EP4225245B1

EP4225245B1 - Static-dynamic stabiliser

Info

Publication number: EP4225245B1
Application number: EP21790572.8A
Authority: EP
Inventors: Luca BERTUZZI; Rosaria LO GIUDICE
Original assignee: Bemoove SRL
Current assignee: Bemoove SRL
Priority date: 2020-10-12
Filing date: 2021-09-30
Publication date: 2024-12-25
Anticipated expiration: 2041-09-30
Also published as: EP4225245C0; EP4225245A1; WO2022079745A1; ES3014520T3; IT202000023869A1

Description

This invention consists of a mobile device that allows users with motor difficulties to easily, gradually and independently change their posture from sitting to standing, with the option of stopping in any intermediate condition, to maintain the acquired position with bi-podalic load as well as to move around indoors, independently and without any assistance, by using the joystick steering control, moving in an upright position, or in any that is deemed to be the most suitable for one's needs.
As is well know, stabilisers are devices used for locomotion and lifting people with disabilities or severe motor difficulties.
In particular, stabilisers are devices that are designed to lift the person and keep them in a static upright position. In the case of static stabilisers, these devices allow the person to move indoors only in the presence of a companion who interacts with the device. In the case of dynamic stabilisers, these allow the person to move indoors, independently.
Generally, stabilisers have adjustable limb and trunk supports for the stabiliser itself to adapt to the user.
The person enjoys several benefits that derive from using stabilisers, which range from physiological ones - bedsores can be avoided and the upright position allows a clear improvement in diaphragmatic breathing, the function of joints and muscles is restored, which would otherwise not be used - to psychological and practical ones.

State of the art

Currently, the state of the art essentially refers to wheelchairs or lifts that are primarily built to restrain the person by means of very wide back supports, straps that cannot be adjusted directly by the user but by another person, seats in different shapes and devices with articulated and exposed crank mechanisms which are a hazard for the user and those who assist them; and a common factor to all is the lack of a design that makes the user feel at ease or at least less handicapped.
The CN108785020A document describes a multifunctional walking aid that consists of a lower frame, load-bearing wheels, protective nets, a footrest, left and right vertical rods, four seat support legs and two U-shaped rods, in which the wheels and the protective nets are secured in the lower part of the lower frame.
The solution described in the above mentioned document does not allow the person to be transferred directly from the wheelchair or bed or sofa to the device; furthermore, the constructive features do not allow a narrow manoeuvring radius, the diameter of the wheels does not allow outdoor use, the wheels are not motorised, the person must be pushed and therefore, they are not autonomous and the constructive design is non-existent and represents a machine for the disabled. Document CN107693234A describes a frame with two integrated motorised wheels on the front and rear sides; there is a pedal mechanism, a non-motorised seating mechanism and a mechanism for supporting the kneecaps that includes a support plate and an adjustment block. An actuator moves the thoracic support, which the user uses as support thanks to two handles.
The device described in the above mentioned document does not allow the person to be transferred directly from the wheelchair or bed or sofa to the device; the constructive features do not allow a narrow manoeuvring radius, the diameter of the wheels does not allow outdoor use, the lifting function of the person sitting on the saddle does not support the pelvis and is not motorised; it is all entrusted to the upper limbs and partly to the lower limbs; it is not ergonomic, it does not simulate human movement; it does not leave the hands free and has no table on which to place objects; the constructive design is non-existent and represents a machine for the disabled. Document CN108578091A describes a rehabilitation wheelchair for patients with myelopathy; it is a machine that consists of a frame that includes a beam, a pair of front wheels set at the front end of the beam; a pair of rear wheels set at the rear end of the beam; and a vertical column connected vertically to the front part; a lifting arm and a pair of rails. One end of the lifting arm is connected to the side wall of the vertical column with a pin; the other end of the lifting arm is connected to the suspension mechanism.
The device described in the above mentioned document implies that the lifting function of the person is entirely entrusted to the upper limbs and partly to the lower ones; in fact, there is no motorised seat for this important function. There is no support surface for the upper limbs; the person must have good mobility in the upper limbs; the constructive design is non-existent and represents a machine for the disabled.
Documents CN106214368A and CN106333803A describe a new seating mechanism and a wheelchair. The new seat mechanism mainly includes two four-arm hinged mechanisms, two drive rods, a seat connection rod and a drive mechanism. The wheelchair includes a frame moving mechanism, a fastening support, an armrest mechanism and a standing support mechanism. According to the inventions described in the above mentioned documents, the lifting function of the person does not support the pelvis; it is entirely entrusted to the upper limbs and partly to the lower ones; it is not ergonomic, it does not simulate human movement; there is no support surface for the upper limbs and the person must have good upper limb mobility; the constructive design is non-existent and represents a machine for the disabled.
Document US2018014988A describes a wheelchair fitted with two motorised omnidirectional front wheels plus a third, which is also motorised and of a larger diameter, at the centre rear, so as to form a tricycle. The seat is motorised by two actuators to vary the height.
The invention described in the above mentioned document does not allow the person to be transferred directly from the wheelchair or bed or sofa to the device; it does not bring the person to an upright position; very complex mechanics; 3 motors are needed; the constructive design is non-existent and represents a machine for the disabled.
Document WO2017199164A1 describes a robotic device to facilitate the movement of people with severe motor disabilities; it basically consists of a frame with two front motorised wheels, two rear pivoting wheels, two front pivoting wheels, supports for the feet and a tubular structure fitted with two actuators and a strap to lift the body and bring it to an upright position.
The main disadvantage of the device described in the above mentioned document is that it does not allow the person to be transferred directly from the wheelchair or bed or sofa to the device. There is no support surface for the upper limbs; the constructive design is non-existent; significant dimensions; there is no support surface for objects; it represents a machine for the disabled. Document EP3243492 B1 describes a verticalizing wheelchair that basically consists of a frame with two front motorised wheels, two rear pivoting wheels, foot supports and a tubular pantograph structure fitted with two actuators and a saddle to lift the body and bring it into an erect position. The main disadvantage of the device described in the above mentioned document is the lack of a structure that prevents the person from falling sideways or forward; it does not include a support surface for the upper limbs; the person must have good mobility in the upper limbs; all levers of the pantograph are accessible with a consequent risk of injury; the constructive design is non-existent and represents a machine for the disabled.
Similarly, document KR20160129986A describes a machine that basically consists of a frame with two front motorised wheels, two rear pivoting wheels, foot supports and a tubular pantograph structure fitted with an actuator and a strap, complete with thoracic support, to lift the body and bring it into an erect position. The main disadvantage of the device described in the above mentioned document is that it does not allow the person to be transferred directly from the wheelchair or bed or sofa to the device. There is no support surface for the upper limbs; all levers of the pantograph are accessible with a consequent risk of injury; the constructive design is non-existent; significant dimensions; no support surface for objects.
Document KR20090124768A also describes a motorised wheelchair that consists of a frame with two front wheels that are powered by gear motors, two rear pivoting wheels, a central tubular structure that supports a pantograph structure fitted with an actuator to lift the patient, and is fitted with a table, side supports and a saddle. The disadvantages of the device described in the above mentioned document are the low height from the ground, no electric height adjustment of the column; all levers of the pantograph are accessible with a consequent risk of injury; the shape of the saddle is inadequate to be easily transferred from the wheelchair to the device.
Document KR20120097844A describes a device that consists of an extendable tubular structure fitted with two rear motors and two front pivoting wheels; there is an actuator which converts the horizontal seat into a vertical support thanks to a pantograph structure, and shortens the length of the machine. The disadvantages of the device described in the above mentioned document are that the person needs to have good mobility in the upper limbs; the diameter of the wheels does not allow outdoor use; does not allow the person to be transferred directly from the wheelchair or bed or sofa to the device; all levers of the pantograph are accessible with a consequent risk of injury; the constructive design is non-existent and represents a machine for the disabled.
Document US2014109312 describes a machine that basically consists of a frame with two front wheels fitted on a small rotary frame, two rear motorised and fixed, foot supports and a double tubular structure fitted with an actuator and a strap, complete with thoracic support, to lift the body and bring it into an erect position.
Just like some of the titles mentioned above, the invention described in the above mentioned document also has no support surface for the upper limbs; the person needs to have good mobility in the upper limbs; the constructive features do not allow a narrow manoeuvring radius, the diameter of the wheels does not allow outdoor use; the constructive design is non-existent and represents a machine for the disabled.
Document US2013219615 describes a person lifting system with pantograph levers and a frame that includes four pivoting wheels.
According to that described in the above mentioned document, there is no locomotion motorisation; the person must be pushed and is not autonomous; there is no support surface for the upper limbs; the person must have good mobility in the upper limbs; the constructive features do not allow a narrow manoeuvring radius, the diameter of the wheels does not allow outdoor use; there is no saddle or other rear restraint system; all levers of the pantograph are accessible with a consequent risk of injury; the constructive design is non-existent and represents a machine for the disabled.
Document US2015190293A describes a machine that basically consists of a frame with two front motorised wheels, a system of rear omnidirectional wheels, foot supports and a tubular pantograph structure fitted with an actuator and a strap, complete with thoracic support, to lift the body and bring it into an erect position. Another stabiliser is known from WO 2014/192575 A1 .
Just like some of the above mentioned titles, the invention described in the document has no support surface for the upper limbs; the person needs to have good mobility in the upper limbs; the diameter of the wheels does not allow outdoor use; it is not suitable for quadriplegics; all levers of the pantograph are accessible with a consequent risk of injury; the constructive design is non-existent and represents a machine for the disabled.
The purpose of the invention referred to in this patent application is to eliminate the above mentioned disadvantages of the above state of the art equipment, in particular, by designing a device that has minimum dimensions so as to facilitate movement indoors, which is particularly safe as regards the protection of the electrical connections and is simultaneously particularly manageable and can easily overcome unevenness and can be easily used even outdoors.
With reference to the attached Tables, in particular Fig 1, Fig 2 and Fig 3, the invention as defined by the appended claims consists of a stabiliser type of device (9) equipped with a central vertical frame (1) that consists of a central column (12) attached on the bottom to a first actuator (13).
In particular (Fig 3), the first actuator (13) is inserted into a hollow central column (15), which is in turn attached to the base (7) by means of a fixing plate (17, Figure 4b) for easy disassembly and assembly during transport.
The base (7) of the stabiliser is set up according to that described so far, and has at least two right and left wheels at the front (6,6') and at least two rear pivoting wheels (5,5').
The device referred to in this patent application also has a seat (3) that consists of a saddle type of part (3") and a frame (3'); the structure can be seen in figure 4 and the horizontal and vertical positions in figure 5, respectively. In particular, the frame (3') is attached at one end to the saddle (3") and at the opposite end it is attached to the central vertical frame (1).
Below the seat (3) there also is a second actuator (4) attached for the seat (3) to move.
With reference to Fig 5a, the end of the frame (3') opposite the saddle (3") is secured to the central vertical frame (1) with a first pin (19) and connected to the second actuator (4) with a second pin (20), which can be easily removed by removing the elastic washer. If the actuator (4) should malfunction and a person is on the equipment, this allows the actuator (4) to be rapidly disassembled and the seat (3) released.
With reference to Figures 4a and 4b, the lower part of the central vertical frame (1) can slide into the hollow central column (15) to change the position vertically from a lower position (Fig 4a) to an upper position (Fig 4b).
It is preferred but not mandatory to adjust the saddle (3) with a screw (18) that is fitted with a lever to be easily secured without using tools.
The central vertical frame (1) has an upper restraint support (2), which in turn consists of a first right side support (2') and a second left side support (2") that can be adjusted in the space by means of adequate and generic handling means.
The right and left side supports (2', 2") are also mutually attached by means of a cross-piece (2"'), which is in turn secured to the upper end of the central column (12) of the vertical frame (1) with the bracket (27).
The table (14), fitted with a movement control device (16), preferably but not mandatory of joystick type, is attached to the top of the cross-piece (2‴) by means of sliding guides. The sliding guides allow the table (14) to move back and forth with respect to the person's chest, thereby allowing the chest-table distance to be adjusted.
The stabiliser device (9), between the first right-side support (2') and the second left-side support (2"), includes an anti-crushing safety device (11) preferably but not exclusively comprised of a release emergency push button that, through the motherboard (29), cuts off the power supply to the saddle actuator (4).
Fig. 5 represents the kinematics of the standing movement, which reproduces the human movement, and the relative shift of the table (14), which form the restraint support (2) with the right and left side supports (2', 2").
The mechanics consist of two kinematics: that of the movement of the seat (3) and that of the movement of the table (14).
These kinematics simulate the person standing up, accompanying the lift of the pelvis with its rotation and the relative extension of the legs.
The kinematics of the seat (3) consist of a lever that is composed of the arm (3'), the fulcrum, consisting of the pin (19), the force of the actuator (4) applied to the pin (20) and the resulting force applied to the pin ( 21) of the tubular tie rod (24). The tubular tie rod (24) is a rod with a cylindrical section, drilled at the ends, to allow the mechanical connection with the pins (21) and (22); its purpose is to transmit the force of the actuator (4) of the saddle to the kinematics of the table (14). The kinematics of the seat (3) therefore allows the movement of the saddle from a horizontal to a vertical position and vice versa, and simultaneously, through the tubular tie rod (24), it provides the necessary mechanical force for the movement of the table kinematic (14).
The movement of the table kinematic (14) consists of a pantograph, whose hinges are the pins (25), (25'), (26), (26'); the rods are the bracket (27) and the casing (27') that form the parallelogram and the fixed point is the pin (21), which the tubular tie rod (24) is connected to, which conveys the movement to the pantograph itself.
This movement, which is of the roto-translational type, is transferred to the body of the table (14), through the bracket (27).
The right and left plates (40) and the mobile casing (28) that slides on the pin (23) constitute the mechanical structure that contains the tubular tie rod (24) and the electric cables that connect the movement control device (16) to the right and left motors, the safety push-button and any accessories mounted on the table (14). These cables start from the table (14) and reach the base (7) where the electronic microprocessor control board (29) is located, passing through the above mentioned mechanical structure which therefore, conceals and protects them from any interference with the user. The above mentioned mechanical structure, which contains the tubular tie rod (24), also protects the user from possible injuries.
The two kinematics can therefore gently accompany the user during verticalization, which occurs without effort even in the case of very low mobility, because it faithfully reproduces the physiological roto-translational lifting system of the person; this precision derives from the particular position of the lever articulation that consists of the arm (3') and the fulcrum (19) that is positioned very close to the knee joint of the seated user during the lifting movement of the seat (3).
With reference to Fig 2 e Fig 3, the base (7) of the stabiliser device (9), set up as described, has a pair of compartments/grooves (7a, 7b) set-up as a footrest for the user and a pair of knee rests (10a, 10b) that can be adjusted through the adjustable supports (12a, 12b).
Fig 6 represents an example of the implementation method of the centralised electronic microprocessor control board (29) to control the invention referred to in this patent application.
In particular, it is possible to activate/deactivate functions via the electronic control board, such as:

Push-button panel controls to lift or lower the vertical frame (1),
- Horizontal seat adjustment (3),
- Joystick (16) for left and right side control and forward, reverse and speed control of the front wheels (6,6') and to manage the electric brakes,
- Thoracic sensor to stop the saddle actuator in case of emergency or in case of excessive pressure of the user against the table (14).
- Saddle Actuator Encoder and Column Actuator to save the positions of the actuators (33, 34).
- Right and Left Radar Sensors to indicate any obstacles, such as those of cars (35, 36) when reversing.
- Tilt sensor (39).
- Two x 12 Volt batteries in series (37).
- Smartphone power supply (38).
- BlueTooth communication module

Through serial radio communication to a Bluetooth module (31), the motherboard (29) communicates with the App to remotely control the equipment via a SmartPhone; in particular, it is possible to move the actuators, the brakes and the wheel motors and have the level of the battery charge displayed together with the tilt inclination of the equipment (39) and the relative alarm and diagnostics.
The invention, built according to that described, allows a stabiliser that is significantly smaller than known stabilisers to be implemented.
Furthermore, the stabiliser referred to in this patent application is particularly easy to handle and can be used to move around indoors.
Furthermore, according to the invention referred to in this patent application, all the electrical and electronic connection elements are protected by the structure, thereby preventing hazardous entanglements and/or disconnections.
According to the invention referred to in this patent application, a user with motor difficulties can easily, gradually and independently change their posture from sitting to standing, with the option of stopping in any intermediate condition, to maintain the acquired position with bi-podalic load as well as to move around indoors and outdoors independently and without any assistance, by using the joystick steering control, moving in an upright position, or in any that is deemed to be the most suitable for one's needs.
The user can use the invention by transferring directly to the saddle from a seated position (from the wheelchair, sofa, bed, car, etc.) and once correctly positioned, they can activate the lifting system by actuating the controls of the provided push-button panel, to start the verticalizing movement until the best postural solution is found with the utmost individual comfort. The table follows the various movements conveyed, thereby accompanying the user during the rising and lowering stages, which take place in absolute safety. If necessary, a device (11) on the thoracic support of the table allows the device to be blocked in an emergency and is also activated automatically in the event of excessive pressure of the user against the table, thereby stopping the movement of the saddle actuator. The user is adequately contained laterally by two adjustable handles (2, 2') even when static, so as to obtain adequate support, or to facilitate a better grip during transfers, in the starting position or during the various movements. The rear restraint is implemented by the saddle (3), which is fitted with an adjustment system just like the entire structure of the equipment, which allows the equipment to be adapted according to the ergonomic characteristics of the user.
The invention is equipment that is designed to be used by all those who have motor difficulties, by those suffering from diseases or injuries in the spinal cord, paraplegics, tetraplegics, multiple sclerosis, Parkinson's disease or muscular pathologies and muscular dystrophies, and anyone who has difficulty to stand up.
The invention allows the user to reach and maintain an upright position for better functioning of the respiratory, cardio-circulatory and digestive systems, to move independently, to carry out daily activities in an upright position, to reach objects placed high up, which are otherwise unreachable and to facilitate relational relationships.

Claims

Stabiliser equipped with central vertical frame (1) and a seat (3), said central vertical frame (1) being composed of a central column (12) and a hollow column, said hollow column (15) being attached to a base (7) with at least two right and left front wheels (6,6') and at least two rear castor wheels (5, 5'}, said central vertical frame (1) comprising a containment support at the top (2) consisting of a first right-side support (2') and a second left-side support (2") connected together by a cross-piece (2‴), said (3'), seat (3) is comprised of a saddle (3") attached to a frame the central column (12) is attached on the bottom to a first actuator (13) said first actuator (13) inserted into said hollow central column (15), characterized in that said cross-piece (2‴) is attached to the top end of the central column of the central vertical frame (1) by a bracket, and the bottom of the seat is attached to the central vertical frame (1) and a second actuator (4) by means of said frame (3'), and the stabiliser further comprises a table (14) which is attached to the top of the cross-piece (2‴) by means of sliding guides, and table said table (14) comprises a movement control device (16).
Stabiliser as per claim 1 characterised by the fact that the end of the frame (3') opposite the saddle (3") is attached to the vertical central frame (1) by a first pin (19) and connected to the second actuator (4) by a second pin (20) called the second pin, which is removable
Stabiliser as per the previous claims, characterised by the fact that between the first right-side support (2') and the second left-side support (2"), the stabiliser device (9) includes an anti-crushing safety device (11) preferably but not exclusively comprised of a release emergency push button that, through the motherboard (29), cuts off the power supply to the saddle actuator (4).
Stabiliser as per previous claims, characterised by the fact that at the base (7) there is a pair of compartments/grooves (7a, 7b) set-up as a footrest for the user and a pair of knee rests (10a, 10b) that can be adjusted through the adjustable supports (12a , 12b ).
Stabiliser as per previous claims characterised by the fact that the movement of the seat (3), the column (12) is determined by a microprocessor and electronic board.