輪椅或者是助行器。電動輪椅以及電動代步車確實提供較佳的便利性，但就價格而言，則相對較為昂貴。另外，目前市面上的輪椅是利用輪子來推動使用者的身體以行動。而助行器則大多是以支撐身體或者是利用機械結構的作動來輔助使用者的行動。 In general, many patients with reduced mobility, such as elderly with degenerative joints or people with disabilities who have been injured, will choose to use mobility aids to assist patients in walking. Mobile assistive products can be divided into active and passive products. Active products include electric wheelchairs and electric scooters. Passive products include wheelchairs or walkers. Electric wheelchairs and electric scooters do provide better convenience, but in terms of price, they are relatively expensive. In addition, the current wheelchairs on the market use wheels to push the user's body to act. The walker is mostly to support the user's actions by supporting the body or using mechanical structures.
本發明提供一種助行器，可以幫助使用者抬腿的動作。 The present invention provides a walker that can assist the user in lifting the leg.
本發明提供一種助行器，用以幫助使用者進行一抬腿動作，助行器設置於使用者的腰部與腿部，當使用者站立時，助行器處於一第一狀態。助行器包括固定器、固定帶以及連桿。固定器設置於使用者的腰部，且包括行動模組。行動模組則包括固定盤以及扭力彈簧，扭力彈簧包括一固定端以及一活動端，固定端固定於固定盤上。固定帶設置於使用者的腿部，連桿的其中一端連接於活動端，而連桿的另外一端連接於固定帶上。當助行器處於第一狀態時，扭力彈簧形變而產生扭力至連桿。連桿則會提供一向上的輔助拉力至使用者的腿部。 The present invention provides a walker for assisting a user in performing a leg lifting action. The walker is disposed on the waist and legs of the user. When the user is standing, the walker is in a first state. The walker includes a holder, a strap, and a link. The holder is disposed at the waist of the user and includes a motion module. The action module includes a fixed disc and a torsion spring. The torsion spring includes a fixed end and a movable end, and the fixed end is fixed on the fixed disc. The fixing strap is disposed on the leg of the user, one end of the connecting rod is connected to the movable end, and the other end of the connecting rod is connected to the fixing strap. When the walker is in the first state, the torsion spring deforms to generate a torque to the connecting rod. The link will provide an upward auxiliary pull to the user's leg.
總上所述，本發明提供一種助行器，用以輔助使用者行走。此助行器包括行動模組，行動模組是利用腿部放下的重力來使得扭力彈簧形變，進而產生一扭力。而扭力可以釋放並轉成一推力來輔助使用者的腿部抬起。進而減少使用者行走時所需耗費的力氣，減輕使用者走路時的負擔。 In summary, the present invention provides a walker for assisting a user in walking. The walker includes a motion module, and the action module uses the gravity dropped by the leg to deform the torsion spring to generate a torque. The torsion can be released and converted into a thrust to assist the user's legs to lift. In addition, the effort required for the user to walk is reduced, and the burden on the user when walking is reduced.
為使能更進一步瞭解本發明之特徵及技術內容，請參閱以下有關本發明之詳細說明與附圖，但是此等說明與所附圖式僅係用來說明本發明，而非對本發明的權利範圍作任何的限制。 The detailed description of the present invention and the accompanying drawings are to be understood by the claims The scope is subject to any restrictions.
1‧‧‧助行器 1‧‧‧Travelers
100‧‧‧固定器 100‧‧‧fixer
120‧‧‧行動模組 120‧‧‧Action Module
122、124‧‧‧扭力彈簧 122, 124‧‧‧ Torsion spring
122a、124a‧‧‧固定端 122a, 124a‧‧‧ fixed end
122b、124b‧‧‧活動端 122b, 124b‧‧‧ active end
126‧‧‧固定盤 126‧‧‧ fixed disk
126a、126a’、126a”‧‧‧固定孔 126a, 126a’, 126a” ‧‧ ‧ fixing holes
126b‧‧‧固定環 126b‧‧‧Fixed ring
128‧‧‧轉動元件 128‧‧‧Rotating components
130‧‧‧發電模組 130‧‧‧Power Module
132‧‧‧發電裝置 132‧‧‧Power generator
134‧‧‧儲電裝置 134‧‧‧Power storage device
140‧‧‧控制模組 140‧‧‧Control Module
142‧‧‧晶片單元 142‧‧‧ wafer unit
144‧‧‧藍芽裝置 144‧‧‧Bluetooth device
146‧‧‧防摔裝置 146‧‧‧Anti-fall device
148‧‧‧照明裝置 148‧‧‧Lighting device
200‧‧‧連桿 200‧‧‧ linkage
300‧‧‧拉繩 300‧‧‧Drawstring
400‧‧‧固定帶 400‧‧‧Fixed tape
2‧‧‧使用者 2‧‧‧Users
22‧‧‧腰部 22‧‧‧ waist
24‧‧‧腿部 24‧‧‧ legs
P1‧‧‧初始位置 P1‧‧‧ initial position
θ‧‧‧角度 Θ‧‧‧ angle
S101、S102、S103、S104、S10S、S106、S107、S108、S109、S110、S111、S112‧‧‧步驟 Steps S101, S102, S103, S104, S10S, S106, S107, S108, S109, S110, S111, S112‧‧
圖1為本發明實施例之助行器的第一使用狀態結構示意圖。 FIG. 1 is a schematic structural diagram of a first use state of a walker according to an embodiment of the present invention.
圖2為本發明實施例之助行器的第一使用狀態結構放大示意圖。 2 is an enlarged schematic view showing the structure of a first use state of a walker according to an embodiment of the present invention.
圖3為本發明實施例之助行器的第二使用狀態結構放大示意圖。 FIG. 3 is an enlarged schematic view showing a structure of a second use state of the walker according to an embodiment of the present invention.
圖4為本發明實施例之控制模組的使用流程方法示意圖。 FIG. 4 is a schematic diagram of a method for using a control module according to an embodiment of the present invention.
助行器是用以幫助使用者進行抬腿動作，以減輕走路動作對使用者的負擔，在本實施例中，使用者可以是行動不便的患者或者是銀髮族。首先介紹助行器的元件，以及各元件的相對關係。圖1為本發明實施例之助行器1的第一使用狀態結構示意圖，圖2為本發明實施例之助行器1的第一使用狀態放大示意圖。請參閱圖1，助行器1包括固定器100、連桿200、拉繩300以及固定帶400。 The walker is used to help the user perform the leg raising action to reduce the burden on the user during the walking action. In this embodiment, the user may be a patient with mobility impairment or a silver hair. First, the components of the walker and the relative relationship of each component are introduced. 1 is a schematic structural view of a first use state of a walker 1 according to an embodiment of the present invention, and FIG. 2 is an enlarged schematic view showing a first use state of the walker 1 according to an embodiment of the present invention. Referring to FIG. 1, the walker 1 includes a holder 100, a link 200, a drawstring 300, and a fixing strap 400.
固定器100位於使用者2的腰部22，固定帶400固設於使用者2的腿部24。固定器100包括行動模組120、發電模組130以及控制模組140。連桿200的一端會連接於行動模組120上，而連桿200的另外一端會連接於固定帶400上。拉繩300的一端會連接於發電模組130上，而拉繩300的另外一端會連接於固定帶400 上。 The holder 100 is located at the waist 22 of the user 2, and the fixing band 400 is fixed to the leg portion 24 of the user 2. The fixture 100 includes a motion module 120, a power generation module 130, and a control module 140. One end of the connecting rod 200 is connected to the action module 120, and the other end of the connecting rod 200 is connected to the fixing belt 400. One end of the drawstring 300 is connected to the power generation module 130, and the other end of the drawstring 300 is connected to the fixed strap 400. on.
請參閱圖2，詳細而言，行動模組120更包括兩個扭力彈簧122/124、固定盤126以及轉動元件128。另外，扭力彈簧122的扭力和扭力彈簧124的扭力並不相同。固定盤126還包括多個固定孔126a/126a’/126a”以及固定環126b，用以固定扭力彈簧122/124。 Referring to FIG. 2 , in detail, the action module 120 further includes two torsion springs 122 / 124 , a fixed disk 126 and a rotating element 128 . In addition, the torsion force of the torsion spring 122 and the torsion force of the torsion spring 124 are not the same. The fixed disk 126 also includes a plurality of fixing holes 126a/126a'/126a" and a fixing ring 126b for fixing the torsion springs 122/124.
以扭力彈簧122為例，扭力彈簧122包括一個固定端122a以及一個活動端122b。扭力彈簧122的固定端122a會固定於固定盤126上。如圖2所示，扭力彈簧122的固定端122a會位於兩個固定孔126a’之間。固定環126b跨設於固定端122a，且固定環126b插設於固定孔126a’之中，以將扭力彈簧122的固定端122a固定於固定盤126上。請參閱圖2，除了固定扭力彈簧122的固定端122a之外，固定盤126還包括其他的固定孔126a，以固定扭力彈簧122的線圈部位，使得扭力彈簧122更穩固的設置在固定盤126上。 Taking the torsion spring 122 as an example, the torsion spring 122 includes a fixed end 122a and a movable end 122b. The fixed end 122a of the torsion spring 122 is fixed to the fixed disk 126. As shown in Fig. 2, the fixed end 122a of the torsion spring 122 is located between the two fixing holes 126a'. The fixing ring 126b is disposed across the fixed end 122a, and the fixing ring 126b is inserted into the fixing hole 126a' to fix the fixed end 122a of the torsion spring 122 to the fixing plate 126. Referring to FIG. 2, in addition to the fixed end 122a of the fixed torsion spring 122, the fixing plate 126 further includes other fixing holes 126a for fixing the coil portion of the torsion spring 122, so that the torsion spring 122 is more stably disposed on the fixing plate 126. .
扭力彈簧124的固定方式和扭力彈簧122相同，在此不多做贅述。須說明的是，在本實施例中，是利用固定孔126a、126a’、126a”以及固定環126b的方式將扭力彈簧122/124固定於固定盤126上，然而本發明不限定扭力彈簧122/124的固定方式。另外，連桿200的一端會和扭力彈簧122的活動端122b相連接，而連桿200的另外一端會和固定帶400相連接。也就是說，連桿200會連接使用者2的腿部24以及扭力彈簧122。 The torsion spring 124 is fixed in the same manner as the torsion spring 122, and will not be described here. It should be noted that, in the present embodiment, the torsion springs 122/124 are fixed to the fixed disk 126 by means of the fixing holes 126a, 126a', 126a" and the fixing ring 126b. However, the present invention does not limit the torsion spring 122/ In addition, one end of the link 200 is connected to the movable end 122b of the torsion spring 122, and the other end of the link 200 is connected to the fixed strap 400. That is, the link 200 is connected to the user. The leg portion 24 of the 2 and the torsion spring 122.
接下來，將利用扭力彈簧122來說明助行器1輔助使用者2腿部24動作的方式，腿部24動作的方式包括第一使用狀態以及第二使用狀態。在第一使用狀態下，也就是圖1以及圖2的內容，使用者2的腿部24會抬起並且位於初始位置P1(如圖1所示)。所述的初始位置P1代表的是扭力彈簧122未被壓縮的位置，也就是扭力為0的位置。此時，腿部24與垂直地面的方向之間存在一 角度θ。 Next, the manner in which the walker 1 assists the leg portion 24 of the user 2 by the torsion spring 122 will be described. The manner in which the leg portion 24 operates includes the first use state and the second use state. In the first state of use, that is, the contents of Figures 1 and 2, the leg portion 24 of the user 2 will be raised and positioned at the initial position P1 (as shown in Figure 1). The initial position P1 represents a position where the torsion spring 122 is not compressed, that is, a position where the torque is zero. At this time, there is a between the leg portion 24 and the direction of the vertical ground. Angle θ.
圖3為本發明實施例之助行器1的第二使用狀態結構放大示意圖，請參閱圖3。在第二使用狀態下，使用者2的腿部24會因為重力而放下。也就是說，第二使用狀態為使用者2站立時的狀態。由於固定帶400位於使用者2的腿部24上，且連桿200連接固定帶400以及扭力彈簧122的活動端122b。因此，當使用者2將腿部24放下時，連桿200會帶動扭力彈簧122的活動端122b往固定端122a的方向靠近，以產生一形變。此時，腿部24放下的重力會轉換成扭力彈簧122的扭力，並儲存於扭力彈簧122中。 FIG. 3 is an enlarged schematic view showing the structure of the second use state of the walker 1 according to the embodiment of the present invention. Please refer to FIG. 3. In the second state of use, the legs 24 of the user 2 are lowered by gravity. That is to say, the second use state is the state when the user 2 stands. Since the strap 400 is located on the leg portion 24 of the user 2, the link 200 connects the strap 400 and the movable end 122b of the torsion spring 122. Therefore, when the user 2 lowers the leg portion 24, the link 200 drives the movable end 122b of the torsion spring 122 toward the fixed end 122a to generate a deformation. At this time, the gravity dropped by the leg portion 24 is converted into the torsion force of the torsion spring 122 and stored in the torsion spring 122.
使用者2在將腿部24放下後，還要將腿部24抬起才能完成行走的動作。此時，扭力彈簧122的活動端122b會往遠離固定端122a的方向移動。而儲存於扭力彈簧122中的扭力會被釋放，並轉換成推力以施加於使用者2的腿部24，進而幫助使用者2將腿部24抬起。換句話說，本實施例的助行器1是利用使用者2將腿部24放下的重力來壓縮扭力彈簧122，以產生一扭力。而扭力會施加於連桿200，並可以提供一向上的輔助拉力至使用者的腿部24，以幫助使用者2的腿部24抬起。在使用上，重力是使用者2因腿部24的重量而自然落向地面的力量，而重力會轉換成扭力彈簧122的扭力以幫助使用者2將腿部24抬起。 After the user 2 has lowered the leg portion 24, the leg portion 24 is also raised to complete the walking action. At this time, the movable end 122b of the torsion spring 122 moves in a direction away from the fixed end 122a. The torsional force stored in the torsion spring 122 is released and converted into a thrust for application to the leg portion 24 of the user 2, thereby helping the user 2 to lift the leg portion 24. In other words, the walker 1 of the present embodiment compresses the torsion spring 122 by the gravity of the user 2 dropping the leg portion 24 to generate a torsion. Torsion is applied to the link 200 and an upward auxiliary pull can be provided to the user's leg 24 to assist the user's 2 leg 24 to lift. In use, gravity is the force that the user 2 naturally falls to the ground due to the weight of the leg 24, and gravity is converted into the torsion of the torsion spring 122 to assist the user 2 in lifting the leg 24.
舉例來說，一般而言，使用者抬起腿的力量大約為3.5kgf。而在本實施例中，扭力彈簧122是使用不銹鋼線，扭力彈簧122的規格包括：彈性系數G為19400，線徑為4mm，圈數為2.3圈，內徑為36mm，力臂為400mm。因此，可以產生大約2.454kgf的力矩荷重。由此可知，使用者2實際上並不需要花費太多的力量來抬起腿部24，可減少使用者2行走時所需要用的力，減輕使用者2走路時的負擔。然而，本發明不限制扭力彈簧122的規格。使用者2可以根據不同需求來選擇扭力彈簧122的規格。 For example, in general, the user's ability to lift the leg is approximately 3.5 kgf. In the present embodiment, the torsion spring 122 is a stainless steel wire. The specifications of the torsion spring 122 include: a spring constant G of 19,400, a wire diameter of 4 mm, a number of turns of 2.3, an inner diameter of 36 mm, and a force arm of 400 mm. Therefore, a moment load of about 2.454 kgf can be generated. From this, it can be seen that the user 2 does not need to spend too much effort to lift the leg portion 24, thereby reducing the force required for the user 2 to travel and reducing the burden on the user 2 when walking. However, the present invention does not limit the specifications of the torsion spring 122. The user 2 can select the specifications of the torsion spring 122 according to different needs.
須說明的是，初始位置P1代表扭力彈簧122的扭力為0的位 置。此時，扭力彈簧122未受到重力影響而壓縮，例如是腿部24尚未放下的時候，或者是扭力施加於連桿400上，並提供一向上的輔助拉力至使用者2的腿部24時。換句話說，初始位置P1等同於使用者2的腿部24抬起的位置。此時，腿部24與垂直地面的方向之間存在一角度θ，角度θ代表腿部24抬起的角度。 It should be noted that the initial position P1 represents the position where the torsion force of the torsion spring 122 is 0. Set. At this time, the torsion spring 122 is not compressed by the influence of gravity, for example, when the leg portion 24 has not been lowered, or when a torque is applied to the link 400 and an upward auxiliary pulling force is supplied to the leg portion 24 of the user 2. In other words, the initial position P1 is equivalent to the position at which the leg portion 24 of the user 2 is lifted. At this time, there is an angle θ between the leg portion 24 and the direction of the vertical ground, and the angle θ represents the angle at which the leg portion 24 is lifted.
在本實施例中，角度θ為10至45度。然而，本發明不限定角度θ的大小，腿部24抬起的角度大小可能會因為行走的模式不同(行走模式可以包括是爬山或者是散步)或者是使用者2的習慣而所改變。角度θ的大小可以藉由改變扭力彈簧122的位置而進行調整。如圖2所示，固定盤126還包括固定孔126a”，扭力彈簧122的固定端122a還可以固定於固定孔126a”之間。從圖2可知，固定孔126a”高於固定孔126a’。因此，固定端122a固定於固定孔126a”時的位置，會較固定端122a固定於固定孔126a’時來得高。相對地，活動端122b的位置也會較先前高。也就是說，當固定端122a固定於固定孔126a”之間時，腿部24需要抬起更高的角度，才能到達初始位置。 In the present embodiment, the angle θ is 10 to 45 degrees. However, the present invention does not limit the size of the angle θ, and the angle of the angle at which the leg portion 24 is lifted may be changed depending on the mode of walking (the walking mode may include climbing or walking) or the habit of the user 2. The magnitude of the angle θ can be adjusted by changing the position of the torsion spring 122. As shown in FIG. 2, the fixing plate 126 further includes a fixing hole 126a", and the fixed end 122a of the torsion spring 122 may also be fixed between the fixing holes 126a". As can be seen from Fig. 2, the fixing hole 126a" is higher than the fixing hole 126a'. Therefore, the position at which the fixed end 122a is fixed to the fixing hole 126a" is higher than when the fixed end 122a is fixed to the fixing hole 126a'. In contrast, the position of the active end 122b will also be higher than before. That is, when the fixed end 122a is fixed between the fixing holes 126a", the leg portion 24 needs to be lifted at a higher angle to reach the initial position.
換句話說，固定盤126上可以具有多對固定孔126a’/126a”，扭力彈簧122的固定端122a可以固定在固定孔126a’之間也可以固定於固定孔126a”之間。使用者2可以藉著改變固定端122a與固定孔126a’/126a”的相對位置關係來改變初始位置，也就是使用者2腿部24抬起的角度，進而符合使用者2的需求。 In other words, the fixed disk 126 may have a plurality of pairs of fixing holes 126a'/126a", and the fixed ends 122a of the torsion springs 122 may be fixed between the fixing holes 126a' and may be fixed between the fixing holes 126a". The user 2 can change the initial position by changing the relative positional relationship between the fixed end 122a and the fixing hole 126a'/126a", that is, the angle at which the leg portion 24 of the user 2 is lifted, thereby meeting the needs of the user 2.
須說明的是，在本實施例中，是利用固定孔126a’、126a”來說明固定端122a的固定位置，然而本發明不以此為限。固定盤126實際上還具有其他的固定孔126a，扭力彈簧122的固定端122a還可以移動到其他位置，助行器1實際上可以具有多個初始位置。另外，行動模組120還可以包括一轉換元件(圖未繪示轉換元件)。如圖2中的虛線所示，轉換元件可用以將固定端122a從固定孔126a’移動並固定於固定孔126a”中，以改變使用者2腿部24抬起 的角度。 It should be noted that, in this embodiment, the fixing holes 126a', 126a" are used to describe the fixing position of the fixing end 122a, but the invention is not limited thereto. The fixing plate 126 actually has other fixing holes 126a. The fixed end 122a of the torsion spring 122 can also be moved to other positions, and the walker 1 can actually have a plurality of initial positions. In addition, the action module 120 can further include a conversion component (not shown). As shown by the broken line in Fig. 2, the conversion member can be used to move and fix the fixed end 122a from the fixing hole 126a' in the fixing hole 126a" to change the leg portion 24 of the user 2 to be lifted. Angle.
另外，如圖2所示，在本實施例中，行動模組120包括扭力彈簧122以及扭力彈簧124，扭力彈簧122以及扭力彈簧124的扭力並不相同。使用者2可以根據個人習慣或者是行走路程的不同，來選擇所需要的扭力。詳細而言，扭力彈簧124包括一個固定端124a以及一個活動端124b。而連桿200可以根據使用者2的需求來選擇連接扭力彈簧122的活動端122b，或者是連接扭力彈簧124的活動端124b。須說明的是，行動模組120還可以包括一轉動元件128，使用者2可以藉由旋轉轉動元件128來將連桿200從活動端122b移動至活動端124b。另外，在本實施例中，扭力彈簧的數量為兩個，然而本發明不以此為限。扭力彈簧的數量可以依照實際需求做調整，以達到輔助使用者2行走的效果。 In addition, as shown in FIG. 2 , in the embodiment, the motion module 120 includes a torsion spring 122 and a torsion spring 124 , and the torsion spring 122 and the torsion spring 124 have different torques. The user 2 can select the required torque according to personal habits or different walking distances. In detail, the torsion spring 124 includes a fixed end 124a and a movable end 124b. The connecting rod 200 can be connected to the movable end 122b of the torsion spring 122 or the movable end 124b of the torsion spring 124 according to the needs of the user 2. It should be noted that the action module 120 can also include a rotating component 128 that can be moved by the user 2 from the movable end 122b to the movable end 124b by rotating the rotating element 128. In addition, in the present embodiment, the number of the torsion springs is two, but the invention is not limited thereto. The number of torsion springs can be adjusted according to actual needs to achieve the effect of assisting the user 2 to walk.
另外，請再次參閱圖2，本發明的助行器1還包括發電模組130以及拉繩300。發電模組130包括發電裝置132以及儲電裝置134。拉繩300的一端連接於發電裝置132，另外一端連接於固定帶400。當使用者2的腿部24進行抬起或放下的動作時，腿部24會來回拉動拉繩300，進而可以帶動發電裝置132產生一電力。而儲電裝置134則用以儲存由發電裝置132產生的電力。 In addition, referring again to FIG. 2, the walker 1 of the present invention further includes a power generation module 130 and a drawstring 300. The power generation module 130 includes a power generation device 132 and a power storage device 134. One end of the drawstring 300 is connected to the power generating device 132, and the other end is connected to the fixing tape 400. When the leg portion 24 of the user 2 is lifted or lowered, the leg portion 24 pulls the pull cord 300 back and forth, thereby driving the power generating device 132 to generate a power. The power storage device 134 is used to store the power generated by the power generating device 132.
如圖2所示，本發明的助行器1還包括一控制模組140，發電模組130所產生的電力可以用以提供控制模組140進行操作。須說明的是，在本實施例中，發電裝置132會產生的電力以提供控制模組140的操作。然而，在其他實施例中，助行器也可以外接電源，並利用外接電源的電力來提供控制模組操作。本發明不以此為限。控制模組140實際上還包括晶片單元142、藍芽裝置144、防摔裝置146以及照明裝置148。晶片單元142會連接儲電裝置134，而藍芽裝置144則連接於晶片單元142。 As shown in FIG. 2, the walker 1 of the present invention further includes a control module 140. The power generated by the power generation module 130 can be used to provide the control module 140 for operation. It should be noted that in the present embodiment, the power generated by the power generating device 132 is used to provide the operation of the control module 140. However, in other embodiments, the walker can also be externally powered and utilize the power of an external power source to provide control module operation. The invention is not limited thereto. Control module 140 also includes wafer unit 142, Bluetooth device 144, anti-drop device 146, and illumination device 148. The wafer unit 142 is connected to the power storage device 134, and the Bluetooth device 144 is connected to the wafer unit 142.
詳細而言，助行器1的晶片單元142會利用藍芽裝置144來和手機(圖未繪示)進行連線。當藍芽裝置144和手機斷線時， 例如是距離太遠或者是藍芽裝置144發生故障的情形時，手機會發出警報訊號給手機的用戶。須說明的是，在此手機的用戶可以是使用者2的家人或者是親友。當手機發出警報訊息時，手機的用戶可以即時發現使用者2可能已離開一安全距離或者是助行器1有故障的情形。 In detail, the wafer unit 142 of the walker 1 uses the Bluetooth device 144 to connect to a mobile phone (not shown). When the Bluetooth device 144 and the mobile phone are disconnected, For example, when the distance is too far or the Bluetooth device 144 fails, the mobile phone will send an alarm signal to the user of the mobile phone. It should be noted that the user of the mobile phone can be the family of the user 2 or a relative or friend. When the mobile phone sends an alert message, the user of the mobile phone can immediately find out that the user 2 may have left a safe distance or that the walker 1 is faulty.
另外，防摔裝置146包括傾斜計、蜂鳴器以及安全按鈕。防摔裝置146連接於晶片單元142。傾斜計會產生傾斜訊號，而晶片單元142會接收傾斜訊號，並且判斷傾斜訊號是否代表使用者2有跌倒的現象。當晶片單元142判斷傾斜訊號代表使用者2跌倒時，晶片單元142會控制蜂鳴器發出一聲響，進行警告。此外，當晶片單元142判斷傾斜訊號代表使用者2跌倒時，晶片單元142也可以控制藍芽裝置144發出一警報給手機的用戶，以即時通知手機用戶使用者2有跌倒的情形。另外，當蜂鳴器發出警告聲響時，使用者2可以自行判斷情況嚴重與否，並且透過安全按鈕來關閉蜂鳴器。當使用者覺得情況不嚴重，則可按壓安全按鈕以關閉蜂鳴器。若使用者未按壓安全按鈕，則蜂鳴器保持開啟狀態，並持續發出聲響，而晶片單元142會控制藍芽裝置144持續發出一警報給手機的用戶。 In addition, the anti-drop device 146 includes an inclinometer, a buzzer, and a safety button. The anti-drop device 146 is connected to the wafer unit 142. The inclinometer generates a tilt signal, and the wafer unit 142 receives the tilt signal and determines whether the tilt signal represents a fall of the user 2. When the wafer unit 142 determines that the tilt signal represents the user 2 falling, the wafer unit 142 controls the buzzer to make a sound and warn. In addition, when the wafer unit 142 determines that the tilt signal represents the user 2 falling, the wafer unit 142 can also control the Bluetooth device 144 to issue an alarm to the user of the mobile phone to immediately notify the mobile phone user that the user 2 has fallen. In addition, when the buzzer sounds a warning sound, the user 2 can judge whether the situation is serious or not, and close the buzzer through the safety button. When the user feels that the situation is not serious, the safety button can be pressed to turn off the buzzer. If the user does not press the security button, the buzzer remains on and continues to sound, and the wafer unit 142 controls the Bluetooth device 144 to continue to issue an alert to the user of the handset.
如圖2所示，控制模組140還包括照明裝置148，照明裝置148包括光敏電阻、警示燈以及手動開關。照明裝置148連接於晶片單元142。光敏電阻會產生感光訊號，而晶片單元142會接收感光訊號，並且判斷感光訊號是否代表光線昏暗。當晶片單元142判斷感光訊號代表光線昏暗時，則晶片單元142會控制警示燈亮起。另外，當警示燈亮起時，使用者2可以自行判斷是否有需要開啟警示燈，並且透過手動開關來關閉警示燈。當使用者覺得光線足夠，不需開啟警示燈時，可以利用按壓手動開關來關閉警示燈。若使用者覺得光線不足，需要開啟警示燈時，則警示燈繼續保持開啟以提供照明。 As shown in FIG. 2, the control module 140 further includes a lighting device 148 that includes a photoresistor, a warning light, and a manual switch. Illumination device 148 is coupled to wafer unit 142. The photoresistor generates a photo-sensing signal, and the wafer unit 142 receives the photo-sensing signal and determines whether the photo-sensing signal represents dim light. When the wafer unit 142 determines that the photosensitive signal represents dim light, the wafer unit 142 controls the warning light to illuminate. In addition, when the warning light is on, the user 2 can judge whether there is a need to turn on the warning light, and turn off the warning light through the manual switch. When the user feels that the light is sufficient and there is no need to turn on the warning light, the manual switch can be used to turn off the warning light. If the user feels that there is insufficient light and needs to turn on the warning light, the warning light will remain on to provide illumination.
圖4為本發明實施例之控制模組140的使用流程方法示意圖。在實際操作中，助行器1要先進行初始化的步驟(即步驟S101)，而助行器1會透過藍芽裝置144連線手機(即步驟S102)。 FIG. 4 is a schematic diagram of a usage flow method of the control module 140 according to an embodiment of the present invention. In actual operation, the walker 1 is first initialized (ie, step S101), and the walker 1 connects the handset through the Bluetooth device 144 (ie, step S102).
之後，光敏電阻會產生感光訊號(即步驟S103)，而晶片單元142會判斷感光訊號代表外界光線是否明亮。若晶片單元142判斷感光訊號代表光線昏暗，則晶片單元142會控制警示燈開啟(即步驟S104)。當警示燈開啟後，使用者2可以自行判斷是否需要開啟警示燈。而晶片單元142會判斷使用者是否按壓手動開關(即步驟S105)。若晶片單元142判斷使用者按壓手動開關以關閉警示燈，則警示燈關閉(即步驟S106)。若晶片單元142判斷使用者並未按壓手動開關，則警示燈繼續保持開啟以提供照明。 Thereafter, the photoresistor generates a photo-sensing signal (ie, step S103), and the wafer unit 142 determines whether the photo-sensing signal represents whether the external light is bright or not. If the wafer unit 142 determines that the light sensing signal represents dim light, the wafer unit 142 controls the warning light to be turned on (ie, step S104). When the warning light is turned on, the user 2 can judge whether the warning light needs to be turned on. The wafer unit 142 determines whether the user presses the manual switch (ie, step S105). If the wafer unit 142 determines that the user presses the manual switch to turn off the warning light, the warning light is turned off (ie, step S106). If the wafer unit 142 determines that the user has not pressed the manual switch, the warning light continues to remain on to provide illumination.
除此之外，手機可以判斷藍芽裝置144是否連線(即步驟S107)。當藍芽裝置144和手機斷線時，例如是距離太遠或者是藍芽裝置144發生故障的情形時，手機會發出警報訊號給手機的用戶(即步驟S108)。當手機發出警報訊息時，手機的用戶可以即時發現使用者2可能已離開一安全距離或者是助行器1有故障的情形。 In addition to this, the mobile phone can judge whether the Bluetooth device 144 is connected (ie, step S107). When the Bluetooth device 144 and the mobile phone are disconnected, for example, if the distance is too far or the Bluetooth device 144 fails, the mobile phone will send an alarm signal to the user of the mobile phone (ie, step S108). When the mobile phone sends an alert message, the user of the mobile phone can immediately find out that the user 2 may have left a safe distance or that the walker 1 is faulty.
另外，防摔裝置146的傾斜計會產生傾斜訊號，而晶片單元142會判斷傾斜訊號是否代表使用者2跌倒(即步驟S109)。若使用者2跌到，則晶片單元142會控制蜂鳴器開啟並發出聲響，以進行警告。此時晶片單元142會控制藍芽裝置144發出一警報給手機的用戶，以即時通知手機用戶使用者2有跌倒的情形。(即步驟S110)。另外，晶片單元142會判斷使用者是否按壓安全按鈕以關閉蜂鳴器(即步驟S111)。若晶片單元142判斷使用者按壓安全按鈕以關閉蜂鳴器時，則蜂鳴器關閉(即步驟S112)。當晶片單元142判斷使用者未按壓安全按鈕時，則蜂鳴器保持開啟狀態，並持續發出聲響。此時，晶片單元142會控制藍芽裝置144持續發出一警報給手機的用戶。 In addition, the inclinometer of the anti-drop device 146 generates a tilt signal, and the wafer unit 142 determines whether the tilt signal represents the user 2 falling (ie, step S109). If the user 2 falls, the wafer unit 142 controls the buzzer to turn on and sounds to warn. At this time, the chip unit 142 controls the Bluetooth device 144 to issue an alarm to the user of the mobile phone to immediately notify the mobile phone user that the user 2 has fallen. (ie step S110). In addition, the wafer unit 142 determines whether the user presses the security button to turn off the buzzer (ie, step S111). If the wafer unit 142 determines that the user presses the security button to turn off the buzzer, the buzzer is turned off (ie, step S112). When the wafer unit 142 determines that the user has not pressed the security button, the buzzer remains on and continues to sound. At this point, the wafer unit 142 will control the Bluetooth device 144 to continue issuing an alert to the user of the handset.
須說明的是，晶片單元142判斷感光訊號代表光線是否明亮、手機判斷藍芽裝置144是否連線以及晶片單元142判斷傾斜訊號是否代表使用者跌倒的步驟，也就是步驟S103、S107、S109，可以是三個多工並行的步驟。然而，在其他實施例中，也可以是先進行步驟S107再進行步驟S103以及步驟S109，本發明不限制步驟S103、S107以及S109的先後順序。 It should be noted that the wafer unit 142 determines whether the light sensing signal represents whether the light is bright, whether the mobile phone determines whether the Bluetooth device 144 is connected, and whether the wafer unit 142 determines whether the tilt signal represents a user falling, that is, steps S103, S107, and S109. It is a step of three multiplexes in parallel. However, in other embodiments, step S107 and step S109 may be performed first, and the present invention does not limit the sequence of steps S103, S107, and S109.
總結上述，控制模組140實際上可以判斷使用者2是否離開安全區域、是否有跌倒的情形以及光線是否充足等要素，並在必要時發出警告或者是提供光線。使得使用者2在使用助行器1上更具安全性以及便利性。須說明的是，在實際操作中，發電模組130所產生的電力可以提供控制模組140所需的電力。 In summary, the control module 140 can actually determine whether the user 2 has left the safe area, whether there is a fall condition, and whether the light is sufficient, and if necessary, warn or provide light. This makes the user 2 more secure and convenient in using the walker 1. It should be noted that, in actual operation, the power generated by the power generation module 130 can provide the power required by the control module 140.
總上所述，本發明提供一種助行器，用以輔助使用者行走。此助行器包括一行動模組、一發電模組以及一控制模組。行動模組是利用腿部放下的重力來使得扭力彈簧形變，進而產生一扭力。而扭力可以釋放並轉成一推力來輔助使用者的腿部抬起。進而減少使用者行走時所需耗費的力氣，減輕使用者走路時的負擔。另外，使用者在行走的過程中可以帶動發電模組產生電力，並提供控制模組所需的電力。控制模組可以判斷使用者是否有跌倒，或是行走時光線是否充足等要素，並在必要的時候發出警告或者是提供光線，增加使用上的安全性以及便利性。 In summary, the present invention provides a walker for assisting a user in walking. The walker includes a motion module, a power generation module, and a control module. The action module uses the gravity dropped from the leg to deform the torsion spring to generate a torque. The torsion can be released and converted into a thrust to assist the user's legs to lift. In addition, the effort required for the user to walk is reduced, and the burden on the user when walking is reduced. In addition, the user can drive the power generation module to generate electricity during the walking process and provide the power required to control the module. The control module can determine whether the user has a fall, or whether the light is sufficient when walking, and issue a warning or provide light when necessary to increase the safety and convenience of use.
以上所述僅為本發明的實施例，其並非用以限定本發明的專利保護範圍。任何熟習相像技藝者，在不脫離本發明的精神與範圍內，所作的更動及潤飾的等效替換，仍為本發明的專利保護範圍內。 The above is only an embodiment of the present invention, and is not intended to limit the scope of the invention. It is still within the scope of patent protection of the present invention to make any substitutions and modifications of the modifications made by those skilled in the art without departing from the spirit and scope of the invention.
1‧‧‧助行器 1‧‧‧Travelers
100‧‧‧固定器 100‧‧‧fixer
120‧‧‧行動模組 120‧‧‧Action Module
130‧‧‧發電模組 130‧‧‧Power Module
140‧‧‧控制模組 140‧‧‧Control Module
200‧‧‧連桿 200‧‧‧ linkage
300‧‧‧拉繩 300‧‧‧Drawstring
400‧‧‧固定帶 400‧‧‧Fixed tape
2‧‧‧使用者 2‧‧‧Users
22‧‧‧腰部 22‧‧‧ waist
24‧‧‧腿部 24‧‧‧ legs
P1‧‧‧初始位置 P1‧‧‧ initial position
θ‧‧‧角度 Θ‧‧‧ angle
Claims (12)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW103107403A TWI544913B (en) | 2014-03-05 | 2014-03-05 | Walking assistance device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW103107403A TWI544913B (en) | 2014-03-05 | 2014-03-05 | Walking assistance device |
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| Publication Number | Publication Date |
|---|---|
| TW201534291A TW201534291A (en) | 2015-09-16 |
| TWI544913B true TWI544913B (en) | 2016-08-11 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| TW103107403A TWI544913B (en) | 2014-03-05 | 2014-03-05 | Walking assistance device |
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| TW (1) | TWI544913B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6945145B2 (en) * | 2017-06-26 | 2021-10-06 | パナソニックＩｐマネジメント株式会社 | Assist device and how to operate the assist device |
| JP7054801B2 (en) * | 2017-07-18 | 2022-04-15 | パナソニックＩｐマネジメント株式会社 | Assist device and assist method |
| JP7142252B2 (en) * | 2017-10-31 | 2022-09-27 | パナソニックＩｐマネジメント株式会社 | Assist device, operating method and program for assist device |
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