WO2016001451A1

WO2016001451A1 - Vehicle including a hinged chair with a stand assist mechanism

Info

Publication number: WO2016001451A1
Application number: PCT/EP2015/065390
Authority: WO
Inventors: Eric MONACELLI; Lambert TRENORAS; Luc SOUBIELLE
Original assignee: Universite De Versailles Saint-Quentin-En-Yvelines; Handipode
Priority date: 2014-07-04
Filing date: 2015-07-06
Publication date: 2016-01-07
Also published as: FR3023160A1; FR3023160B1

Abstract

The invention relates to a chair (10) including a seat portion (12) and a footrest (11) that are hinged relative to a mounting (14). Said chair is characterized in that it also includes a motor-driven mechanism (15) capable of moving the seat portion (12) and the footrest (11) relative to the mounting (14), in a coordinated manner, between a first position, wherein a user occupying the chair (10) is seated, and a second position, wherein the user is standing, so as to vertically move the center of gravity of the chair (10), occupied by the user. The invention also relates to a vehicle including a motor-driven chassis (20), such as a self-balancing human transporter, and a hinged chair (10) that is attached to the motor-driven chassis (20) by means of the mounting (14).

Description

VEHICLE COMPRISING AN ARTICULATED ARMCHAIR COMPRISING A VERTICALIZATION MECHANISM

The present invention relates to a vehicle comprising an articulated chair comprising a motorized mechanism capable of moving the seat and the footrest from a sitting position to a standing position, while maintaining the center of gravity of the wheelchair occupied by a user along the road. a vertical axis. The invention finds particular utility for the mobility of persons with reduced mobility, for example by means of a wheelchair mounted on a gyropod controllable by displacement of the center of gravity.

People with reduced mobility usually use wheelchairs to facilitate their movement. However, manual wheelchairs require a human motor capacity limiting their range of action, and electric wheelchairs are generally heavy, bulky and not very mobile. In addition, these devices confine the user in a sitting position, which can cause many problems of discomfort, health, physical (joints, ligaments, muscles, blood circulation, transit, etc. ..) and psychological (situation d permanent inferiority to others).

It is therefore desirable to improve the mobility of wheelchairs for people with reduced mobility, both in order to limit the harmful effects of prolonged sitting, as well as to improve posture, independence, the mobility of the user and his ability to grip. For this, we tried to achieve articulated chairs to change the position of the user by various mechanisms manual or motorized. Articulated chairs according to the state of the art remain nevertheless cumbersome and complex to implement. They are also unsuitable for mounting on light-duty vehicles.

To this end, the invention relates to a vehicle comprising a motorized chassis capable of moving the vehicle relative to the ground and a chair that can be occupied by a user, comprising a seat and a footrest hinged relative to a support, the vehicle being fixed via the support to the motorized chassis, characterized in that the motorized chassis is a Segway comprising two lateral wheels separated by a central platform on which is fixed the support of the chair and in that the chair further comprises a motorized mechanism capable of moving the seat and the footrest in a coordinated manner with respect to the support, between a first position in which the user occupying the chair is seated and a second position in which the user is standing, so as to move vertically the center of gravity of the chair occupied by the user.

The known gyropods are reserved for valid persons who can stand up. It is the movement of the body relative to its support on the feet that allow the user of a Segway to maneuver. The invention allows a person with reduced mobility to use a Segway, which currently is impossible. By implementing the invention, the size of a vehicle used by a person with reduced mobility is significantly improved. Indeed, unlike the known four-wheeled vehicles for people with reduced mobility, a Segway occupies the ground only the space required for its two wheels.

According to one aspect of the invention, the motorized mechanism comprises:

A sagittal axis motorized slide connection between the footrest and the support,

• a transverse axis motorized pivot connection between the seat and the footrest,

A control member configured to control the motorized slide link and the motorized pivot link in a coordinated manner so as to vertically move the center of gravity of the chair occupied by the user.

Advantageously, the motorized pivot connection between the footrest and the seat comprises:

An articulated parallelogram formed of four rigid segments connected by four pivot connections of transverse axes, a first upper segment being fixed to the seat, and a second said front segment, adjacent to the upper segment, being fixed to the footrest, • a linear actuator connected on the one hand to the front segment and on the other hand to a third said lower segment, adjacent to the front segment, by means of two pivot links of transverse axes.

Advantageously, the chair comprises a backrest attached to a fourth segment called dorsal, adjacent to the upper and lower segments.

According to another aspect of the invention, the motorized mechanism comprises:

A linear actuator fixed on the one hand to the support and connected on the other hand to the seat by means of a transverse axis pivot connection,

• A transverse axis pivot connection between the seat and the footrest.

Advantageously, the transverse axis pivot connection between the seat and the footrest is motorized, and the motorized mechanism also comprises a control member configured to control the linear actuator and the motorized pivot link in a coordinated manner so as to move vertically the center of gravity of the chair occupied by the user.

Advantageously, the motorized mechanism comprises two lateral guides integral with the support configured to guide the displacement of the seat relative to the support driven by the linear actuator between the first and second positions.

Advantageously, the linear actuator comprises a motorized articulated diamond connected to the seat and the support in two vertices opposite one another.

Advantageously, the footrest comprises two housings that can receive the two lower limbs of the user, each housing comprising a substantially horizontal portion adapted to receive a foot of the user and a substantially vertical portion adapted to receive a leg of the user . Advantageously, the footrest comprises a removable collar mounted on one of the housing to maintain the user's leg or foot in the housing.

Advantageously, the chair comprises a set of gyroscopic and / or accelerometric sensors capable of delivering a movement information of the chair, and means for adapting a movement control of the motorized mechanism, according to the movement information of the chair.

Advantageously, the chair comprises a motorized stand moved between a retracted position allowing the vehicle to move relative to the ground, and an extended position in which the stand provides stability of the vehicle by ground support.

Advantageously, the chair comprising means for adapting a movement control of the motorized stand according to the movement information of the chair, or according to the movement control of the motorized mechanism.

Advantageously, the Segway comprises a removable handlebars.

Advantageously, the vehicle comprises removable fixing means between the chair support and the central platform of the Segway.

The invention also relates to a method of verticalizing an articulated chair having the features previously described, comprising the steps of:

• receive a movement command of the motorized mechanism,

• simultaneously move the seat and the footrest with the motorized mechanism so that the center of gravity of the chair occupied by the user is moved vertically.

The invention will be better understood and other advantages will appear on reading the detailed description of the embodiments given by way of example in the following figures. Figures 1a, 1b, 1c and 1d show a first example of an articulated wheelchair according to the invention mounted on a gyropod.

FIG. 2 details some components of the first example of articulated wheelchair mounted on a Segway,

FIGS. 3a and 3b show a gyropod provided with removable attachment means adapted to the first example of an articulated wheelchair,

FIGS. 4a, 4b, 4c, 4d and 4e show a second example of an articulated wheelchair according to the invention mounted on a gyropod,

FIGS. 5a and 5b show a third example of an articulated wheelchair according to the invention,

FIG. 6 represents a control flow diagram of an articulated wheelchair according to the invention,

Figures 7 and 8 show two examples of control of different motorized links of the chair.

For the sake of clarity, the same elements will bear the same references in the different figures.

The present invention relates to a vehicle comprising a chair comprising a seat and a footrest hinged relative to a support. The chair includes a motorized mechanism capable of moving the seat and the footrest relative to the support, between a sitting position and a standing position. The invention relates in the first place to the articulated chair with its verticalization mechanism. In the following, the seating position of the chair corresponds to a position of the seat and the footrest for which a user occupying the chair is in a sitting position, that is to say in support at least partially - and preferentially essentially - on the seat. Similarly, the standing position of the chair corresponds to a position of the seat and the footrest for which a user occupying the chair is in a standing position, that is to say at least partially supported - and preferably substantially - on the footrest. The motorized mechanism allows to move the seat and the footrest between these two extreme positions. For example, the seat in standing position makes an angle between 0 and 5 ° with the vertical, and an angle of 90 ° with a tolerance of less than 5 ° with the vertical. As we will detail, the motorized mechanism advantageously allows to switch from sitting to standing by moving vertically the center of gravity of the chair occupied by the user. The chair is then particularly adapted to be mounted on a rolling vehicle, including a vehicle type Segway. The invention thus also relates to a vehicle equipped with such an articulated chair. In known manner, a gyropode generally comprises two lateral drive wheels separated by a central platform on which the user is standing. The Segway is equipped with a handlebar and a gyro stabilizing device acting on the drive motors of the wheels. Its operation is intuitive: the forward movement is achieved when the user leans forwards and backwards when the user leans back; the handlebar for laterally directing the Segway. The tilting of the chair between the seated position and the upright position does not cause the center of gravity to move in the horizontal plane. Tipping does not affect the movement of the Segway. The tilting can be done when the Segway is stationary or when it is moving.

In the following, three examples of articulated chairs according to the invention are shown. For these three examples, the vehicle comprises a Segway consisting of two side wheels and a platform on which the support of the chair is fixed. It is understood that this combination of an armchair and a Segway is not limiting of the present invention which more generally covers any type of vehicle comprising a motorized frame on which can be fixed the articulated chair support. The motorized chassis may be a rolling chassis comprising any number of wheels, or a chassis with traction crawler. Such a vehicle may be intended to facilitate the movement or movement capacity of persons with reduced mobility (object gripping in the high position). Sports applications can also be considered, for people suffering from a disability or not.

The description of the three examples of chairs according to the invention is based on the same reference, consisting of an X axis also called sagittal axis with reference to the usual morphological reference of a wheelchair user, a Y axis or vertical axis , and a Z axis also called axis transverse. In the three examples shown, the chair is fixed on the Segway so that the sagittal axis of the chair corresponds to the axis of longitudinal movement of the Segway, and the transverse axis corresponds to the axis of lateral displacement of the Segway. This logical orientation of the chair on the Segway is of course not limited to the invention.

Figures 1a, 1b, 1c and 1d show a first example of articulated wheelchair according to the invention mounted on a gyropod. More precisely, FIG. 1a shows the chair in isometric view: in a sitting position on the left part of the figure, in an intermediate position on the central part of the figure, and in a standing position on the right part of the figure. Figure 1b shows the chair in the same three positions in view of back. Figure 1c shows the same three positions in side view. Figure 1 d illustrates the functional principle of the articulated chair for the three positions and in side view.

The chair 10 comprises a footrest 1 1, a seat 12, a backrest 13 and a support 14. The footrest January 1, the seat 12 and the backrest 13 are articulated relative to the support 14 by means of a mechanism 15 that we will detail. The chair 10 is mounted on a gyropode 20 comprising two lateral wheels 21a and 21b separated by a central platform 22. The chair 10 mounted on the gyropode 20, via the support 14 fixed on the central platform 22, forms a vehicle 25.

The three parts of the figures illustrate the kinematics of the displacement of the sitting position in the standing position, or kinematic of vertical isation, going from left to right in the figures. The chair support and the gyroscope are held in the same position in the three parts of the figures. In this representation, the chair switches from sitting to standing while maintaining the Segway motionless. As has been specified, the tilting can also be done when the Segway is in motion, the tilting between the two positions not causing displacement of the center of gravity in the horizontal plane.

In this first example of an articulated wheelchair according to the invention, the motorized mechanism comprises: A motorized sliding link 1 6 with a sagittal axis Xi between the footrest 1 1 and the support 14,

A motorized pivot link 1 7 of transverse axis Z-i between the seat 12 and the footrest 1 1,

A control member (not shown in the figures) configured to control the motorized slide link 1 6 and the motorized pivot link 17 in a coordinated manner so as to move the center of gravity of the chair 10 occupied by the user, along a vertical axis Yi.

Thus, as the seat recovers, from a substantially horizontal position to a substantially vertical position, the center of gravity of the chair occupied by the user moves both vertically and horizontally - in the positive direction according to the sagittal axis. The synchronized movement of the footrest, which causes both the footrest 1 1 and the seat 12 in the negative direction along the sagittal axis maintains the center of gravity vertically. As a result, the center of gravity only moves along the vertical axis Yi when the chair moves from sitting to standing. This configuration is particularly advantageous in the case of an application of the articulated chair on a Segway. The chair upright does not move the center of gravity in the horizontal plane. Verticalization does not destabilize the Segway. The Segway remains stable and immobile. If the user wants to move during verticalization, he can voluntarily move his bust forwards or backwards in the same way as when the chair is frozen in position.

The connection 1 7 in rotation between the footrest and the seat can be a simple motorized pivot connection. It may also consist of the more complex mechanism implemented in this first example of an articulated wheelchair, and in particular illustrated in FIG. 1 d. Thus, the motorized pivot link 1 7 between the footrest January 1 and the seat 1 2 may advantageously include:

An articulated parallelogram 30 formed of four rigid segments 31a, 31b, 31c and 31d connected by four pivot links 32a, 32b, 32c and 32d of transverse axes, a first upper segment 31a being fixed to the sitting 1 2, and a second so-called frontal segment 31b, adjacent to the upper segment 31a, being fixed to the footrest 1 1,

A linear actuator 33 connected on the one hand to the front segment 31b and on the other hand to a third so-called lower segment 31c, adjacent to the front segment 31b, by means of two pivot links 33a and 33b of transverse axes.

In the seated position, the upper segments 31a and 31b are maintained in substantially horizontal position, the front 31b and dorsal 31c segments are maintained in substantially vertical position. By rocking from the seated position to the standing position, the upper segments 31a and lower 31b move parallel to each other, tilting from an angle close to 90 ° to an angle close to 180 ° with the frontal segment 31 b.

As shown in the figures, the backrest 13 may advantageously be attached to the fourth dorsal segment 31 d, adjacent to the upper segments 31a and lower 31c. In practice, the upper 31a, lower 31c and dorsal 31d segments are formed of tubular metal bars connected by spacer-type pivot links. The upper segment 31a is in contact with the periphery of the seat. The lower segment 31c is mounted about 60 mm below the upper segment 31a. The dorsal segment 31 d extends into an upper part 131 d on which is fixed the backrest 13, and a lower part 231 d coming to bear against the support 14 when the chair is in a sitting position, to relieve the linear actuator 33 the weight of the user.

Various embodiments are possible for the motorized slide connection 1 6 between the footrest 1 1 and the support 14 and for the linear actuator 33 of the motorized pivot link 17 between the footrest 1 1 and the seat 12. It is proposed to implement one or more electric linear actuators, powered either by the Segway or independently by a storage battery dedicated to the chair.

Figure 2 details some components the first example of articulated wheelchair mounted on a Segway. The seat 12 and the backrest 13 may include a foam to improve the comfort of the user. This foam can be directly attached to the rigid segments of the articulated parallelogram 30 or by means of a rigid shell. The chair may comprise two side arches 12a and 12b, for example attached to the upper segment 31a. These arches advantageously provide lateral support for the user, both sitting and standing. They can also be used in a sitting position as an armrest. The footrest 1 1 of the chair 10 advantageously comprises two housings 41 and 42 can accommodate the two lower limbs of the user. Each housing, respectively 41 and 42, comprises a substantially horizontal portion, respectively 41a and 42a, intended to receive a foot of the user, and a substantially vertical portion, respectively 41b and 42b, for receiving a leg of the user. The front segment 31b is directly arranged in the vertical portions 41b and 42b of the two housings 41 and 42. In other words, the ends of the upper segments 31a and 31c are directly connected to these vertical portions 41b and 42b constituting the frontal segment 31 b. The pivot links 32a and 32b being mounted between these elements.

The footrest 1 1 may also include one or more removable collars for maintaining the leg or foot of the user in the housing. It is in particular envisaged to have two removable collars 41c and 42c on the vertical portions 41b and 42b of the two housings 41 and 42. These collars may advantageously be provided on their inner surface intended to come into contact with the user's leg. a foam to improve the comfort of the user. A clipping system in the manner of an automobile safety belt is also envisaged.

The chair also comprises a set of motorized stands 45, movable between a retracted position allowing the vehicle 20 to move relative to the ground, and an extended position in which the stand 45 ensures the stability of the vehicle 20 by ground support. The set of crutches 45 is of particular interest to ensure the ground stability of a Segway but can also be implemented for any type of vehicle. One or more crutches can be mounted. In the example shown, the chair comprises four motorized stands 45 mounted at the four corners of the support 14 so as to frame the two side wheels of the Segway. The crutches can be extended to maintain the vehicle when the chair is tilted between the sitting position and standing position. Several steering modes crutches 45, coupled or not to control the motorized mechanism 15, are described below.

Figures 3a and 3b show a gyropod provided with removable attachment means adapted to the first example of articulated chair. One aspect of the invention is to design an articulated wheelchair that can be used with a pre-existing, or otherwise designed and commercially available, PT. Segway ™ gyropod models, available from the general public, are particularly known. FIGS. 3a and 3b show a gyropod model of this mark comprising two lateral wheels 21a and 21b partially protected by two wheel fairings 21c and 21d, and a central platform 22 comprising two cavities 22a and 22b on which stands a user in a standing position, separated by a central tunnel 22c.

The support of the chair is adapted to this particular shape of the central platform 22. Thus, the support 14 of the chair 10 comprises a plate 14a having a generally W-shaped, formed of two substantially horizontal portions bearing against the two impressions 22a and 22b, and straddling the tunnel 22c. The plate 14a also comprises two substantially vertical portions bearing against two side walls of the wheel fairings 21c and 21d.

The support of the chair can be removably attached to the platform of the Segway. These removable attachment means comprise firstly threads arranged in the wheel fairings 21c and 21d, and secondly elliptical holes 47 arranged in the plate 14a. The threads are usually present on the pre-existing Segway. The elliptical holes 47 are adjusted to cooperate with these threads. Fixing the plate on the platform can also provide a functional role. The plate may for example close off a user presence detector, or ensure the nominal operation of other functional devices of the Segway.

Furthermore, the plate 14a is the support on which is mounted the footrest. Thus the two housings 41 and 42 of the footrest 1 1 are slid in the two horizontal portions of the plate 14a, at the The slide link 1 6 can be made by means of rails and / or sagittal axis grooves arranged in each of the housings cooperating respectively with grooves and / or sagittal axis rails arranged in the groove. plate 14a. The link 1 6 can be motorized by means of a linear jack mounted between the plate and the housing. Thus configured, the two housings 41 and 42 are slid horizontally by driving the footrest, the seat and the backrest in translation relative to the support and the Segway. The retractable legs 45, not shown in Figure 3, can also be fixed on the plate 14a.

In known manner, the Segway 20 also includes a handlebar 24 removably attachable to the platform 22 through the central tunnel 22c. The handlebar can then be disassembled to facilitate the mounting of the chair on the Segway, or to facilitate the rise or fall of a user on the chair.

The invention thus relates to a method of mounting and dismounting a vehicle comprising a Segway and an articulated wheelchair. The mounting method comprises steps of disassembling the removable handlebars of the Segway, attaching the chair support to the central platform of the Segway, then reassemble the removable handlebar of the Segway. Conversely, the disassembly process includes steps of disassembling the removable handlebar of the Segway, removing the chair support on the central platform of the Segway, then reassemble the removable handlebar of the Segway.

Similarly, the invention also relates to a method of raising and lowering a user on a vehicle comprising a Segway and an articulated wheelchair. The user's climbing method comprises steps of disassembling the removable handlebars of the Segway, mounting the user aboard the vehicle while seated on the chair, and then reassembling the removable handlebar of the Segway. Conversely, the method of descent of the user comprises steps of removing the removable handlebars of the Segway, lower the user of the vehicle, then reassemble the removable handlebar of the Segway.

Note finally that a specific handlebar can be associated with the use of the Segway with the wheelchair, the specific handlebars having a ergonomic shape adapted to use of the Segway in the articulated chair. It is also envisaged that the position of the specific handlebar is adjustable manually or automatically, in order to adapt to the movement of the user between sitting and standing.

Figures 4a, 4b, 4c, 4d and 4e show a second example of an articulated wheelchair according to the invention mounted on a gyropod. More specifically, Figure 4a shows the chair in isometric view in sitting position. Figure 4b shows the chair in sight of back. Figure 4c shows a footrest of the second example of chair. Figure 4d shows the chair in seated side view on the left side of the figure, and standing on the right side of the figure. Figure 4e illustrates the functional principle of the articulated chair for both positions and in side view.

This second example of a chair has a lot of similarities with the first example. The same components represented with the same references are not repeated in detail in a systematic manner. In particular, the chair 50 comprises as previously a footrest January 1 and a seat 12 hinged relative to a support 14 by means of a motorized mechanism, configured to maintain on the same vertical axis the center of gravity of the chair occupied by the user, between sitting and standing.

Note at this point that for better legibility, the footrest 1 1 of the chair 50 is not shown in Figures 4a, 4b and 4d. The footrest 1 1 equipping the chair 50 comprises two orthoses similar to the orthosis 51 shown in Figure 4c, intended to support the lower limbs of the user. The orthosis 51 comprises in particular a support 51 substantially horizontal for receiving a foot of the user, and a first segment 51b substantially vertical attached to the support 51 intended to support the leg of the user. The segment 51b is connected via a pivot connection 52 to a segment 51c fixed to the seat.

The second example of a chair differs from the first example in the definition of the motorized mechanism. The kinematics of verticalization of the chair 50 by means of the motorized mechanism 55 is illustrated in Figure 4e. Thus, the motorized mechanism 55 of the second example of a chair according to the invention comprises:

A linear actuator 56 fixed on the one hand to the support 14 and connected on the other hand to the seat 12 by means of a pivot connection 56a of transverse axis Z ₂ ,

A pivot connection 52 of transverse axis Z ₃ between the seat 12 and the footrest 1 1.

Thus, the seat is moved relative to the support by means of the linear actuator. The footrest is not directly related to the support. It is driven in displacement by the seat, by means of the pivot connection 52. The axis of displacement of the linear actuator in the plane (X, Y) and the pivot connection 52 are configured so as to maintain the center of gravity of the chair occupied by the user along a vertical axis Yi when switching from sitting to standing. The pivot connection 52 may be free, so that the footrest is positioned by simple effect of the gravity of the footrest and the lower limbs of the user. Alternatively, the pivot connection 52 can be motorized, as shown in the figures. The motorized mechanism 55 then comprises a control member (not shown in the figures) configured to control the linear actuator between the seat and the support, and the motorized pivot connection between the footrest and the seat the motorized mechanism of coordinated way to move the center of gravity vertically.

Various embodiments are possible for motorizing the pivot connection 52. It is in particular envisaged a linear cylinder 53 connected on the one hand to the seat 12 and on the other hand to the footrest 1 1, by means of two pivot links 53a and 53b transverse axes.

Various embodiments are also possible to achieve the linear actuator 56. A preferred embodiment of the linear actuator 56, shown in the figures, comprises a motorized articulated diamond 56b, in the manner of a car jack, connected to the seat and support in two vertices opposite each other.

Note also that the backrest 13 may be connected to the seat 12 so as to maintain it in a substantially vertical position, by means of a mechanical device mechanically coupling the angular positions of the backrest and the seat, or a spring mechanism supporting the back of the user. Note also that the chair 50 may also include one or more retractable legs 45 and / or removable attachment means of the chair on the Segway, similar to that described for the first example of articulated wheelchair.

Figures 5a and 5b show a third example of an articulated wheelchair according to the invention. More precisely, FIG. 5a shows the chair in isometric view while seated on the left part of the figure, in the intermediate position on the central part of the figure, and in the upright position on the right part of the figure. Figure 5b illustrates the functional principle of the articulated chair for the same three positions and in side view.

In a similar manner to the second example of a chair, the motorized mechanism 65 of the chair 60 according to this third example comprises:

As in the second example, the seat is moved relative to the support by means of the linear actuator. The footrest is not directly related to the support. It is driven in displacement by the seat, by means of the pivot connection 52.

In this third example of a chair, the motorized mechanism 65 further comprises two lateral guides 63a and 63b, integral with the support 14, configured to guide the displacement of the seat 12 driven by the linear actuator 56 with respect to the support 14. As shown in the figures, the guide can be achieved by means of a first and a second rails 66 and 67 arranged in each of the lateral guides, cooperating with the frontal and dorsal edges of the seat. The profile of the lateral guides defines the trajectory of the seat between the sitting position and the standing position. An adapted definition of these lateral guides makes it possible to configure, or to customize, the vertical displacement of the center of gravity between the two positions. The path is no longer defined by the axis of the linear actuator 56 and the pivot link 56a as in the second example. The design of the linear actuator is freer and can take into account integration constraints of the motorized mechanism. The side guides may also be biased to at least partially support the weight of the seat and the user.

In the chair shown in Figures 5a and 5b, the pivot connection 52 between the seat 12 and the footrest 1 1 is not motorized. The vertical position of the footrest is maintained by the simple effect of gravity. It is of course envisaged the implementation of a motorized pivot link similar to that shown in the second example. It is also envisaged to guide the movement of the footrest relative to the support by means of a slide connection.

Note also that the third example of an armchair shown in the figures implements two lateral guides. It is possible without departing from the scope of the present invention to implement a single guide, placed in a lateral position or in a central position, configured to guide the displacement of the seat in the sagittal plane.

FIG. 6 represents an exemplary flow chart of control of an articulated wheelchair according to the invention. The chair comprises a control member for controlling the motorized mechanism for verticalizing the chair. In particular, the control member is configured to coordinately control the actuators moving the seat and the footrest so as to move vertically the center of gravity of the chair occupied by the user. In other words, the steering member comprises a function called verticalization of the chair.

The control member is also configured to control the movement of the motorized stands between the retracted position and the deployed position. In other words, the steering member also comprises a function called ground anchoring. It is configured to allow anchoring on inclined ground.

The control member is configured to receive user instructions for the verticalization function and the ground anchor function. These "manual" instructions of the user are converted by the steering control member to the motorized verticalization mechanism or to the motorized stands. To optimize the operation of the chair, the control member may advantageously comprise a set of sensors, in particular gyroscopic and / or accelerometric sensors, capable of delivering a movement information of the chair. This movement information can be used to control, in a closed loop, the movement of the motorized mechanism or the motorized stands. In other words, the control member may comprise means for adapting a movement control of the motorized mechanism, or a motorized crutches motion control for securing the chair and ensuring a stable stop, depending on the information of movement of the chair.

FIG. 6 illustrates an exemplary flow chart of control of an articulated chair. The state MO corresponds to a disabled state, or standby state of the chair. Crutches are deployed and the chair is seated. Under the impulse of a BMM command (Start button), the chair is activated, it switches to the M1 .1 state in which the control member controls the removal of the motorized stands. The Segway is then free of movement, the user can move.

From this state, the user can request stopping the chair, under the command of a BA command (Stop button), resulting in the deployment of crutches (M1 state .2, the ground anchoring function of the body pilot controls the deployment of crutches). The chair then goes into standby mode (MO status).

The user can also ask to order the chair upright function. Under the impulse of a first control BVM (Up Verticalization Button), the control member controls the motorized mechanism to move the chair in the upward direction. Under the impulse of a second BVD command (Verticalization Down Button), the control member controls the motorized mechanism to move the chair in the direction of descent.

The user can also choose to switch, under the impulse of a CE command, in a secure operating mode. In this mode of operation, the vehicle movement information delivered by the gyroscopic and / or accelerometric sensors can control the motorized verticalization mechanism or the motorized ground anchor crutches. For example, the control member can be configured in such a way that a first threshold of instability, detected by the sensors, leads to the verticalization of the chair in descent mode. The chair automatically switches to sitting position. A second threshold of instability leads to the verticalization of the chair in downhill mode and the deployment of the crutches. The chair automatically switches to a sitting position and secures its support on the ground using crutches.

In general, the control device can be implemented in the Segway, with the other functions managed by the Segway. Preferably, the steering member is associated with the chair, independently of the Segway. It is in the form of an electronic box incorporating the set of sensors and an electronic card hosting the various functions. This second solution is preferred in the case where the chair is intended to be used with a pre-existing Segway designed and commercially available.

The articulated chair according to the invention is customizable. The motorized mechanism can be adjusted to suit users of various morphologies. In other words, the motorized mechanism is configured to allow a vertical displacement of the center of gravity of a chair occupied by a reference body; the body of reference corresponding to the average morphology of an adult human being. The motorized mechanism further comprises adjustment means, mechanical or functional, for configuring the displacement of the center of gravity of a user having a morphology substantially different from the reference body. The motorized mechanism makes it possible to move the center of gravity of a set formed by the chair and a reference body in a vertical trajectory, and it can be adjusted to modify this trajectory so as to adapt to users having a morphology substantially different than that of the reference body.

The invention also relates to a method of verticalizing an articulated wheelchair comprising the steps of:

• receive a movement command of the motorized mechanism, • simultaneously move the seat and the footrest with the motorized mechanism so that the center of gravity of the chair occupied by the user is moved vertically.

The verticalization trajectory is customizable by mechanical adjustments of the motorized mechanism or control thereof, to meet the specific characteristics of the user.

When raising or lowering verticalization commands, the operation of the various motorized links is accurately combined to maintain the center of gravity of the user in the vertical direction Y1.

FIGS. 7 and 8 show two control examples of the various motorized links, FIG. 7 represents an open-loop control and FIG. 8 shows a closed-loop control. The various functional modules defined in FIGS. 7 and 8 are advantageously implemented using a processor and adapted software stored in a memory associated with the processor. The memory and the processor can be integrated into a microcontroller.

In Figure 7, a block 70 defines an optimum trajectory of a chair point to maintain the center of gravity of the user along the vertical direction Y1. This point is for example located on the seat 12. The optimal trajectory of the point of the seat 12 is not necessarily linear due to the movements of the entire body of the user during the ascent or descent. Tests have shown that an optimal trajectory could follow an ellipse in the sagittal plane to perform the ascent and descent. The optimal trajectory can be defined for a given user from tests made during the ascent and descent. Alternatively, the trajectory can be set according to the size and weight of the user. Input means, such as a keyboard and a screen, are then associated with the processor to allow the user to grasp its size and weight. The trajectory can be parameterized empirically from measurements of different people.

From the trajectory defined in block 70, an inverse kinematics 71 is generated to define the commands of different motorized links. These commands are transformed into power block 72 which generates commands for example electric or pneumatic depending on the type of connection implemented. The links themselves are shown in block 73.

In FIG. 8, describing a closed loop operation, blocks 70 to 73 are found. In addition, in a closed loop, inertial sensors 80, for example gyroscopic and / or axelometric, measure the actual curve of one of the the seat 12 and a comparator 81 makes it possible to determine an error between the optimal trajectory and the measured trajectory. This error drives a first controller 82 and the block 71 defining the inverse kinematics.

The inertial sensors 80 may be clean of the chair and in particular arranged on the seat 12 of the chair. Alternatively, it is possible to use the sensors of the Segway.

The block 72 drives the links 73 through a second comparator 83 and a second controller 84. The comparator 83 compares the actual position of the motorized links to the position defined by the inverse kinematics 71. The actual position of the motorized links is measured by means of sensors 85. The error between the actual position of the motorized links and the position defined by the inverse kinematics controls the second controller 84

Claims

1. Vehicle (25, 50, 60) comprising a motorized chassis (20) capable of moving the vehicle (25, 50, 60) relative to the ground and a user-occupiable chair (1 0) comprising a seat (1) 2) and a footrest (1 1) articulated with respect to a support (14), the vehicle being fixed via the support (14) to the motorized chassis (20), characterized in that the motorized chassis is a gyropod (20) comprising two lateral wheels (21a, 21b) separated by a central platform (22) on which is fixed the support (14) of the chair (1 0) and in that the chair further comprises a motorized mechanism (1 5, 55, 65) able to move the seat (1 2) and the footrest (1 1) in a coordinated manner relative to the support (14), between a first position in which the user occupies the chair (1 0) sits and a second position in which the user is standing, so as to vertically move the center of gravity the chair (10) occupied by the user.

Vehicle according to claim 1, wherein the motorized mechanism (1 5) comprises:

A motorized sliding link (1 6) of sagittal axis (Xi) between the footrest (1 1) and the support (14),

A motorized pivot connection (1 7) of transverse axis (Z-i) between the seat (1 2) and the footrest (1 1),

A control member configured to control the motorized slide link (1 6) and the motorized pivot link (1 7) in a coordinated manner so as to vertically move the center of gravity of the chair (1 0) occupied by the user.

3. Vehicle according to claim 2, wherein the motorized pivot connection (15) between the footrest (1 1) and the seat (1 2) comprises:

An articulated parallelogram (30) formed of four rigid segments (31a, 31b, 31c, 31d) connected by four pivot links (32a, 32b, 32c, 32d) of transverse axes, a first segment said to be greater ( 31 (a) being fixed at the seat (12), and a second said front segment (31b), adjacent to the upper segment (31a), being fixed to the footrest (1 1),

A linear actuator (33) connected on the one hand to the front segment (31b) and on the other hand to a third so-called lower segment (31c), adjacent to the front segment (31b), by means of two pivot links (33a, 33b) transverse axes.

4. Vehicle according to claim 3, comprising a backrest (13) attached to a fourth segment said dorsal (31 d), adjacent to the upper segments (31 a) and lower (31 c).

The vehicle of claim 1, wherein the motorized mechanism (55, 65) comprises:

A linear actuator (56) fixed on the one hand to the support (14) and connected on the other hand to the seat (12) by means of a pivot connection (56a) of transverse axis (Z ₂ ),

• a pivot connection (52) of transverse axis (Z ₃ ) between the seat (12) and the footrest (1 1).

6. Vehicle according to claim 5, wherein the pivot connection (12) transverse axis (Z ₃ ) between the seat (12) and the footrest (1 1) is motorized,

and wherein the motorized mechanism (55) further comprises a driver configured to control the linear actuator (56) and the motorized pivot link (52) in a coordinated manner to vertically move the center of gravity of the chair (10). occupied by the user.

7. Vehicle according to one of claims 5 or 6, wherein the motorized mechanism (65) comprises two lateral guides (63a, 63b) integral with the support (14) configured to guide the displacement of the seat (12) relative to the support (14) driven by the linear actuator (56) between the first and second positions.

8. Vehicle according to one of claims 5 to 7, wherein the linear actuator (56) comprises a motorized articulated rhombus (56b) connected to the seat (12) and the support (14) in two opposing vertices. one of the other.

9. Vehicle according to one of the preceding claims, wherein the footrest (1 1) comprises two housings (41, 42) for receiving the two lower limbs of the user, each housing (41, 42) comprising a portion substantially horizontal (41a, 42a) adapted to receive a foot of the user and a substantially vertical portion (41b, 42b) adapted to receive a leg of the user.

10. Vehicle according to claim 9, wherein the footrest (1 1) comprises a removable collar (41 c) mounted on one of the housing (41) for holding the leg or foot of the user in the housing (41). ).

1 1. Vehicle according to one of the preceding claims, comprising a set of gyroscopic and / or accelerometric sensors capable of delivering a movement information of the chair, and means for adapting a movement control of the powered mechanism, according to the motion information of the armchair.

12. Vehicle according to one of the preceding claims, wherein the chair (10) comprises a motorized stand (45) movable between a retracted position allowing movement of the vehicle (25) relative to the ground, and an extended position in which the crutch (45) ensures the stability of the vehicle (25) by ground support.

13. Vehicle according to claim 12, comprising a chair according to claim 1 1, the chair (10) comprising means for adapting a control of movement of the motorized stand according to the movement information of the chair, or according to the movement control of the motorized mechanism.

14. Vehicle according to one of the preceding claims, wherein the Segway (20) comprises a removable handlebar (24).

15. Vehicle according to one of the preceding claims, comprising removable attachment means (47) between the support (14) of the chair (10) and the central platform (22) of the gyropode (20).

The method of verticalizing a vehicle according to one of the preceding claims, comprising the steps of:

• receive a movement command of the motorized mechanism (15),

• simultaneously move the seat (12) and the footrest (1 1) by means of the motorized mechanism (15), so as to move vertically the center of gravity of the chair (10) occupied by the user.