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    ROBOTIC VEHICLE
    5.
    发明申请
    ROBOTIC VEHICLE 审中-公开

    公开(公告)号：WO2021220103A1

    公开(公告)日：2021-11-04

    申请号：PCT/IB2021/053213

    申请日：2021-04-19

    Applicant: UNIVERSITÀ DEGLI STUDI DI TRENTO

    Inventor： PALOPOLI, Luigi ,  FONTANELLI, Daniele ,  ZENATTI, Fabiano ,  DIVAN, Stefano ,  ANDREETTO, Marco

    IPC: G05D1/02 ,  A61H3/04 ,  B62D15/00 ,  A61H2003/043 ,  A61H2003/046 ,  A61H2201/5007 ,  A61H2201/501 ,  A61H2201/5038 ,  A61H2201/5064 ,  A61H2201/5079 ,  A61H2201/5092 ,  A61H2201/5097 ,  G05D1/0212 ,  G05D2201/0206

    Abstract: A robotic vehicle (10) comprising a pair of rear wheels (11, 12), at least one front wheel (13, 14), at least one steering motor (50) mounted with said at least one front wheel (13, 14), wherein said at least one front wheel (13, 14) is adapted to freely rotate about a vertical axis (Zm) perpendicular to the ground, wherein said at least one steering motor (50) is adapted to impose a torque which steers said at least one front wheel (13,14) with which it is mounted making the robotic vehicle (10) steer by a steering angle (φ) with respect to an instantaneous direction of linear motion (Xm) of the robotic vehicle (10), wherein the robotic vehicle (10) comprises at least one processor (70) and at least one storage (80), wherein said at least one processor (70) controls said at least one steering motor (50) and calculates a spatial position and a spatial orientation of the robotic vehicle (10), wherein said at least one storage (80) contains at least one selection algorithm which implements a process for sharing a control authority for directing the robotic vehicle (10), wherein said at least one storage (80) contains a predefined preferred path (100) or the position of an obstacle to be overcome, wherein for each predefined time step said at least one selection algorithm selects depending on a metric a torque value which said at least one steering motor (50) imposes on said at least one front wheel (13, 14), wherein said torque value ranges between 0 and a predefined maximum torque value, wherein said metric is defined depending only on a distance of the robotic vehicle (10) from said predefined preferred path (100), or from an obstacle to be overcome, and on an angle of approach (δ), wherein the angle of approach (δ) of said metric is calculated by said at least one processor (70) depending on an approaching trajectory towards said predefined preferred path (100) or towards said obstacle to be overcome.

    STATIONARY AUTOMATED DEVICE LOR LOWER LIMB REHABILITATION
    7.
    发明申请
    STATIONARY AUTOMATED DEVICE LOR LOWER LIMB REHABILITATION 审中-公开

    公开(公告)号：WO2021141509A2

    公开(公告)日：2021-07-15

    申请号：PCT/PL2021/000001

    申请日：2021-01-06

    Applicant: PROMODUS SP. Z.O.O.

    Inventor： PIĄTEK, Grzegorz

    IPC: A61H1/02 ,  A61G5/14 ,  A61H3/00 ,  A61H1/0237 ,  A61H1/0262 ,  A61H2201/0192 ,  A61H2201/1207 ,  A61H2201/149 ,  A61H2201/1621 ,  A61H2201/1623 ,  A61H2201/1635 ,  A61H2201/1642 ,  A61H2201/1647 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2203/0406 ,  A61H3/008

    Abstract: Two vertical front posts (2a, 2b) and two vertical rear posts (3a, 3b) are mounted on a flat platform of the automated device. The front posts (2a, 2b) mounted in the horizontal guide are symmetrically moved by the spacing adjustment mechanism within the range between the position of the joined front posts (2a, 2b) to a dimension between their inner surfaces equal to the width of the wheelchair, and the moved apart position to a dimension where the width dimension of the wheelchair is located between the mechanical legs (2.3a, 2.3b) suspended on the front posts (2a, 2b). On the inner surfaces of the front posts (2a, 2b), there are vertical guides with a screw drive mechanism for pelvic height adjustment. The mechanical legs (2.3a, 2.3b) girdle the patient's lower limbs from the outside by: pelvic control units that induce a symmetrically alternating movement of the hip joint hinges in both mechanical legs (2.3a, 2.3b) with ellipsoid trajectories, and by adjustable thigh and shin connectors and foot connectors actuated by tilt units. The rear posts (3a, 3b) are mounted with the internal faces spaced apart by a distance equal to the dimension between joined front posts (2a, 2b), and they have vertical guides for two symmetrically actuated lift brackets (3.1), connected at their upper ends by a lifter with a crossbar on its end having two handles (3.1.9) for the patient's hands. In the vertical guide of one of the lift brackets (3.1) there is mounted a tiltable back hold supporting member (3.2). All servomotors actuating the moving parts of the automated device are controlled by signals from a software-equipped computer, including controlling the position and forces present by measuring sensors.

    DÉAMBULATEUR ROBOTISÉ ET PROCÉDÉ DE PRÉVENTION DE CHUTE ASSOCIÉ
    8.
    发明申请
    DÉAMBULATEUR ROBOTISÉ ET PROCÉDÉ DE PRÉVENTION DE CHUTE ASSOCIÉ 审中-公开

    公开(公告)号：WO2021123700A1

    公开(公告)日：2021-06-24

    申请号：PCT/FR2020/052586

    申请日：2020-12-21

    Applicant: GEMA

    Inventor： PASQUI, Viviane

    IPC: A61H3/04 ,  A61H2003/043 ,  A61H2201/0173 ,  A61H2201/0176 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5084

    Abstract: L'invention porte sur un déambulateur (1) robotisé comportant un châssis (10) présentant une partie avant (10a), une partie arrière (10b), des roues (11a, 11b, 12) agencées pour supporter la partie arrière (10b) et la partie avant (10a) du châssis (10), une des roues (11a, 11b, 12) étant couplée à un moteur de déplacement (20), le déambulateur (1) robotisé comportant un module de commande (40) configuré pour commander le moteur de déplacement (20), et pour : - Déterminer un indicateur d'un mouvement non volontaire d'un utilisateur du déambulateur (1) robotisé pouvant conduire à une chute, à partir de valeurs générées par un ou plusieurs capteurs; - Identifier une position précédente à l'instant donné d'au moins deux roues (11a, 11b, 12); - Transmettre une commande d'arrêt du déambulateur (1) robotisé; - Transmettre une commande de déplacement du déambulateur (1) robotisé de façon à ce qu'il retrouve la position précédente.

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