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CN-121987427-A - Wheelchair integrated with exoskeleton

CN121987427ACN 121987427 ACN121987427 ACN 121987427ACN-121987427-A

Abstract

A wheelchair integrating an exoskeleton (3) having an ergonomic design that maintains and maintains the dimensions of a standard wheelchair and integrating an ultra-lightweight lower extremity exoskeleton (3) for rehabilitation of mobility impaired persons, which is able to stabilize the connection between the wheelchair and the exoskeleton (3) with the user precisely at the centre of gravity of the wheelchair, thus achieving perfect balance in both standing and sitting positions and facilitating free movements of the articulated limbs, simulating the human walking action and basic training for rehabilitation, comprising an ergonomic exoskeleton (3) that is articulated to the wheelchair by means of a transverse rod (13) that spans and connects the femoral limb (17) of the exoskeleton (3) and a thoracolumbar backrest (15) made up of a vertical plate (6) attached to a fork plate (21) that is coupled to a pair of lower plates (10), in which two lifting connecting rods (16) are inserted in the plate (1) constituting part of the mechanism extending the exoskeleton (3) and the connecting rods (3) with the other foot rest of the wheelchair, enabling the movement of the two pedals (5) to be made up of the high-heeled limbs of the wheelchair.

Inventors

  • Ivan Enrique Oliver Caseres

Assignees

  • 伊万·恩里克·奥利沃·卡塞雷斯
  • 乐加多集团股份公司

Dates

Publication Date
20260508
Application Date
20251107
Priority Date
20241107

Claims (16)

  1. 1. Wheelchair integrated with an exoskeleton (3) having an ergonomic design that maintains and maintains the dimensions of a standard wheelchair and that integrates an ultra-lightweight lower extremity exoskeleton (3) for rehabilitation of mobility impaired persons, said wheelchair being able to stabilize the connection between the wheelchair and the exoskeleton (3) with the user precisely at the centre of gravity of the wheelchair, so as to maintain perfect balance in both standing and sitting positions and promote free movements of the articulated limbs, simulating the human walking action and basic training for rehabilitation, characterized in that it comprises an ergonomic exoskeleton (3) that is articulated to the wheelchair by means of a cross bar (13) that passes transversely through and connects the femoral limbs (17) of the exoskeleton (3) and a thoracolumbar backrest (15) that is composed of a vertical plate (6) attached to a fork plate (21) that is in turn coupled to a pair of lower plates (10), wherein two lifting connecting rods (16) are inserted in the plate (1) and one part of the exoskeleton (3) is able to connect the two lower extremities (5) of the exoskeleton and the other part of the exoskeleton (3) is able to move at the high level of the pedal (5).
  2. 2. The wheelchair integrated with the exoskeleton of claim 1, which is integrated with the exoskeleton, characterized in that the exoskeleton (3) is provided with an anchoring element at the heel height of the distal lower limb (27) consisting of pedal connection rods (5) located tangentially inside the two pairs of plates (1) fitted to pedals (18) inserted in the exoskeleton (3) and connected by continuous rotation and with the heel height of the distal lower limb (27) of the exoskeleton (3) alternately activating the joints, thus producing the exercise action of the device.
  3. 3. Wheelchair integrated with an exoskeleton according to claim 1, characterized in that two pairs of plates (1) are arranged parallel to each other leaving a space between them for the exoskeleton (3) and in the sagittal plane, between each joint of the exoskeleton (3), there is a pair of lower plates (10), three stabilizer bars (11), (30) and (22) passing transversely through holes (19), (29) and (23) corresponding to the same holes on the pairs of plates (1).
  4. 4. A wheelchair integrated with an exoskeleton, according to claims 1 and 3, characterized in that there are three holes (23), (29) and (19) in each pair of plates (1) coinciding with the same holes on the lower plate (10), through which the upper (11), middle (30) and lower (22) stabilizer bars pass, traversing the wheelchair from side to side.
  5. 5. Wheelchair integrated with exoskeleton of claim 1, characterized in that in each pair of plates (1) and the pair of lower plates (10) the same hole (19) is used both to maintain the stability of the wheelchair and as an axle for the small front wheels (7).
  6. 6. Wheelchair integrated with exoskeleton of claim 1, characterized in that the pair of plates (1) has a small clearance allowing the insertion of a small front wheel (7) into the pair of plates (1).
  7. 7. Wheelchair integrated with exoskeleton of claim 1, wherein the pair of plates (1) has a small clearance allowing a small rear wheel (12) to be inserted into the pair of plates (1).
  8. 8. The wheelchair integrated with the exoskeleton of claim 7, wherein the small rear wheel (12) is rotatable.
  9. 9. Wheelchair integrated with exoskeleton, according to claim 1, characterized in that in the centre of each pair of plates (1) there is a hole for a large wheel (24) through which the large wheel (2) is adjusted tangentially to the outside of each pair of plates (1).
  10. 10. Wheelchair integrated with exoskeleton, according to claim 1, characterized in that the fork plate (21) is attached by its flat side to the lower plate (10) and at the other end, the fork part, is connected to the vertical plate (6) by means of a peripheral hole (26) and consists of one long plate between two short plates, allowing the vertical plate (6) to be inserted at one of its ends by means of a pin passing through the peripheral hole (26).
  11. 11. Wheelchair integrated with exoskeleton of claim 1, characterized in that the chest lumbar backrest (15) consists of a concave rectangular plate and a vertical plate (6) attached along the sagittal plane and vertically to the concave rectangular plate comprising the chest lumbar backrest (15), wherein the vertical plate (6) has a central hole (25) in the middle through which the crossbar (13) passes.
  12. 12. Wheelchair integrated with exoskeleton of claim 10, characterized in that at the end opposite to the concave rectangular plate, the vertical plate (6) has a peripheral hole (26) which is connected to the fork plate (21) by means of a pin.
  13. 13. Wheelchair integrated with exoskeleton of claim 2, wherein the distal lower limb (27) is provided with a foot pedal (18) with adjustable straps.
  14. 14. The wheelchair of claim 1 integrated with an exoskeleton, Two lifting connection rods (16) inserted in the space between each pair of plates (1) consist of a long arm with a hole at one of its ends through which the crossbar (13) is attached, and a toothed disc attached at the other end of the lifting connection rods (16), which is supported by pins located in the two pairs of plates (1) in order to support the exoskeleton (3) in a sitting to standing motion, wherein the lifting connection rods (16) perform only a quarter turn of a pivoting movement, allowing the vertical lifting or lowering required for extension and/or retraction of the exoskeleton (3).
  15. 15. Wheelchair integrated with exoskeleton of claim 1, wherein on each pair of plates (1) a pair of armrests (8) is horizontally adjusted in the same direction as each pair of plates (1).
  16. 16. Wheelchair integrated with exoskeleton of claim 16, characterized in that at the rear end of each pair of armrests (8) it has a pair of push handles (9).

Description

Wheelchair integrated with exoskeleton Technical Field The present invention relates to a wheelchair integrated with an exoskeleton for rehabilitation of mobility impaired persons, and more particularly, to a device allowing a user to stand in a completely vertical plane, thereby achieving complete stability for performing lower limb exercise. Background Currently, there are many wheelchairs on the market for transporting mobility impaired people from one location to another. In addition, there are bipedal wheelchairs or standing wheelchairs, the purpose of which is to allow the user to transition from a sitting position to a standing position, thus alleviating the problems encountered by mobility impaired persons in a sitting position. The main disadvantage of both wheelchairs is that they do not allow the user to perform the exercise function of moving the lower limbs, which can only be achieved by means of an exoskeleton or robotic device. Another disadvantage is that a bipedal wheelchair or standing wheelchair does not allow the user to stand completely upright, as the user's body is lifted away from the centre of gravity of the wheelchair, resulting in reduced wheelchair stability. The above-described methods, i.e. those currently in use, have the additional disadvantage of not allowing the integration of exoskeletons, which are very heavy, with the integration of hydraulic, pneumatic or electromechanical systems in their joints responsible for the locomotor activity. Therefore, there is a need to develop a chair that allows a person with mobility impairment to stand completely upright without changing their center of gravity, and that makes it possible to integrate a light and thin exoskeleton without hydraulic, pneumatic or electromechanical means. Disclosure of Invention The device consists of a chair based on a plate construction of two pairs of sides shaped like a standard wheelchair where the size wheels can be adjusted, and a stabilizer bar connecting the two pairs of side plates and another pair of lower plates in the centre of the chair parallel to the side plates. Allowing room in the middle for integration of the lower extremity exoskeleton. The exoskeleton is connected to the seat by means of two connecting rods interposed between each pair of side plates. One connecting rod comprises mechanical elements for lifting and the other connecting rod comprises mechanical elements responsible for moving the limb. Two mechanical elements located on the side plates are both connected to the exoskeleton at two points. One located at the buttock height and the other at the heel height. The solution proposed in the present application is based on a chair combining an articulated exoskeleton with a movable chest lumbar backrest, which can be adjusted in sitting and standing positions for rehabilitation of persons with limited lower limb movement. In this context, the integration of the device enables a person with impaired mobility to stand up from a sitting position as quickly as a human being and to automatically move the lower limbs in a manner similar to levitation in space, mimicking the action of walking by a human being, wherein the chair allows for an efficient integration of the exoskeleton. These achievements are crucial to the concept of realizing a new exoskeleton wheelchair that can be used for rehabilitation training of mobility impaired people. The device has the advantages of stability, because the exoskeleton is just positioned at the center of gravity and cannot be displaced, so that a user can keep perfect balance when standing, and the lower limb exercise activity can play a good role. The device can be used outside of the clinical setting and wherever it is needed, as it does not exceed the size of a standard wheelchair. Drawings Figure 1 is an exploded front isometric view representation of a wheelchair after integration with an exoskeleton. Figure 2 is a rear exploded isometric view representation of the wheelchair after integration with the exoskeleton. Figure 3 is an exploded isometric view representation of the front of the wheelchair. Figure 4 is an exploded isometric view representation of the chest lumbar back and lower plate. Figure 5 is an exploded front isometric view representation of the exoskeleton and lower plate. FIG. 6 is an exploded front isometric view representation of an exoskeleton. FIG. 7 is a front view representation of the lift link and pedal link. Detailed Description The aim of the invention is to provide a wheelchair with integrated exoskeleton (3) comprising two pairs of plates (1) shaped to conform to the side profile of a standard wheelchair. A small gap is reserved between each pair of plates (1) for inserting a lifting mechanism consisting of a lifting connecting rod (16), a small front wheel (7) and a small rear wheel (12), and the directions of the lifting mechanism, the small front wheel and the small rear wheel are the same as the directions of