Abstract:
Electric locomotion means comprising a dynamically stabilised vehicle ( 10 ) comprising two wheels ( 11 ), said vehicle ( 10 ) having a transverse axis defined by an axis of rotation of said wheels ( 11 ) and a longitudinal axis that is perpendicular to said transverse axis and defines a direction of advancement of said vehicle ( 10 ), said vehicle comprising a pivot ( 24 ) arranged along said longitudinal axis and rotatable about said longitudinal axis, said pivot ( 24 ) being configured to transfer a steering control to said wheels ( 11 ); a seat ( 44 ) positioned on said vehicle; characterised in that said seat ( 44 ) is configured to accommodate a user affected by motor disability of the lower limbs, said seat ( 44 ) being tillable sideways by a lateral shift of the user&#39;s weight; said locomotion means further comprising transmission means ( 25 ) arranged between said seat ( 44 ) and said pivot ( 24 ), said transmission means ( 25 ) being configured to transfer a tilting movement of the seat ( 44 ) to said pivot ( 24 ).

Description:
FIELD OF THE INVENTION 
       [0001]    The present invention relates to an electric locomotion means, more particularly relates to an electric locomotion means suitable for people with walking problems and/or paraplegics. 
       BACKGROUND OF THE INVENTION 
       [0002]    As is known, there are locomotion means for people with walking problems such as wheelchairs for example, which can be manual or electric. 
         [0003]    There are also dynamically stabilised vehicles that have a control system that actively maintains the stability of the vehicle, which normally only have two wheels. Appropriate sensors continuously control vehicle orientation and the control circuit determines the necessary corrections for maintaining stability by suitably commanding the wheel motors. For example, the vehicles shown in documents US 2011/303475 A1 and WO 2009/054344 A1 are known in the prior art. 
         [0004]    Disadvantageously, none of the devices described in the documents of the prior art are suitable for transporting a person with a disability of the lower limbs, as some of these devices require that the user stand up. Other devices allow the user to sit, but still require the use of the legs to steer, as they require a rotation of the seat with respect to a vertical axis. 
       FIELD OF THE INVENTION 
       [0005]    The aim of the present invention is to provide for a new concept electric locomotion means, in particular suitable for people with walking problems and/or paraplegics, which allows the person position themselves at a height equal to that of a standing person, and which can also move at the same time. 
         [0006]    Another aim is to provide for an electric locomotion means that can allow the user, through a specific seated position, to unload part of their own weight onto the knees thus lightening the load on the coccyx, which using the muscles of the lower limbs. 
         [0007]    Another aim is to provide for an electric locomotion means that can be used in both indoor and outdoor environments and that can vary its height to adapt to the altered conditions. 
         [0008]    A further aim is to provide for an electric locomotion means that can adapt to different user dimensions in a simple way. 
         [0009]    These problems are overcome by an electric locomotion means according to the present invention. This locomotion means comprises a dynamically stabilised vehicle comprising two wheels. The vehicle has a transverse axis that is defined by an axis of rotation of the wheels. The vehicle also has a longitudinal axis that is perpendicular to the transverse axis and that defines a direction of advancement of the vehicle. 
         [0010]    The vehicle comprises a pivot arranged along the longitudinal axis and that is rotatable about the longitudinal axis. The pivot is configured to transfer a steering command to the wheels. The locomotion means further comprises a seat positioned on the vehicle. The seat is configured to accommodate a user affected by motor disability of the lower limbs. The seat is laterally tiltable by a lateral displacement of the user&#39;s weight. The locomotion means further comprises transmission means arranged between the seat and the pivot. The transmission means are configured to transfer a tilting movement of the seat to the pivot. 
         [0011]    Advantageously, in the locomotion means according to the present invention, a slight lateral displacement of the user&#39;s weight is sufficient to control the steering of the locomotion means. This movement can also be easily performed by people affected by disability of the lower limbs, making the locomotion means suitable for their transport. 
         [0012]    Further characteristics of the invention are described in the dependent claims. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0013]    Further characteristics and advantages of the present invention will become apparent from the following detailed description of a practical embodiment thereof, illustrated by way of non-limiting example in the accompanying drawings, in which: 
           [0014]      FIG. 1  shows a schematic side view of an electric locomotion means according to the present invention; 
           [0015]      FIG. 2  schematically shows a front view of an electric locomotion means according to the present invention; 
           [0016]      FIG. 3  schematically shows a side view of a lower portion, without the wheels, of an electric locomotion means according to the present invention; 
           [0017]      FIG. 4  schematically shows a front view of a lower portion of an electric locomotion means according to the present invention; 
           [0018]      FIG. 5  schematically shows a side view of a seating system of an electric locomotion means according to the present invention; 
           [0019]      FIG. 6  schematically shows a portion of an electric locomotion means, a side view of which is shown in  FIG. 3 , according to the present invention. 
       
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       [0020]    With reference to the accompanying figures, an electric locomotion means, according to the present invention, comprises a dynamically stabilised vehicle  10  having two wheels  11 . 
         [0021]    A base plate  13  is superposed to the upper surface  12  of the vehicle  10 . 
         [0022]    The plate  13  is in rest position, raised from the surface  12  due to the presence of elastic dampers  14 . 
         [0023]    On the surface  12  are the switches  15  (usually four) that enable the vehicle  10  to start. Shims suitable for facilitating the pressure of the switches  15  can be found opposite the switches  15 . 
         [0024]    The plate  13  further comprises an actuator, anteriorly and posteriorly. Preferably, this actuator is a hydraulic piston  16 , electrically or manually controlled by a hydraulic system. 
         [0025]    The hydraulic pistons  16  extend to touch the ground and to stabilise the vehicle so that the user can get on, indeed the pistons  16  and the two wheels  11  form four ground points. 
         [0026]    Anteriorly and posteriorly from the surface  12  rise two support plates, respectively  20  and  21 , which are substantially triangular in shape frontally and L-shaped laterally. 
         [0027]    The rear plate  21  supports a further plate  23  by means of a pivot  22 . The plate  23  can rotate about the pivot  22  with respect to the plate  21 . 
         [0028]    The front plate  20  supports a further plate  25  by means of a pivot  24 . The plate  25  can rotate about the pivot  24  with respect to the plate  20 . In this case, however, the plate  25  is fixed to the pivot  24  and thus a rotation of the plate  25  rotates the pivot  24 . 
         [0029]    The rotation of the plates  25  and  23  is, however, limited to small angles by the presence, between the base of the L, of the plates  25  and  23 , and the base plate  13  of the elastic shims  26  and  27 , which allow rotation in that they are deformable, being made of rubber. 
         [0030]    There are two shims  26  and  27  per plate, positioned laterally thereto. 
         [0031]    Moreover, for a greater adjustment of the sensitivity to rotation, the elastic shims  26  and  27  can be fixed to the plates  25  and  23  in different positions, by means of screws, i.e. more or less sideways with respect to the pivot  24 , by means of an arrangement of holes  28  in the plates  25  and  23 . 
         [0032]    It is alternatively possible to use other mechanisms to adjust the sensitivity to rotation, by using a knob that shifts the position of the elastic shims  26  and  27 , for example. 
         [0033]    The plates  25  and  23  supporting a guide  31  within which a feed screw  30  can rotate. 
         [0034]    Fixing of the guide  31  onto the plates  25  and  23  can be performed so as to adjust the relative position thereof in order to maintain the user&#39;s centre of gravity (associated with that of the seat) in the correct position with respect to the dynamically stabilised vehicle  10 . 
         [0035]    The feed screw  30  is electrically driven by a motor  32 . It is alternatively possible to use other mechanisms such as a hydraulic piston or linear actuators. 
         [0036]    On the feed screw  30  is a movable slider  33 . 
         [0037]    The slider  33  comprises in its interior a bearing  34  and a spring  35  to ensure an elastic force reaction to possible thrusts contrary to the movement. 
         [0038]    A movable plate  36  comprising a series of holes  37  is arranged on the slider  33 . 
         [0039]    A fixed back plate  38  having at least one hole  39  is fixed to the guide  31 , posteriorly to the portion of feed screw  30  on which the slider  33  can slide. 
         [0040]    A front rod  40  is movably pivoted in one of the holes  37 . 
         [0041]    A rear rod  41  is movably pivoted in the hole  39 . 
         [0042]    The two rods  40  and  41  are movably joined together by means of a pivot  42  passing through both the rods at a point that is intermediate thereto. 
         [0043]    The rods  40  and  41  have a plurality of holes so that the pivot  42  can be inserted into the most suitable hole. 
         [0044]    A knee/shin rest  43  is positioned on the front end of the rod  41 , opposite to the pivot  39 . Two short bars (lengthways-adjustable) fixed to the front end of the rod  41  is support two folding anatomical half-shells that support the knees/shins of the user. 
         [0045]    A seat  44  can slide along the rod  40  itself on the rear end of the rod  40 , opposite the slider  33 . Its position is optimally determined by means of a first bar  45  that is fixed on to the seat  44  on one side and to a second bar  46  on the other side that is fixed to the rod  41  in the central portion thereof. The second bar  46  comprises a plurality of holes  47 . The first bar  45  is pivoted with the second bar  46  in one of the holes  47 . 
         [0046]    The seat  44  also has the ability to tilt with respect to the rod  40 . Indeed, underneath it and passing through the rod  40 , it comprises a threaded bar  48  having an adjustment knob  49 . Other movement means of the seat  44  can be used. 
         [0047]    In addition to the control system for the dynamically stabilised vehicle  10 , the vehicle preferably comprises a further battery (not shown), as well as a control (not shown) for operating the motor  32  in one direction and in the opposite direction, operating means (not shown) of the hydraulic cylinders  16 . 
         [0048]    The operation of the invention is apparent, to a person skilled in the art, from what has been described and is, in particular, as follows. 
         [0049]    Depending on his overall size, the size of his femur and other considerations, the user suitably fixes all the present adjustments onto the locomotion means. 
         [0050]    The user in particular fixes the elastic shims  26  and  27  in a position according to his weight and according to the desired steering sensitivity; he positions the pivot  42  between the two rods  40  and  41  to adjust the height of the seat  44  and optimise motor torque (if the pivot  42  is moved towards the slider  33 , uphill speed is increased but the motor struggles more and vice versa); position the rod  45  on the second bar  46  to maintain the correct proportion of movements with respect to the seat  44  during movement of the rods  40  and  41 ; arrange the positioning of the rod  40  on the slider  33  to adjust the maximum lowering of the rod  40 ; adjust the tilt of the seat  44  by means of the knob  49 . 
         [0051]    The user operates the hydraulic pistons  16  by lowering them and stabilising the locomotion means. He can then get on and sit on the seat  44  and rest his knees on the knee/shin rest  43  without any problem. 
         [0052]    The user&#39;s weight sufficiently lowers the base plate  13 , as permitted by the elastic dampers  14 , towards the surface  12  and the switches  15  are pressed and the dynamically stabilised vehicle can then be started. 
         [0053]    The user starts the motor  32 , which drives the feed screw, bringing the motor  32  closer to the slider  33  and the entire rod system rises and consequently raises the seat  44 , until the desired height is reached. 
         [0054]    He starts up the dynamically stabilised vehicle  10  in the usual way and then raises the hydraulic pistons  16 . 
         [0055]    The electric locomotion means is thus ready to be used. 
         [0056]    If the user needs to go forward or reverse, he pushes his body forward or backward as in the case of usual dynamically stabilised vehicle  10 . 
         [0057]    For bends, instead of operating the normal handlebar present in all dynamically stabilised vehicles, the user tilts sideways to the left or right, by the same almost imperceptible amount as when moving forward or backward, and the vehicle will steer accordingly. 
         [0058]    Moving to the left or right, the body&#39;s weight rotates the plates  23  and  25 . The plate  25  rotates the pivot  24  which is nothing other than the pivot that is normally fixed to the steering wheel of dynamically stabilised vehicles. 
         [0059]    To descend from the locomotion means, the user sits in the most vertical position possible in order to stop the locomotion means, then the hydraulic pistons  16  are lowered. The plate  13  is raised from the surface  12  and the switches  15  are released. The dynamically stabilised vehicle is completely switched off and the user gets off directly or the motor  32  is started so as to lower the seat  44 . 
         [0060]    We thus have an electric locomotion means that makes use of a dynamically stabilised vehicle that comprises a horizontally-pivoted platform that is adapted and pivoted to the steering head, which eliminates the steering rod, so as to permit the user to steer using body weight alone, thus freeing the hands. Special mechanisms allow a manual and/or motorised micrometric adjustment, to adjust steering according depending on user weight, user height, seat height, user asymmetries. 
         [0061]    The seat on the electric locomotion means is ergonomic and dynamic, i.e. its height is adjustable. This allows a relational symmetry of the user i.e. the user is at the same height as the people in front of him, and thus improves interpersonal relations, improves blood circulation, improves the functioning of the digestive system, limits compression of the diaphragm, eliminates overloading of the lumbosacral region, prevents pressure sores, osteopenia and osteoarthritis, promotes musculoskeletal elasticity, permits passive exercise therapy (by operating the motor  32  for example), limits overloading of the musculoskeletal system. 
         [0062]    The dynamic ergonomic seat is always balanced and constantly maintains the user&#39;s centre of gravity in axis, allowing movement in any direction at any height selected. 
         [0063]    The seat is also damped, with respect to ground roughness, thanks to the springs  35 . 
         [0064]    The geometry of the electric locomotion means adapts to the user&#39;s skeletal measurements. 
         [0065]    The seat can be varied through a micrometric adjustment on the basis of the length of the femur, the shin, the delta (femur/shin ratio and geometry of the centre of gravity), longitudinal axis, steering sensitivity and LH and RH asymmetry corrections. 
         [0066]    An application for Apple and Android devices that can wirelessly control suitable physical exercises for the user can be envisaged, by raising and lowering the seat, or other arranged movements for example, so as to prevent related diseases.