WO2020017104A1 - Fauteuil roulant actionnable d'une seule main - Google Patents

Fauteuil roulant actionnable d'une seule main Download PDF

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Publication number
WO2020017104A1
WO2020017104A1 PCT/JP2019/013123 JP2019013123W WO2020017104A1 WO 2020017104 A1 WO2020017104 A1 WO 2020017104A1 JP 2019013123 W JP2019013123 W JP 2019013123W WO 2020017104 A1 WO2020017104 A1 WO 2020017104A1
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WO
WIPO (PCT)
Prior art keywords
hand rim
pair
arm members
wheel
wheelchair
Prior art date
Application number
PCT/JP2019/013123
Other languages
English (en)
Japanese (ja)
Inventor
齊藤徹
Original Assignee
合同会社ライフスペース研究所
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
Priority claimed from JP2018134754A external-priority patent/JP6455953B1/ja
Priority claimed from JP2018217988A external-priority patent/JP6494853B1/ja
Application filed by 合同会社ライフスペース研究所 filed Critical 合同会社ライフスペース研究所
Publication of WO2020017104A1 publication Critical patent/WO2020017104A1/fr

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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
    • A61G5/02—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person

Definitions

  • the present invention generally relates to a manual wheelchair (hereinafter simply referred to as “wheelchair”). More particularly, the present invention relates to a wheelchair equipped with a single hand rim on each of the left and right sides and can be easily operated with one hand.
  • a wheelchair is basically configured such that a wheelchair user (hereinafter, simply referred to as a “user”) operates left and right wheels with his / her own hand to perform operations such as forward, backward, left turn, right turn, and the like.
  • a wheelchair that can be operated with one hand only by a healthy hand even if the person is disabled on the left or right body has been proposed (see Patent Document 1).
  • the wheelchair described in Patent Literature 1 disposes a double hand rim outside wheels on a side where a healthy body of a user is located, and operates the hand rim with a healthy hand to move the wheelchair. Is configured to be controlled.
  • Patent Document 7 can be operated with one hand, so that it is easy to use for a person with a disability. It was also useful in sports competitions using wheelchairs such as wheelchair tennis and wheelchair basketball.
  • the present invention seeks ease of use from a different viewpoint from the wheelchair described in Patent Literature 7, and aims to provide a wheelchair that can be easily operated with one hand without having to change the hand rim.
  • a wheelchair operable with one hand has a frame, a right wheel and a left wheel, a right caster and a left caster, and a seat, and is disposed concentrically with an axle of each of the wheels.
  • a pair of left and right hand rims respectively connected to spokes, a rotation shaft for transmitting a rotational force generated by rotating the one hand rim to a wheel on the opposite side via a drive mechanism, and a rotation shaft for one side;
  • a pair of left and right wheel hubs for transmitting a rotational force generated by rotating the hand rim to wheels on the same side via the drive mechanism, wherein the drive mechanism is mounted so as to be concentric with the center of the axle.
  • a movable shaft member slidable in a horizontal direction, a rotating shaft side disk slidably disposed on the rotating shaft side of the movable shaft member, and a rotation of the movable shaft member.
  • a hand rim-side disc slidably disposed on the side opposite to the side where the side disc is located, and a force device for transmitting inward or outward movement of the hand rim to the movable shaft member.
  • the force applying device is slidably attached to the movable shaft member, has a support member that rotates together with the movable shaft member, a pair of arm members, another pair of arm members, Is attached at a position of 0 degree to the support member by a first pin so as to be rotatable in a horizontal plane.
  • the first link device is formed by the other arm member of the pair of arm members, which is rotatably mounted in a horizontal plane at a position of 180 degrees, and a central pin is formed by a third pin.
  • One of the other pair of arm members rotatably mounted in a vertical plane at a position of 90 degrees of the holding member, and a center position of the support member at a position of 270 degrees by a fourth pin.
  • a second link device is formed by the other arm member of the another pair of arm members rotatably attached in a vertical plane, and when the hand rim is moved inward or outward, First and second link devices are compressed or expanded to slide the movable shaft member inward or outward, and the surface-contacting engaging portion provided on the rotating shaft side disk and the hand rim A surface-contacting engaging portion provided on the side disk selectively engages with a surface-contacting engaging portion provided on the rotating shaft and / or a surface-contacting engaging portion provided on the wheel hub. The times The rolling force is transmitted to a desired wheel.
  • a wheelchair operable with one hand has a frame, a right wheel and a left wheel, a right caster and a left caster, and a seat, and is arranged concentrically with an axle of each of the wheels.
  • a pair of left and right hand rims respectively connected to spokes, a rotating shaft for transmitting a rotational force generated by rotating the one hand rim to the opposite wheel via the driving mechanism,
  • a pair of left and right wheel hubs for transmitting a rotational force generated by rotating the hand rim to wheels on the same side via the drive mechanism, such that the drive mechanism is concentric with the center of the axle.
  • a mounted movable shaft member slidable in the horizontal direction, a rotating shaft side disk slidably disposed on the rotating shaft side of the movable shaft member, and a movable shaft member of the movable shaft member.
  • a hand rim-side disc slidably disposed on the side opposite to the side where the turning shaft-side disc is located, and a force applying device for transmitting inward or outward movement of the hand rim to the movable shaft member.
  • the force device has a support member slidably attached to the movable shaft member and rotating together with the movable shaft member, a pair of arm members, and another pair of arm members.
  • a central part is rotatably mounted in a horizontal plane at a position of 0 degree on the support member by a first pin, and one of the arm members of the pair of arm members;
  • a first link device is formed by the other arm member of the pair of arm members, which is rotatably mounted in a horizontal plane at a position of 180 degrees on the support member, and a central portion is formed by a third pin.
  • One of the other pair of arm members which is rotatably mounted in a vertical plane at a position of 90 degrees on the support member and one of the other pair of arm members, and a center pin at a position of 270 degrees of the support member by a fourth pin.
  • a second link device is formed by the other arm member of the another pair of arm members, which is rotatably mounted in a vertical plane at a position, and when the hand rim is moved inward or outward, The first and second link devices are compressed or expanded to slide the movable shaft member inward or outward, and the spur gear or the internal gear provided on the rotating shaft side disk and the hand rim
  • a spur gear or internal gear provided on the side disk selectively engages with an internal gear or spur gear provided on the rotating shaft and / or an internal gear or spur gear provided on the wheel hub, and The rotational force is transmitted to a desired wheel.
  • the number of hand rims provided on each of the right and left sides is one instead of two, it is not necessary to change the hand rim at the time of operation, so that the user is very convenient to use. Good effect can be obtained.
  • the wheelchair of the present invention can be used by people other than those who are physically disabled. That is, the wheelchair of the present invention is useful when a person who has healthy both hands moves in a wheelchair while holding an article (smartphone, tableware, umbrella, etc.) in one hand. It is also useful when playing sports such as tennis and basketball in a wheelchair.
  • FIG. 1 is a right side view showing a wheelchair according to a preferred embodiment of the present invention.
  • FIG. 2 is a rear view of the wheelchair of FIG.
  • FIG. 2 is a diagram illustrating a configuration of a drive mechanism of the wheelchair of FIG. 1.
  • FIG. 4A is an enlarged view of a portion 4a in FIG. 3, and
  • FIG. 4B is a cross-sectional view taken along line 4b-4b in FIG. 4A.
  • FIG. 5A is an enlarged sectional view of the drive mechanism when the hand rim is moved inward
  • FIG. 5B is an enlarged sectional view of the drive mechanism when the hand rim is moved outward.
  • FIG. 2 is a perspective view schematically showing a force device of the wheelchair of FIG. 1.
  • FIG. 8A is a diagram showing a state in which a pair of arm members are attached to a disk
  • FIG. 8B is a diagram showing a state in which another pair of arm members is attached to a disk. It is a series of schematic diagrams for explaining the operation state of the wheelchair. It is a series of other schematic diagrams for demonstrating the operation state of a wheelchair.
  • FIG. 1 is a right side view showing a wheelchair according to a preferred embodiment of the present invention
  • FIG. 2 is a rear view of the wheelchair of FIG.
  • a wheelchair according to a preferred embodiment of the present invention which is generally indicated by reference numeral 10 in FIG. 1, includes a frame 12 forming a skeleton of the wheelchair, right wheels 14a and left wheels 14b, a pair of casters 16a, 16b, and a seat. 18 is provided.
  • the wheelchair 10 is in principle symmetrical with respect to its center line and has the same components on each of the left and right sides.
  • reference numerals of components located on the right side of the wheelchair 10 "B" is added to the reference numerals of the components located on the left side of the wheelchair 10.
  • inside means a side where a user sitting in a wheelchair is located
  • outside means a side opposite to a side where the user is located.
  • wheel covers 14a1 and 14b1 are respectively attached so as not to pinch a finger between the wheel spokes 14a2 and 14b2, but the equipment of the wheel covers 14a1 and 14b1 is optional. .
  • the wheelchair 10 also includes a hand rim 20a disposed outside the right wheel 14a concentrically with the axle 24a of the right wheel 14a.
  • the hand rim 20a is connected to the hand rim spoke 20a1. Although four hand rim spokes 20a1 are shown in FIG. 1, the number of hand rim spokes 20a1 is not limited to this.
  • FIG. 3 is a diagram showing the configuration of the drive mechanism of the wheelchair 10
  • FIG. 4 (a) is a diagram showing a portion 4a of FIG. 3, showing a main part of the drive mechanism.
  • the wheelchair 10 includes an axle 54a that supports the right wheel 14a.
  • the axle 54a has a circular disk portion 54a1 having an opening 54a2 at the center, a cylindrical inner cylinder portion 54a3 fixed inside the disk portion 54a1 so as to be concentric with the disk portion 54a1, and a disk portion. Outside the disk 54a1, there is a cylindrical outer cylinder 54a4 fixed concentrically with the disk 54a1, and the inner cylinder 54a3 is attached to the frame 12 via the mounting boss 56a and the mounting sleeve 58a. Installed.
  • Reference numeral 54a5 is a known lever member with an axle fixing spring used for fixing the axle 54a.
  • a rotating shaft 60a is rotatably disposed on the inner cylinder portion 54a3 of the axle 54a.
  • the rotating shaft 60a has a cylindrical shaft portion 60a1 and a disk-shaped disk portion 60a2 provided at an outer end of the shaft portion 60a1 and located in an outer cylindrical portion 54a4 of the axle 54a.
  • An engagement portion 60a3 (see FIG. 5B) is arranged on the outer periphery.
  • the engaging portion 60a3 which comes into surface contact is formed of a material having a high coefficient of friction (for example, rubber) or a tooth surface having a shape complementary to an engaging surface of the engaging portion 68a3 described later, or is provided with a high friction coating. .
  • the shaft portion 60a1 is rotatably supported in the inner cylindrical portion 54a3 by a bearing 60a4.
  • a rotation shaft 60b having a similar configuration is provided in a corresponding portion on the left side of the wheelchair 10.
  • the shaft portions 60a1 and 60b1 may be integrally formed as in the case of the shaft portions 30a1 and 30b1, or may be formed separately and connected to each other via a connection sleeve (not shown).
  • the rotating shaft of the book may be formed.
  • the wheel hub 62a is rotatably supported by the axle 54a.
  • the wheel hub 62a has a circular disk portion 62a1 having an opening 62a2 at the center and a cylindrical inner portion extending outward around the opening 62a2 of the disk portion 62a1 and fixed so as to be concentric with the disk portion 62a1. It has a cylindrical portion 62a3 and a cylindrical outer cylindrical portion 62a4 which extends inward on the outer periphery of the disk portion 62a1 and is fixed so as to be concentric with the disk portion 62a1.
  • An engagement portion 62a5 (see FIG. 5A) is disposed at an inner end of the inner cylindrical portion 62a3.
  • the outer cylinder part 62a4 is rotatably supported by the outer cylinder part 54a4 of the axle 54a by a bearing 62a6.
  • a wheel spoke 14a2 of the right wheel 14a is connected to an outer periphery of the outer cylindrical portion 62a4 of the wheel hub 62a.
  • the engaging portion 62a5 in surface contact is formed of a material having a high coefficient of friction (for example, rubber) or a tooth surface having a shape complementary to an engaging surface of an engaging portion 70a3 described later, or is provided with a high friction coating. ing.
  • the wheelchair 10 also includes an outer shaft 64a having a cylindrical inner portion 64a1 and a cylindrical outer portion 64a2 connected to each other by an elastic connecting member 64a3, and the inner portion 64a1 is formed by a bearing 64a4.
  • the wheel hub 62a is rotatably supported by the inner cylinder portion 62a3.
  • the through hole 64a5 of the inner portion 64a1 and the through hole 64a6 of the outer portion 64a2 are spline holes, respectively, and a movable shaft member 66a of a spline shaft described later is inserted into the through holes 64a5 and 64a6.
  • the elastic connecting member 64a3 is formed of a shape memory material, and unless a force is applied by a later-described force applying device 80a, the engaging portion 68a3 is engaged with the central position (as shown in FIG. 4A). (The position where the engaging portion 70a3 comes into surface contact with the engaging portion 62a5).
  • an elastic member for example, a spring
  • a spring that holds the center position when no force is applied by the force applying device 80a may be used.
  • the wheelchair 10 also includes a movable shaft member 66a having a columnar shape as a whole.
  • the movable shaft member 66a has an end ridge 66a1 disposed at the inner end and an intermediate ridge 66a2 disposed in the middle, and the end ridge 66a1 and the intermediate ridge are provided.
  • a portion 66a3 between the outer shaft 64a2 and the outer portion 66a4 of the intermediate raised portion 66a2 is a spline shaft. It is slidably disposed in the hole 64a6.
  • the wheelchair 10 also includes a rotating shaft side disk 68a and a hand rim side disk 70a.
  • the rotating shaft side disk 68a has a cylindrical portion 68a1 and a disk portion 68a2 located at the inner end of the cylindrical portion 68a1, and an engaging portion 68a3 (see FIG. 6) is arranged on the inner surface of the disk portion 68a2.
  • the hand rim-side disk 70a has a cylindrical portion 70a1 and a disk portion 70a2 located at an outer end of the cylindrical portion 70a1, and an engaging portion 70a3 (see FIG. 6) is arranged on an outer surface of the disk portion 70a2. ing.
  • the through hole of the cylindrical portion 68a1 and the through hole of the cylindrical portion 70a1 are spline holes.
  • the cylindrical portion 68a1 of the rotating shaft side disk 68a is slidably disposed on the portion 66a3, and the cylindrical portion 70a1 of the hand rim side disk 70a is also slidably disposed on the portion 66a3.
  • a spring 72a for urging the rotating shaft side disk 68a and the hand rim side disk 70a away from each other is mounted on the cylindrical portion 68a1 of the rotating shaft side disk 68a and the cylindrical portion 70a1 of the hand rim side disk 70a.
  • the engaging portions 68a3 and 70a3 that come into surface contact are formed of a material (for example, rubber) having a high coefficient of friction or a tooth surface complementary to the engaging portions 60a3 and 62a5, or have a high friction coating. .
  • FIG. 6 is a series of diagrams showing the interrelationship between the movable shaft member 66a, the rotating shaft side disk 68a, and the hand rim side disk 70a (in FIG. 6, in order to clearly show the interrelationship between the components, the spring 72a is Not shown).
  • FIG. 6A shows a state in which the hand rim 20a is at the center position (that is, the position at which the hand rim 20a is not moved inward or outward), and the rotating shaft side disk 68a is moved to the innermost position by the spring 72a.
  • the hand rim-side disc 70a is located at the outermost position, whereby the engaging portion 68a3 of the disc portion 68a2 of the rotating shaft-side disc 68a comes into surface contact with the engaging portion 60a3 of the rotating shaft 60a, and The engaging portion 70a3 of the disc portion 70a2 of the hand rim-side disc 70a is in surface contact with the engaging portion 62a5 of the wheel hub 62a.
  • FIG. 6B shows a state in which the hand rim 20a is at the inward position, and the hand rim-side disc 70a is pushed by the intermediate raised portion 66a2 of the movable shaft member 66a against the spring force of the spring 72a.
  • FIG. 6C shows a state in which the hand rim 20a is at the outer position, and the rotating shaft side disk 68a is pushed by the end protrusion 66a1 of the movable shaft member 66a against the spring force of the spring 72a.
  • the engagement between the engaging portion 68a3 and the engaging portion 60a3 is released (see FIG. 5B).
  • the outer plate 74a is fixed to the inner end of the outer portion 64a2 of the outer shaft 64a, and the hand rim spoke 20a1 is connected to the outer plate 74a.
  • An inner plate 76a is attached to the outer end of the inner portion 64a1 of the outer shaft 64a.
  • the wheelchair 10 further includes a force applying device 80a for transmitting the inward or outward movement of the hand rim 20a to the movable shaft member 66a.
  • FIG. 7 is a perspective view schematically showing the force applying device 80a.
  • the force applying device 80a includes a support member 82a slidably attached to the movable shaft member 66a, a pair of arm members 84a and 86a, and another pair of arm members 88a and 90a. Note that the support member 82a cannot rotate independently by a spline, but rotates together with the movable shaft member 66a.
  • FIG. 8A is a view showing a state in which the pair of arm members 84a and 86a are attached to the support member 82a.
  • the arm member 84a is rotatably mounted in a horizontal plane at a position of 0 degrees of the support member 82a at a substantially central position by a pin 84a1.
  • a roller is attached to one end 84a2 of the arm member 84a, and a roller is attached to the other end 84a3.
  • These rollers are housed in roller housing members 84a4 and 84a5, respectively.
  • the arm member 86a is rotatably mounted on the support member 82a at a position of 180 degrees in a horizontal plane at a position substantially at the center by a pin 86a1.
  • a roller is attached to one end 86a2 of the arm member 86a, and a roller is attached to the other end 86a3.
  • These rollers are housed in roller housing members 86a4 and 86a5, respectively.
  • FIG. 8B is a diagram showing a state in which the pair of arm members 88a and 90a are attached to the support member 82a.
  • the arm member 88a is rotatably mounted in a vertical plane at a 90-degree position on the support member 82a at a substantially central position by a pin 88a1.
  • a roller is attached to one end 88a2 of the arm member 88a, and a roller is attached to the other end 88a3.
  • These rollers are housed in roller housing members 88a4 and 88a5, respectively.
  • the arm member 90a is rotatably mounted in a vertical plane at a position of 270 degrees on the support member 82a by a pin 90a1 at a substantially central portion.
  • a roller is attached to one end 90a2 of the arm member 90a, and a roller is attached to the other end 90a3. These rollers are housed in roller housing members 90a4 and 90a5, respectively.
  • the arm members 88a and 90a are not illustrated in FIG. 8A, and the arm members 84a and 86a are illustrated in FIG. Are not shown.
  • the outer surfaces of the roller housing members 84a5, 86a4, 88a5, and 90a4 are fixed to the outer plate 74a, and the inner surfaces of the roller housing members 84a4, 86a5, 88a4, and 90a5. Are fixed to the inner plate 76a.
  • the configuration of the right side portion of the wheelchair 10 has mainly been described, but the left side portion of the wheelchair 10 also has substantially the same configuration as the right side portion. That is, when describing the main components, 20b is a hand rim, 54b is an axle, 60b is a rotating shaft, 62b is a wheel hub, 64b is an outer shaft, 66b is a movable shaft member, 68b is a rotating shaft side disk, and 70b is a hand rim side.
  • the disk and 80b respectively indicate a force applying device.
  • FIG. 9 is a schematic plan view showing a right turn or left turn traveling of the wheelchair 10
  • FIG. 10 is a schematic plan view showing a straight traveling of the wheelchair 10.
  • the right wheel 14a rotates while the left wheel 14b does not rotate, whereby the wheelchair 10 turns left (see FIG. 9C).
  • the user turns the hand rim 20b forward with the left hand gripping the hand rim 20b.
  • the left wheel 14b rotates while the right wheel 14a does not rotate, whereby the wheelchair 10 turns right (see FIG. 9D).
  • the force applying device 80a of the wheelchair 10 compresses or expands the two X-shaped link devices formed by the two pairs of arm members 84a, 86a, 88a, 90a to translate and move the movable shaft members 66a, 66b. It is configured to slide.
  • the wheelchair 10 is configured so that the rotational force is transmitted by the engaging portions 60a3 and 68a3 and the engaging portions 62a5 and 70a3 that are in surface contact, but the engagement between the spur gear and the internal gear is performed. May be configured to transmit the rotational force.
  • wheelchair component details shown are merely exemplary and may be modified.

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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)
  • Handcart (AREA)

Abstract

L'invention concerne un fauteuil roulant qui peut être facilement actionné avec la main droite ou gauche. L'invention comprend : des mains-courantes gauche et droite ; un arbre rotatif pour transmettre une force de rotation générée par la rotation d'un main courante sur l'un des côtés de la roue sur le côté opposé par l'intermédiaire d'un mécanisme d'entraînement ; et un moyeu de roue pour transmettre la force de rotation générée par la rotation de la main courante sur l'un des côtés de la roue sur le même côté par l'intermédiaire du mécanisme d'entraînement. La constitution de l'invention est telle que : le mécanisme d'entraînement comprend un élément d'arbre mobile, un disque côté arbre rotatif, un disque côté main courante, et un dispositif d'application de force comprenant un dispositif de liaison pour transmettre le mouvement de la main courante à l'élément d'arbre mobile ; et, lorsque la main courante est déplacée, le dispositif de liaison est contracté par pression ou étendu par pression, amenant l'élément d'arbre mobile à coulisser, de telle sorte qu'une partie de mise en prise sur le disque côté arbre rotatif et une partie de mise en prise sur le disque côté main courante viennent sélectivement en prise avec une partie de mise en prise sur l'arbre rotatif et/ou une partie de mise en prise sur le moyeu de roue, transmettant la force de rotation à la roue sur le côté souhaité.
PCT/JP2019/013123 2018-07-18 2019-03-27 Fauteuil roulant actionnable d'une seule main WO2020017104A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2018134754A JP6455953B1 (ja) 2018-07-18 2018-07-18 片手操作可能な車椅子
JP2018-134754 2018-07-18
JP2018217988A JP6494853B1 (ja) 2018-11-21 2018-11-21 片手操作可能な車椅子
JP2018-217988 2018-11-21

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WO2020017104A1 true WO2020017104A1 (fr) 2020-01-23

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11141329B2 (en) * 2019-11-29 2021-10-12 Research Institute For Life Space, Llc Single-handedly operable wheelchair

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004141452A (ja) * 2002-10-25 2004-05-20 Tada Mokko Seisakusho:Kk 片手操作式車椅子
US20090039612A1 (en) * 2005-03-11 2009-02-12 Alan Bidwell Manually Propelled Wheelchair Device
JP2010279666A (ja) * 2009-06-08 2010-12-16 Kazuyo Hiramine 片手操作車椅子
JP6288746B1 (ja) * 2017-09-26 2018-03-07 合同会社ライフスペース研究所 片手操作可能な車椅子

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004141452A (ja) * 2002-10-25 2004-05-20 Tada Mokko Seisakusho:Kk 片手操作式車椅子
US20090039612A1 (en) * 2005-03-11 2009-02-12 Alan Bidwell Manually Propelled Wheelchair Device
JP2010279666A (ja) * 2009-06-08 2010-12-16 Kazuyo Hiramine 片手操作車椅子
JP6288746B1 (ja) * 2017-09-26 2018-03-07 合同会社ライフスペース研究所 片手操作可能な車椅子

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11141329B2 (en) * 2019-11-29 2021-10-12 Research Institute For Life Space, Llc Single-handedly operable wheelchair

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