KR20250050292A - Mobility aid and detachable A rollator - Google Patents

Abstract

The embodiment includes: a lower frame; a wheel part installed on the lower frame; a vertical frame installed on the lower frame; a side frame installed on the lower frame and having a height adjusted in response to the height adjustment of the vertical frame; a handle frame installed on the side frame; and a chair installed on the handle frame; wherein a moving rail device and a fastening module for driving upward or downward on the moving rail device are installed on the vertical frame, and the fastening module can provide a detachable walking vehicle with a moving assistance device that provides driving power and docks with the moving assistance device.

Description

Mobility aid and detachable A rollator

The present invention relates to a mobility assistance device and a detachable walking carriage.

The continuous increase in the elderly population requires the distribution of elderly-friendly products, and this demand increases the need for the development and evaluation of elderly-friendly products in terms of ergonomics and design. Because elderly-friendly products have not attracted the attention of many companies due to lack of marketability, a wide range of product development and research has not been provided. This has resulted in the elderly being forced to make insufficient choices and use products inappropriately. The analysis results of product safety accidents show that the accident rate for users over 60 is much higher than for users under 60. Looking at the specific analysis results, the location was home at 57.2%, followed by public administration and service areas at 14.7% and roads at 9.8%. In addition, by accident type, falls, trips, and slips accounted for 55.3%, collisions and impacts accounted for 7.5%, cuts or tears by objects accounted for 4.5%, and being pressed or caught accounted for 4.0%. Also, by accident location, the head and face area accounted for 26.4%, the legs and feet area accounted for 24%, the arms and hands area accounted for 18.1%, and the neck, stomach, back, and waist area accounted for 14.7% (Elderly Safety Status, Consumer Times, 4-5, October 2007). As can be seen from the types of accidents involving the elderly, falls account for more than half.

The most representative senior-friendly product that can prevent falls is a walker (rollator). Recently, various products with added functionality and improved convenience and durability have been introduced for walkers, and research and development are being continuously conducted, such as a rollator-trolley with an adjustable handle position according to use (Korean Patent Publication No. 2017-0134394), a walking state estimation method and device for a walking aid (Korean Patent No. 1908176), a Stroller rollator (US Patent No. 9974708), and a Foldable rollator (US Patent No. 9839571). Recently, the functions of walkers have been diversified to not only assist the user in moving, but also a walker in which the user can sit has been introduced, such as Korean Patent No. 10-2402692. In particular, electric walking carts are also being developed to enable the walking cart to move using its own power, such as Korean Patent Publication No. 10-1673166, in order to assist the user's driving. However, since the motor for providing power is mounted on the walking cart itself, the weight of the walking cart increases, and there is a problem in that the original advantages of the walking cart, such as lightness, convenience of installation, and convenience of storage, are lost.

Korean Patent Publication No. 2017-0134394 Korean Patent Publication No. 1908176 U.S. Patent Publication No. 9974708 U.S. Patent Publication No. 9839571 Korean Patent Publication No. 10-2402692 Korean Patent Publication No. 10-1673166

The present invention provides a mobility assistance device and a walking cart that can be attached to and detached from a walking cart.

In addition, the present invention provides a mobility assistance device capable of autonomous driving and a detachable walking cart to assist a user's walking.

In addition, the present invention provides a standing support mechanism that enables an elderly person, who is one of the main users of the walker, to stand up on his or her own without separate assistance, i.e., a walker that can support a user's standing when the user transitions from a seated state to a standing state.

In addition, the present invention provides a walking vehicle that detects a change in the height of a user when standing up while a mobility assistance device is attached to the walking vehicle and controls the positional relationship of each component in response to a change in the movement the user naturally takes when standing up.

The embodiment includes: a lower frame; a wheel part installed on the lower frame; a vertical frame installed on the lower frame; a side frame installed on the lower frame and having a height adjusted in response to the height adjustment of the vertical frame; a handle frame installed on the side frame; and a chair installed on the handle frame; wherein a moving rail device and a fastening module for driving upward or downward on the moving rail device are installed on the vertical frame, and the fastening module can provide a detachable walking vehicle with a moving assistance device that provides driving power and docks with the moving assistance device.

In another aspect, the fastening module detects the position of the docking portion of the mobility assistance device, and when the mobility assistance device is positioned in a position where docking between the fastening module and the docking portion is possible, the fastening module can be driven downward to provide a mobility assistance device that is fixedly connected to the docking portion and a detachable walking vehicle.

In another aspect, the fastening module includes a fastening main body that can be driven upward or downward from the moving rail device and a fastening arm part installed on the lower side of the fastening main body part, and the fastening arm part can be inserted into a docking hole of the docking part to provide a moving assistance device that is fixedly connected to the docking part and a detachable walking carriage.

In another aspect, the above-described mobility assistance device including a mobility assistance sub-wheel that rotates by friction with the ground and a mobility assistance main wheel that rotates by receiving driving force from a driving motor can provide a mobility assistance device and a detachable walking vehicle that run by the rotation of the mobility assistance main wheel.

In another aspect, the side frame includes first and second side frames installed on the lower frame and positioned with the user therebetween, the handle frame includes a first handle frame installed on the first side frame and a second handle frame installed on the second side frame, and the chair can provide a mobility assistance device installed between the first and second handle frames and a detachable walking carriage.

In another aspect, the chair includes a first chair installed on the first handle frame and a second chair installed on the second handle frame, the first and second chairs are configured to be detachable from each other, the first chair is configured to be rotatable around a connection point of the first handle frame, and the second chair is configured to be rotatable around a connection point of the second handle frame, so that when the user is in a standing state, the first and second chairs are separated from each other, the first chair rotates inwardly of the first handle frame, and the second chair rotates inwardly of the second handle frame, thereby providing a walking cart that supports the user's standing up to secure a rearward space when the user walks.

In another aspect, when a user transitions from a seated state on the chair to a standing state, the user's standing state can be supported by adjusting at least one of the heights of the vertical frame, the side frame, the angle of the chair, and the angle of the handle frame, and a walking vehicle can be provided to support the user's standing state by moving together with the walking vehicle while riding the mobility assistance device in the standing state.

The embodiment can provide a mobility assistance device that can be attached to and detached from a walking vehicle and assists the driving of the walking vehicle.

Additionally, the embodiment may provide a mobility assistance device capable of autonomous driving and a detachable walking carriage to assist a user's walking.

In addition, the embodiment provides a stand-up support mechanism that enables the elderly, who are one of the main users of the walker, to stand up on their own without separate assistance, i.e., a walker that can support the user's stand-up when the user switches from a seated state to a standing state, and in the case of a walker with a mobility assistance device combined, a walker that estimates the height of the user's body so that the user can stand up while maintaining a stable posture even when the user gets on the mobility assistance device can be provided.

In addition, the embodiment can prevent interference between the wheels of the mobility assistance device itself and the wheels of the walking vehicle, thereby enabling stable driving of the walking vehicle assisted by the driving force of the mobility assistance device.

FIG. 1 is a perspective view of a mobility assistance device and a detachable walking carriage according to an embodiment of the present invention.
FIG. 2 illustrates a mobility assistance device and a detachable walking carriage according to an embodiment of the present invention from a different angle.
Figure 3 is a block diagram of a control unit according to an embodiment of the present invention.
FIG. 4 is a schematic diagram illustrating a state in which a user is seated on a mobility assistance device and a detachable walking carriage according to an embodiment of the present invention.
FIG. 5 is a schematic diagram illustrating a user moving with the assistance of a mobility assistance device and a detachable walking carriage according to an embodiment of the present invention.
Figure 6 schematically illustrates that the first and second chairs are separated from each other, rotated and fixed inwardly of the first and second handle frames, and the user moves with the assistance of the walker.
Figures 7 and 8 schematically illustrate the state of a user sitting and standing up on a walker from the side of the walker to explain a method of supporting a user's standing up.
Figure 9 is a perspective view of a movement assistance device according to an embodiment of the present invention.
Figure 10 is a block diagram of a movement assistance device according to an embodiment of the present invention.
Figure 11 illustrates a part of the first vertical frame of the walking car.
Figure 12 illustrates a part of a walking vehicle with a mobility assistance device attached to the walking vehicle.
Figure 13 is a block diagram of a control unit according to another embodiment of the present invention.
FIG. 14 (a) schematically illustrates a walking vehicle of an embodiment of the present invention being moved by a mobility assistance device while a user is seated on the walking vehicle, and (b) schematically illustrates a walking vehicle being moved by a mobility assistance device while a user is standing.
FIG. 15 is a perspective view of a movement assistance device according to another embodiment of the present invention.
FIG. 16 illustrates a part of a removable walking carriage and the mobility assistance device of FIG. 15 according to another embodiment of the present invention.
FIG. 17 is a perspective view of a movement assistance device according to another embodiment of the present invention.
FIG. 18 illustrates a combination of a mobility assistance device and a walking car according to another embodiment of the present invention.
FIG. 19 illustrates a combination of a mobility assistance device and a walking vehicle according to another embodiment of the present invention.
FIG. 20 (a) schematically illustrates a walking vehicle of an embodiment of the present invention being moved by a mobility assistance device while a user is seated on the walking vehicle, and (b) schematically illustrates a walking vehicle being moved by a mobility assistance device while a user is standing.
FIGS. 21 and 22 illustrate a walking vehicle according to another embodiment of the present invention from various angles.
Figures 23 and 24 schematically illustrate a user standing up with the assistance of a walking cart.
FIG. 25 and FIG. 26 schematically illustrate a detachable mobility assistance device attached to a walking vehicle according to various embodiments of the present invention.

The present invention can be modified in various ways and has various embodiments, and thus specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention and the methods for achieving them will become clear with reference to the embodiments described in detail below together with the drawings. However, the present invention is not limited to the embodiments disclosed below, but can be implemented in various forms. In the following embodiments, the terms first, second, etc. are not used in a limiting sense, but are used for the purpose of distinguishing one component from another component. In addition, the singular expression includes the plural expression unless the context clearly indicates otherwise. In addition, the terms include or have mean that the features or components described in the specification are present, and do not preemptively exclude the possibility that one or more other features or components may be added. In addition, the sizes of the components in the drawings may be exaggerated or reduced for the convenience of explanation. For example, the sizes and thicknesses of each component shown in the drawings are arbitrarily shown for the convenience of explanation, and therefore the present invention is not necessarily limited to what is shown.

Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. When describing with reference to the drawings, identical or corresponding components are given the same drawing reference numerals and redundant descriptions thereof are omitted.

FIG. 1 is a perspective view of a mobility assistance device and a detachable walking vehicle according to an embodiment of the present invention, and FIG. 2 is a perspective view of the mobility assistance device and the detachable walking vehicle according to an embodiment of the present invention from a different angle.

Referring to FIGS. 1 and 2, a mobility assistance device and a detachable walking vehicle (10) according to an embodiment of the present invention may include a lower frame (100), a wheel part (200), a vertical frame (400), a side frame (500), a handle frame (600), and a chair (900).

The lower frame (100) may include first and second lower frames (110, 120) that are parallel to each other and spaced apart by a predetermined distance, and a third lower frame (130) that connects one end of each of the first and second lower frames (110, 120) to each other and is perpendicular to them. The first to third lower frames (110, 120, 130) may be configured as a frame having a 'ㄷ' shape as a whole.

In various embodiments, each of the first to third lower frames (110, 120, 130) may be configured as a bar type. In various embodiments, each of the first to third lower frames (110, 120, 130) may have upper surfaces that are flush with each other. In various embodiments, the first to third lower frames (110, 120, 130) may be formed integrally with each other.

The wheel part (200) may include a right wheel part (210) and a left wheel part (220).

The right wheel unit (210) may include first and second right wheel units (211, 212), and the left wheel unit (220) may include first and second left wheel units (221, 222).

The first and second right wheel parts (211, 212) are installed on the lower side of the first lower frame (110) and can be spaced apart from each other by a predetermined distance.

The first and second left wheel parts (221, 222) are installed on the lower side of the second lower frame (120) and can be spaced apart from each other by a predetermined distance.

Here, the second right wheel part (212) and the second left wheel part (222) can be configured to control the driving direction of the walking vehicle (10) by rotating at the same angle and in the same direction according to the control of the steering device. In various embodiments, when a user walks using the walking vehicle (10), the second right wheel part (212) and the second left wheel part (222) can be naturally rotated in the corresponding direction by a physical force applied to the walking vehicle (10) in the left or right direction, thereby allowing the walking vehicle (10) to move in the direction desired by the user.

The wheel unit (200) supports the walking vehicle (10) from the ground and enables the walking vehicle (10) to move. In various embodiments, the wheel unit (200) may be configured to be rotatable at a predetermined angle around a connecting axis between the wheel unit (200) and the lower frame (100), so that the walking vehicle (10) may be configured to move in various directions.

In various embodiments, the wheel of the wheel unit (200) may be configured to be rotatable by external power. The external power here may include not only a physical force applied to the walking vehicle (10) by a user of the walking vehicle (10), but also power provided by a device such as a motor. In order to provide power to the wheel unit (200), a power device may be installed within the lower frame (100) to provide power for the rotation of the wheel of the wheel unit (200).

Additionally, the wheel unit (200) may include a tire, a wheel wrapped by the tire, and a brake system for controlling the rotation speed of the wheel.

The vertical frame (400) can be installed on the lower frame (100). The vertical frame (400) can be installed on the third lower frame (130). The vertical frame (400) can be installed in the central area of the upper surface of the third lower frame (130). The vertical frame (400) can be positioned vertically with respect to the third lower frame (130).

The vertical frame (400) may include a first vertical frame (410), a second vertical frame (420) inserted into the inside of the first vertical frame (410) and having a portion of the upper surface protruded through the first vertical frame (410), and a third vertical frame (430) inserted into the inside of the second vertical frame (420) and having a portion of the upper surface protruded through the second vertical frame (420).

The first vertical frame (410) may be installed on the upper surface of the third lower frame (130). In various embodiments, the first vertical frame (410) and the third lower frame (130) may be formed integrally with each other. The second vertical frame (420) may be configured to be raised or lowered from the first vertical frame (410) with a portion inserted into the inner side of the first vertical frame (410). In various embodiments, the third vertical frame (430) may be configured to be raised or lowered from the second vertical frame (420) with a portion inserted into the inner side of the second vertical frame (420). That is, at least one of the second and third vertical frames (420, 430) may be raised or lowered in a direction vertical from the ground. In various embodiments, a power device for driving the elevation of at least one of the second and third vertical frames (420, 430) may be installed within the first vertical frame (410). In various embodiments, at least one of the second and third vertical frames (420, 430) may be configured to be driven upward and downward, and may be configured to be driven upward and downward sequentially.

The side frame (500) may include first and second side frames (540, 550).

The first side frame (540) is installed on the upper surface of the first lower frame (110) and can be positioned vertically with respect to the first lower frame (110), and the second side frame (550) is installed on the upper surface of the second lower frame (120) and can be positioned vertically with respect to the second lower frame (120). The first and second side frames (540, 550) can have symmetrical shapes and be positioned facing each other. The first and second side frames (540, 550) can be formed by extending from the lower frame (100) in a direction vertical to the lower frame (100) and extending in a form that is bent at a predetermined angle in the rearward (Y-direction) direction, which is the opposite direction of the front in which the walking vehicle (10) moves, at a predetermined height point.

In various embodiments, each of the first and second side frames (540, 550) may be configured to have an adjustable height. In various embodiments, each of the first and second side frames (540, 550) may be configured with two side frames, one of which is connected to the lower frame (100) and the other may be configured to be inserted into the other side frame and be able to be raised and lowered therefrom, and a power device for raising and lowering the side frame (500) may be installed within the side frame (500) so that the height can be adjusted through the raising and lowering motion of the side frame (500). In addition, the first and second side frames (540, 550) may be variable to the same height, and they are configured so that the height can be changed in the same manner as the height change of the vertical frame (400).

The side frame (500) may include first to third connecting frames (510, 520, 530).

The first connecting frame (510) may extend forward (in the -Y direction) from the first side frame (540) in a direction parallel to the ground, the second connecting frame (520) may extend forward (in the -Y direction) from the second side frame (550) in a direction parallel to the ground, and the third connecting frame (530) may connect the first and second connecting frames (510, 520) to each other and be positioned perpendicular to them. In various embodiments, the first to third connecting frames (510, 520, 530) may be configured integrally with each other.

One side of the first connecting frame (510) may be connected to the first side frame (540) and the other side may be connected to one side of the third connecting frame (530), and one side of the second connecting frame (520) may be connected to the second side frame (550) and the other side may be connected to the other side of the third connecting frame (530).

The central area of the third connecting frame (530) can be connected to the third vertical frame (430).

The vertical frame (400) and the first and second side frames (540, 550) can maintain the same height in synchronization with each other. That is, the vertical frame (400) and the first and second side frames (540, 550) can be driven up or down simultaneously to adjust the overall height of the handle frame (600).

In various embodiments, the first and second side frames (540, 550) may be height-variable, but there may be no separate power device for lifting and lowering. In this case, the height may be naturally varied by matching the height of the vertical frame (400) by a physical force applied to the first and second side frames (540, 550) through the first to third connecting frames (510, 520, 530) according to the height change by the vertical frame (400).

The handle frame (600) may include first and second handle frames (610, 620).

The first handle frame (610) can be connected to the first side frame (540), and the second handle frame (620) can be connected to the second side frame (550).

The first handle frame (610) may be composed of a first-first handle frame (611) and a first-second handle frame (612). The first-first handle frame (611) may be composed of a bar type, and the first-second handle frame (612) may be composed of a bar type by extending from one side of the first-first handle frame (611). An imaginary axis along the longitudinal direction of the first-first handle frame (611) and an imaginary axis corresponding to the longitudinal direction of the first-second handle frame (612) may have a predetermined angle with each other, and this angle may be 90 degrees or more. That is, the first-second handle frame (612) may be composed by extending while being bent at a predetermined angle from one side of the first-first handle frame (611). In addition, an outer point of the first-second handle frame (612) may be connected to an upper inner surface of the first side frame (540).

The second handle frame (620) may be composed of a second-first handle frame (621) and a second-second handle frame (622). The second-first handle frame (621) may be composed of a bar type, and the second-second handle frame (622) may be composed of a bar type by extending from one side of the second-first handle frame (621). An imaginary axis along the longitudinal direction of the second-first handle frame (621) and an imaginary axis corresponding to the longitudinal direction of the second-second handle frame (622) may have a predetermined angle with each other, and this angle may be 90 degrees or more. That is, the second-second handle frame (622) may be composed by extending while being bent at a predetermined angle from one side of the second-first handle frame (621). In addition, an outer point of the second-second handle frame (622) may be connected to an upper inner surface of the second side frame (550).

The user can hold the 1-1 handle frame (611) with the right hand and the 2-1 handle frame (621) with the left hand as needed.

The first-second handle frame (612) may be configured to be rotatable within a predetermined angle range about a connection point with the first side frame (540). In addition, the second-second handle frame (622) may be configured to be rotatable within a predetermined angle range about a connection point with the second side frame (550). The first and second handle frames (610, 620) are configured to be rotatable together in the same direction in synchronization with each other. In addition, a driving device for rotation of the first and second handle frames (610, 620) may be installed at a connection point between the first and second handle frames (610, 620) and the first and second side frames (540, 550).

In various embodiments, a driving device for rotation of the first handle frame (610) or the second handle frame (620) may be installed at a connection point between the first handle frame (610) and the first side frame (540) or a connection point between the second handle frame (620) and the second side frame (550), and when one handle frame is rotated by the driving device, the other handle frame structurally connected thereto may be configured to rotate together in the same direction and at the same angle.

One end of each of the first-second handle frame (612) and the second-second handle frame (622) is connected to the first-first handle frame (611) and the second-first handle frame (621), and a chair (900) can be installed between the inner surfaces of the other ends of the first-second handle frame (612) and the second-second handle frame (622).

The chair (900) may be made of a material that allows the user to feel comfortable when sitting, and the chair (900) may include a cushion.

The chair (900) may include a first chair (910) and a second chair (920).

The first chair (910) can be installed on the first-second handle frame (612), and the second chair (920) can be installed on the second-second handle frame (622).

In various embodiments, the first chair (910) and the second chair (920) may be configured to be detachable from each other. In various embodiments, when the first and second chairs (910, 920) are separated from each other, the first chair (910) may be configured to fold by rotating inwardly of the first-second handle frame (612), and the second chair (92) may be configured to fold by rotating inwardly of the second-second handle frame (622).

In addition, the chair (900) installed between the first and second handle frames (610, 620) can move up and down while drawing a predetermined rotation radius according to the rotation of the first and second handle frames (610, 620).

In various embodiments, the handle frame (600) may further include a side guide portion (630).

The side guide portion (630) may include first and second side guide portions (631, 632).

A first side guide part (631) may be installed in an area between the connecting point of the 1-1 handle frame (611) and the 1-2 handle frame (612) and the first chair (910) among the upper surface areas of the 1-2 handle frame (612). In addition, a second side guide part (632) may be installed in an area between the connecting point of the 2-1 handle frame (621) and the 2-2 handle frame (622) and the second chair (920) among the upper surface areas of the 2-2 handle frame (622).

Each of the first and second side guide parts (631, 632) may have a ring shape and protrude in the opposite direction (Y direction) to the moving direction of the walking vehicle (10).

The first and second side guide parts (631, 632) can guide the position of the user's hip area to prevent the user's hip area from moving to the left or right side of the chair (900) while the user is sitting on the chair (900).

The mobility assistance device and the detachable walking vehicle (10) according to an embodiment of the present invention may further include a front handle part (890). The front handle part (890) may be configured in a form that connects the first handle frame (610) and the second handle frame (620) to each other.

One side of the front handle part (890) can be configured in a form in which the end (in the opposite direction to the connection point of the 1-1st handle frame (611) and the 1-2nd handle frame (612)) and the end (in the opposite direction to the connection point of the 1-2nd handle frame (612) and the 2-2nd handle frame (622)) of the 2-1st handle frame (621) are connected to each other, and can be configured in a form in which a user can grip the front handle part (890) with both hands.

The mobility assistance device and the detachable walking vehicle (10) according to an embodiment of the present invention may further include a main handle part (800). The main handle part (800) may include first and second main handle parts (810, 820).

The first main handle part (810) can be installed on one side of the 1-1 handle frame (611), and the second main handle part (820) can be installed on one side of the 2-1 handle frame (621).

In various embodiments, the first main handle part (810) may be configured to be rotatable at various angles around the connection point with the 1-1 handle frame (611) and to be fixed in position after rotation, and the second main handle part (820) may be configured to be rotatable at various angles around the connection point with the 2-1 handle frame (621) and to be fixed in position after rotation.

The user can grip the first main handle part (810) with the right hand and the second main handle part (820) with the left hand.

The mobility assistance device and detachable walking vehicle (10) according to an embodiment of the present invention may further include a footrest (300).

The footrest (300) may include first and second footrests (310, 320).

The first and second footrests (310, 320) may be installed spaced apart from each other on the upper surface of the third lower frame (130). The first and second footrests (310, 320) may be positioned with the vertical frame (400) therebetween. The user may have a posture in which he or she sits on the chair (900) and places his or her right foot on the first footrest (310) and his or her left foot on the second footrest (320). The footrest (300) may be positioned to be inclined at a predetermined angle so that the user can feel the comfort of his or her legs when he or she places his or her feet on the footrest (300). In various embodiments, the footrest (300) may be configured to be rotatable within a predetermined angle range around a connection point with the third lower frame (130), and may be configured to maintain a specific angle after the rotation.

In various embodiments, at least one of the first and second footrests (310, 320) may be provided with a button that is operated by a physical force applied by a foot to control the driving speed of the walking vehicle (10).

The mobility assistance device and detachable walking vehicle (10) according to an embodiment of the present invention may further include a shin support part (330).

The shin support (330) may further include first and second shin support (331, 332). The first and second shin support (331, 332) may be installed on the first vertical frame (410). In addition, the first and second shin support (331, 332) may be positioned with the first vertical frame (410) therebetween. After the user sits on the chair (900), while the walker (10) supports the user's standing, the shin areas of the user's two feet may contact the shin support (330), thereby preventing the user's two legs from moving forward and temporarily fixing and supporting the positions of the user's two legs.

In various embodiments, the shin support member (330) may be configured in a height-adjustable form. The shin support member (330) may be manually or automatically adjusted in height.

Figure 3 is a block diagram of a control unit according to an embodiment of the present invention.

Referring to FIG. 3, the control unit (20) may include a controller (21), memory (22), and power supply (24).

The controller (21) may include a processor. The processor may be any integrated circuit (IC). In various embodiments, the processor may include one or more cores, each having on-die instruction and data caches. The processor may be a superscalar processor having a single pipeline or multiple pipelines. In another embodiment, the processor may be an application specific IC (ASIC). In yet another embodiment, the processor may include one or more computational blocks on a system-on-a-chip (SOC). Any family of transistors may be used to implement the processor. Examples include metal oxide semiconductor field effect transistors (MOSFETs) and bipolar junction transistors (BJTs).

The memory (22) is a configuration that stores data related to the operation of the walking vehicle (10). Here, the memory (22) can use a known storage medium, and for example, can use one or more of the known storage media such as ROM, PROM, EPROM, E EPROM, RAM, etc. In particular, a standing support mechanism program (application or applet) can be stored in the memory (22), and the stored information can be selected by the processor as needed.

The control unit (20) may further include a communication module (23). The communication module (23) may be implemented in various forms, such as a short-range communication module, a wireless communication module, a mobile communication module, or a wired communication module.

The power supply (24) can provide power required to drive the control unit (20). In various embodiments, the power supply (24) can include a battery module, and the battery module can be configured to be rechargeable using external power.

The communication module (23) can receive a remote command signal from an external terminal.

The control unit (20) can receive a remote command signal through the communication module (23), interpret the remote command signal, and control the overall operation of the walking vehicle (10) accordingly. In addition, the control unit (20) can also transmit the operation status information of the walking vehicle (10) to an external terminal through the communication module (23).

The driving device (30) may be composed of a plurality of driving devices, and may include, for example, a driving device for adjusting the height of the vertical frame (400) and the side frame (500) and a driving device for the rotational movement of the handle frame (600).

The driving device (30) can adjust the height of the vertical frame (400) and the side frame (500) and adjust the rotation angle of the handle frame (600) based on the command signal of the control unit (20).

In various embodiments, the driving device (30) may further include a driving device that enables the chair (900) to rotate about a point connected to the handle frame (600). In addition, the driving device (30) may rotate the chair (900) at a predetermined angle based on a command signal from the control unit (20).

In various embodiments, the driving device (30) may further include a driving device for driving the wheel unit (200). The driving device (30) may control the rotation of the wheel constituting the wheel unit (200) and the rotation angle of the wheel unit (200) about the central axis of the connection point between the wheel unit (200) and the lower frame (100) based on a command signal from the control unit (20). Accordingly, the walking vehicle (10) may be moved by its own power and may be moved in various directions.

In various embodiments, a steering device capable of controlling the direction of movement of the walking vehicle (10) may be provided on the main handle portion (800). In addition, an input device capable of controlling the driving speed of the walking vehicle (10) may be provided on the main handle portion (800), but is not limited thereto, and may be provided on the footrest portion (300).

In addition, a brake device for slowing down the speed of the walking vehicle (10) may be provided in the main handle part (800). The control part (20) detects the operation of the input device and the brake device and controls the wheel part (200), thereby controlling the moving direction and moving speed of the walking vehicle (10). In various embodiments, the brake device may be provided in the footrest part (300).

In addition, a button for supporting the standing of the walking vehicle (10) may be provided on the main handle part (800). However, this is not limited to this, and the button for supporting the standing of the walking vehicle (10) may be installed at another location. The control part (20) may control the driving device (30) to perform the standing support operation of the walking vehicle (10) in response to receiving a command signal for supporting the standing of the walking vehicle (10) through the button for supporting the standing of the walking vehicle (10).

In various embodiments, the main handle part (800) may be provided with an input device for adjusting the seating position. However, the present invention is not limited thereto, and the input device for adjusting the seating position may be installed in another part of the walker (10). The control part (20) may control the driving device (30) in response to receiving a command signal through the input device for adjusting the seating position, thereby adjusting the height of the vertical frame (400) and the first and second side frames (540, 550). In addition, the control part (20) may adjust the rotation angle of the handle frame (600) in response to receiving a command signal through the input device for adjusting the seating position. The user may adjust the height and the grip position of the handle frame (600) when sitting so as to maintain a comfortable seating posture on the walker (10) by operating the input device for adjusting the seating position.

FIG. 4 is a schematic diagram illustrating a state in which a user is seated on a mobility assistance device and a detachable walking vehicle according to an embodiment of the present invention, FIG. 5 is a schematic diagram illustrating a user moving with the assistance of a mobility assistance device and a detachable walking vehicle according to an embodiment of the present invention, and FIG. 6 is a schematic diagram illustrating a state in which a first and second chairs are separated from each other, rotated and fixed inwardly of the first and second handle frames, and a user moves with the assistance of the walking vehicle. In addition, FIGS. 7 and 8 are schematic diagrams illustrating a state in which a user is seated on and stands up in a walking vehicle from the side of the walking vehicle in order to explain a method for supporting a user's standing up.

Referring to FIGS. 1 and 4, a user can sit on a walking vehicle (10).

The user can place both feet or one foot on the footrest (300) while sitting on the chair (900). Then, the user can ride the walker (10) in various directions by operating the input device and the brake device provided on the main handle part (800). In various embodiments, the user can also operate the input device and the brake device provided on the footrest (300) to control the driving speed of the walker (10).

Referring to FIGS. 5 and 6, the user can stand up with the support of the walker (10) and walk while assisted by the walker (10). At this time, the user can move in various directions while walking together with the walker (10) by assisting the movement of the walker (10) itself through the operation of the input device and the brake device provided in the main handle part (800). In addition, when the user completes the stand-up, the chair (900) is separated into first and second chairs (910, 920), and each of them rotates so that the first chair (910) rotates inwardly of the first handle frame (610) and is fixed, and the second chair (920) rotates inwardly of the second handle frame (620) and is fixed, thereby opening up space toward the rear of the walker (10), thereby ensuring ample space for the user's movement when walking.

Referring to FIGS. 7 and 8, the control unit (20) can control the driving device (30) to perform a stand-up support operation of the walker (10). The control unit (20) can control at least one of the height of the vertical frame (400) and the first and second side frames (540, 550), the rotation angle of the chair (900), and the rotation angle of the handle frame (600) in response to receiving a command signal through the stand-up support button. For example, by increasing the height of the vertical frame (400) and the first and second side frames (540, 550), power can be provided in an upward direction necessary for the user to establish a posture when standing up, and by rotating the chair (900), the user's buttocks area can be pushed toward the front of the walker (10), thereby providing auxiliary power necessary for the user to stand up. In addition, the position of the user's two arms can be moved downward in accordance with the rotation of the handle frame (600) in response to the rotation of the chair (900). In addition, the chair (900) pushes the user's buttocks toward the front of the walker (10) and at the same time, the shin support (330) supports the user's shins, so that the chair (900) and the shin support (330) can limit the range of change in the user's forward and backward position. Accordingly, the walker (10) provides auxiliary power to the user in response to the user's natural movement when standing up by his or her own strength. Therefore, the walker (10) can help the user to stand up naturally without exerting much force by varying the positions of each component constituting the walker (10) in response to the change in the user's posture due to the user's standing up.

In various embodiments, the controller (21) can detect height information of the vertical frame (400) and angle information of the first and second handle frames (610, 620) when the user is seated. In addition, the controller (21) can detect height information of the vertical frame (400) and angle information of the first and second handle frames (610, 620) when the user is standing. The controller (21) can estimate the position of the user's shin based on the height information of the vertical frame (400) and angle information of the first and second handle frames (610, 620) when the user is seated and when the user is standing. That is, the controller (21) detects the height information of the chair (900) based on the height of the vertical frame (400) when the user is seated and the angle information of the first and second handle frames (610, 620), estimates the distance between the user's knee and the ground, and first estimates the position of the shin. Then, the controller (21) estimates the distance between the user's waist and the ground based on the height of the vertical frame (400) and the angle information of the first and second handle frames (610, 620) when the user is standing, and secondarily estimates the position of the shin. Finally, the position of the user's shin can be estimated based on the first and second estimates. Then, the controller (21) can adjust the height of the shin support member (330) based on the estimated position of the user's shin. Accordingly, the chair (900) pushes the user's buttocks toward the front of the walker (10) while the shin support member (330) accurately supports the user's shins, thereby maintaining the balance of the force applied to the front and back of the user, thereby allowing the user to maintain a sense of balance in the posture when standing up.

Fig. 9 is a perspective view of a movement assistance device according to an embodiment of the present invention. And, Fig. 10 is a block diagram of a movement assistance device according to an embodiment of the present invention.

Referring to FIGS. 9 and 10, a walking vehicle (10) and a detachable mobility assistance device (700) according to an embodiment of the present invention may include a footrest frame (710), a footrest portion (711) installed on the inside of the footrest frame (710), a mobility assistance sub-wheel (730) and a mobility assistance main wheel (740) installed on the outside of the footrest frame (710), and a docking portion (720) installed on an area of an upper surface of the footrest portion (711) and connected to the walking vehicle (10).

Additionally, the mobility assistance device (700) may include a driving control unit (750).

The driving control unit (750) may include a mobility assistance device processor (751), a mobility assistance device memory (752), a mobility assistance device communication module (753), and a mobility assistance device power supply unit (754) including a battery and a battery management device that can be charged with external power.

The mobility assistance sub-wheel (730) may include a 1-1 mobility assistance sub-wheel (731) installed on one outer side of the foot frame (710), a 1-2 mobility assistance sub-wheel (732) facing the 1-1 mobility assistance sub-wheel (731) and installed on the other outer side of the foot frame (710), a 2-1 mobility assistance sub-wheel (733) installed on one outer side of the foot frame (710) and positioned on the same line as the 1-1 mobility assistance sub-wheel (731) and moved at a predetermined interval, a 2-2 mobility assistance sub-wheel (734) facing the 2-1 mobility assistance sub-wheel (731) and positioned on the same line as the 1-2 mobility assistance sub-wheel (732) and spaced at a predetermined interval therefrom and installed on the other outer side of the foot frame (710).

In addition, the movement-assisting main wheel (740) may include a first movement-assisting main wheel (741) positioned between and on the same line as the first-first movement-assisting sub-wheel (731) and the second-first movement-assisting sub-wheel (733), and a second movement-assisting main wheel (742) positioned between and on the same line as the first-first movement-assisting sub-wheel (732) and the second-first movement-assisting sub-wheel (734), and installed on the other outer side of the foot frame (710).

The driving motor for driving the assistive mail wheel (740) may be installed on the foot frame (710). The driving control unit (750) may control the driving motor for driving the assistive mail wheel (740) to provide driving force to the assistive mail wheel (740) so that the assistive device (700) can move. In addition, the assistive device (700) may be moved together with the walker (10) while attached to the walker (10).

In addition, the movement-assisting sub-wheel (730) is installed at the front and rear of the footrest frame (710) with the movement-assisting main wheel (740) in between, and can rotate by frictional force with the ground in response to the rotation of the movement-assisting main wheel (740), and can enable the movement-assisting device (700) to maintain a balanced posture on the ground.

FIG. 11 illustrates a part of a first vertical frame of a walking vehicle, FIG. 12 illustrates a part of a walking vehicle with a mobility assistance device coupled to the walking vehicle, FIG. 13 is a block diagram of a control unit according to another embodiment of the present invention, and FIG. 14 (a) schematically illustrates a walking vehicle according to an embodiment of the present invention being moved by a mobility assistance device while a user is seated on the walking vehicle, and (b) schematically illustrates a walking vehicle being moved by a mobility assistance device while a user is standing.

Referring to Fig. 11, unlike the first vertical frame (410) in Fig. 1, a fastening module (410a) may be installed on the inner side. Here, the inner side is the side of the first vertical frame (410) that faces the user using the walking vehicle (10).

A fastening module moving rail device (411) for moving the fastening module (410a) up and down may be provided on the inner surface of the first vertical frame (410).

The fastening module (410a) is fastened to the fastening module moving rail device (411) and can be driven up or down according to the control of the controller (21).

The fastening module (410a) may include a fastening main body (412) and a fastening arm (413). The fastening main body (412) may be coupled to a fastening module moving rail device (411) and driven upward or downward. In addition, the fastening arm (413) may be installed on the lower side of the fastening main body (412) and may move toward the ground (downward driving) or away from the ground (upward driving) depending on the upward or downward driving of the fastening main body (412).

As shown in Fig. 12, when the mobility assistance device (700) is positioned between the first and second lower frames (110, 120) of the walking vehicle (10), the controller (21) recognizes that the mobility assistance device (700) is in the process of docking, and then drives the fastening module (410a) downward so that the fastening arm part (413) is fastened to the docking part (720). When the fastening arm part (413) is inserted into the docking hole (721) provided in the docking part (720), the fastening arm part (413) can be fixedly fastened within the docking part (720).

As shown in Fig. 13, the control unit (20) according to another embodiment of the present invention may further include a first docking sensor (25). The first docking sensor (25) may be installed in the fastening arm portion (413), but is not limited thereto, and may be installed on the lower surface of the fastening main body portion (412).

In various embodiments, a first docking sensor (25) may be installed on the lower surface of the fastening arm (413), and a second docking sensor (755) may be installed in the docking hole (721). However, this is not limited to the second docking sensor (755) and the second docking sensor (755) may be installed in an area of the upper surface of the docking unit (720). In addition, when the fastening arm (413) and the docking hole (721) are vertically aligned with each other, the second docking sensor (755) may be installed on an area of the upper surface of the docking unit (720) that faces the first docking sensor (25).

The mobility assistance device (700) can move forward at a predetermined speed after being positioned between the first and second lower frames (110, 120) of the walking vehicle (10) by autonomous driving. In addition, the first docking sensor can continuously monitor whether the second docking sensor detects. When the first docking sensor and the second docking sensor face each other, the first docking sensor can transmit the detection signal of the second docking sensor to the controller (21), and the second docking sensor can transmit the detection signal of the first docking sensor to the mobility assistance device processor (751).

The mobility assistance device processor (751) stops the position of the mobility assistance device (700) in response to detection of the first docking sensor from the second docking sensor, and then moves the mobility assistance device (700) forward and backward by a predetermined distance, finds a point where the docking hole (721) and the fastening arm part (413) are vertically aligned, and fixes the position of the mobility assistance device (700) at the point where the docking hole (721) and the fastening arm part (413) are vertically aligned. When the position alignment of the mobility assistance device (700) is completed, the mobility assistance device processor (751) can transmit a docking-capable signal to the walking vehicle (10) through the mobility assistance device communication module (753). The controller (21) of the walking vehicle (10) responds to receiving a docking-capable signal from the mobility assistance device (700) by checking whether the first docking sensor (25) detects the second docking sensor (755), and if detection of the second docking sensor (755) is confirmed, the controller (21) can drive the fastening module (410a) downward to insert the fastening arm part (413) into the docking hole (721). If the docking part (720) detects the insertion of the fastening arm part (413) into the docking hole (721), the fastening arm part (413) can be fixedly fastened to the docking part (720).

Referring to Fig. 14, as in (a) of Fig. 14, a user can sit on a walking vehicle (10) attached to a mobility assistance device (700). The user can ride the walking vehicle (10) according to the movement of the mobility assistance device (700). The driving force for the movement of the walking vehicle (10) is provided by the rotation of the wheels in the mobility assistance main wheels (740) of the mobility assistance device (700). In addition, the user can adjust the rotation angle of the wheel part (200) of the walking vehicle (10) by operating the steering device provided on the walking vehicle (10), and control the movement direction of the walking vehicle (10) accordingly. In addition, as in (b) of Fig. 14, the user can move in a desired direction by standing up on the walking vehicle (700) while the mobility assistance device (700) is attached to the walking vehicle (10) and operating the steering device of the walking vehicle (10).

FIG. 15 is a perspective view of a mobility assistance device according to another embodiment of the present invention, and FIG. 16 illustrates a part of a detachable walking carriage and the mobility assistance device of FIG. 15 according to another embodiment of the present invention.

Referring to FIG. 1, FIG. 15, and FIG. 16, a movement assistance sub-wheel (730) of a movement assistance device (700) according to another embodiment of the present invention may be configured to be rotatable within a predetermined angular range around an imaginary axis perpendicular to the ground.

In various embodiments, among the movement-assisting sub-wheels (730), the first-first movement-assisting sub-wheel (731) and the first-second movement-assisting sub-wheel (732) may be configured to be rotatable within a predetermined angular range. In various embodiments, an electromagnet may be installed on the outer surface of the movement-assisting sub-wheel (730). The processor (751) may control the electromagnet so that the electromagnet has one polarity.

As shown in FIG. 16, when the mobility assistance device (700) and the walking vehicle (10) are docked with each other, the outer surface of the mobility assistance sub-wheel (730) of the mobility assistance device (700) and the inner surface of the wheel unit (200) face and come into contact with each other. Specifically, the inner surface of the first right wheel unit (211) and the outer surface of the 2-1 mobility assistance sub-wheel (733) come into contact with each other, the inner surface of the second right wheel unit (212) and the outer surface of the 1-1 mobility assistance sub-wheel (731) come into contact with each other, the inner surface of the first left wheel unit (221) can come into contact with the outer surface of the 2-2 mobility assistance sub-wheel (734), and the inner surface of the second left wheel unit (222) can come into contact with the outer surface of the 1-2 mobility assistance sub-wheel (732).

When the processor (751) of the mobility assistance device (700) detects the completion of docking between the walking vehicle (10) and the mobility assistance device (700), it can control the electromagnet of the mobility assistance sub-wheel (730) so that the electromagnet has polarity. The outer surface of the mobility assistance sub-wheel (730) has polarity, and accordingly, it can be magnetically coupled with the metal of the inner surface of the wheel unit (200) and fixed to each other. In various embodiments, the controller (21) controls the electromagnet provided on the inner surface of the wheel unit (200) in response to detecting the completion of docking between the walking vehicle (10) and the mobility assistance device (700) so that it has a different polarity from the electromagnet of the mobility assistance sub-wheel (730), so that the outer surface of the mobility assistance sub-wheel (730) and the inner surface of the wheel unit (200) are magnetically fixedly coupled to each other.

When a user sits on a walker (10) or stands up on a mobility assistance device (700) coupled to the walker (10) and the walker (10) moves according to the rotation of the wheels of the mobility assistance main wheels (740) of the mobility assistance device (700), the user can control a steering device provided on the walker (10) to determine a steering direction through the wheel unit (200). Then, the wheel unit (200) can rotate within a predetermined radius around a virtual axis perpendicular to the ground according to the control of the steering device. At this time, the wheel unit (200) and the mobility assistance sub-wheel (730) magnetically coupled can rotate together as one unit. In detail, the user can control the rotation angles of the second right wheel unit (212) and the second left wheel unit (222) by controlling the steering device, and according to the change in the rotation angles thereof, the rotation angles of the first-first movement-assisting sub-wheel (731) and the first-second movement-assisting sub-wheel (732) which are magnetically coupled and integrated with them can be naturally changed. That is, since the wheel of the walking vehicle (10) and the wheel of the movement-assisting device (700) are integrated, the steering angle of the wheel of the walking vehicle (10) can be changed according to the steering angle of the wheel of the walking vehicle (10) without interference between them.

FIG. 17 is a perspective view of a mobility assistance device according to another embodiment of the present invention, FIG. 18 illustrates a state before coupling a mobility assistance device and a walking vehicle according to another embodiment of the present invention, and FIG. 19 illustrates a state after coupling a mobility assistance device and a walking vehicle according to another embodiment of the present invention. In addition, FIG. 20 (a) schematically illustrates a state in which a walking vehicle according to an embodiment of the present invention is moved by a mobility assistance device while a user is seated on the walking vehicle, and (b) schematically illustrates a state in which a walking vehicle is moved by a mobility assistance device while a user is standing.

Referring to FIG. 17, a movement assistance device (700) according to another embodiment of the present invention may include a pair of movement assistance wheel parts (760), a pair of footrest parts (770), and a pair of fastening parts (780). The pair of movement assistance wheel parts (760) may be composed of first and second movement assistance wheel parts (761, 762), the pair of footrest parts (770) may be composed of first and second footrest parts (771, 772), and the pair of fastening parts (780) may be composed of first and second fastening parts (781, 782).

The first fastening portion (781) connects the first movement assistance wheel portion (761) and the first footrest portion (771) to each other and can be connected therebetween, and can be configured to rotate within a predetermined radius range based on an imaginary axis parallel to the ground centered on the connection point between the first fastening portion (781) and the first movement assistance wheel portion (761). In addition, the second fastening portion (782) connects the second movement assistance wheel portion (762) and the second footrest portion (772) to each other and can be connected therebetween, and can be configured to rotate within a predetermined radius range based on an imaginary axis parallel to the ground centered on the connection point between the second fastening portion (782) and the second movement assistance wheel portion (762).

In various embodiments, one side of the first footrest part (771) and one side of the second footrest part (772) may be configured to be detachably attached to each other. When they are connected to each other, their upper surfaces may form the same plane, and the upper surfaces may become an area where a user steps. In a state where the first and second footrest parts (771, 772) are disconnected from each other, the first footrest part (771) may rotate about the connection point of the first fastening part (781) such that the upper surface of the first footrest part (771) and the inner surface of the first movement assistance wheel part (761) face each other, and the second footrest part (772) may rotate about the connection point of the second fastening part (782) such that the upper surface of the second footrest part (772) and the inner surface of the second movement assistance wheel part (762) face each other.

Referring to FIGS. 18 and 19, a first fastening guide groove (111) may be formed in a first lower frame (110) of a walking vehicle (10) according to another embodiment of the present invention, and a second fastening guide groove (121) may be formed in a second lower frame (120).

The first fastening guide groove (111) may be a groove formed by extending from the upper surface of the first lower frame (110) in the downward direction to a predetermined depth, extending forward along the longitudinal direction of the first lower frame (110) to a predetermined length, extending downward again to a predetermined depth, and then extending forward again along the longitudinal direction of the first lower frame (110) to a predetermined length. In addition, the second fastening guide groove (121) may be a groove formed by extending from the upper surface of the second lower frame (120) in the downward direction to a predetermined depth, extending forward along the longitudinal direction of the second lower frame (120) to a predetermined length, extending downward again to a predetermined depth, and then extending forward again along the longitudinal direction of the second lower frame (120) to a predetermined length.

Looking at the fastening relationship between the mobility assistance device (700) and the walking vehicle (10), the mobility assistance device (700) is positioned between the first and second lower frames (110, 120) of the walking vehicle (10), and the first fastening part (781) and the second fastening part (782) of the mobility assistance device (700) are rotated so that the first fastening part (781) can be inserted into the first fastening guide groove (111), and the second fastening part (782) can be inserted into the second fastening guide groove (121). And, while moving the movement assistance device (700) to the front of the walking vehicle (10) in response to the shape of the grooves of the first and second fastening guide grooves (111, 121) and simultaneously rotating the first and second fastening portions (781, 782), the first and second fastening portions (781, 782) can be inserted into the ends of the first and second fastening guide grooves (111, 121). When the first and second fastening portions (781, 782) are inserted into the ends of the first and second fastening guide grooves (111, 121), the first and second fastening portions (781, 782) and the first and second fastening guide grooves (111, 121) can be fixedly fastened. And, a button for releasing the fixation thereof can be provided on the first and second lower frames (110, 120).

Referring to Fig. 20, as in (a) of Fig. 20, a user can sit on a walking vehicle (10) to which a mobility assistance device (700) is attached. The user can ride the walking vehicle (10) according to the movement of the mobility assistance device (700). The driving force for the movement of the walking vehicle (10) is provided by the rotation of the wheels provided in the mobility assistance wheel unit (760) of the mobility assistance device (700). In addition, the user can adjust the rotation angle of the wheel unit (200) of the walking vehicle (10) by operating the steering device provided on the walking vehicle (10) and control the moving direction of the walking vehicle (10) accordingly. In addition, as shown in (b) of FIG. 20, when the mobility assistance device (700) is coupled to the walking vehicle (10), the user can steer in a desired direction by standing up on the mobility assistance device (700) and operating the steering device of the walking vehicle (10), and can move in a desired direction by riding the walking vehicle (10) according to the driving of the mobility assistance device (700).

In various embodiments, the controller (21) can determine whether the mobility assistance device (700) is attached to the walking vehicle (10). In addition, the controller (21) can detect height information of the vertical frame (400) and angle information of the first and second handle frames (610, 620) when the user is seated. In addition, the controller (21) can detect height information of the vertical frame (400) and angle information of the first and second handle frames (610, 620) when the user is standing. The controller (21) can estimate the position of the user's shin based on the height information of the vertical frame (400) and the angle information of the first and second handle frames (610, 620) when the user is seated and when the user is standing. That is, the controller (21) detects the height information of the chair (900) based on the height of the vertical frame (400) when the user is seated and the angle information of the first and second handle frames (610, 620), estimates the distance between the user's knee and the upper surface of the footrest (770) of the mobility assistance device (700) to primarily estimate the position of the shin, and secondarily estimates the distance between the user's waist and the upper surface of the footrest (770) of the mobility assistance device (700) based on the height of the vertical frame (400) when the user is standing and the angle information of the first and second handle frames (610, 620), and then finally estimates the position of the user's shin based on the first and second estimates. Then, the controller (21) can adjust the height of the shin support (330) based on the estimated position of the user's shin. Accordingly, the chair (900) pushes the user's buttocks toward the front of the walker (10) and at the same time, the shin support member (330) accurately supports the user's shins, thereby maintaining the balance of the force applied to the front and back of the user, thereby allowing the user to maintain a sense of balance in the posture when standing up. In addition, since the user stands up on the mobility assistance device (700) when the mobility assistance device (700) is attached to the walker (10), the height of the user's shins changes, and accordingly, the estimated position of the user's shins may vary depending on whether the mobility assistance device (700) is attached, and the height of the shin support member (330) may be adjusted accordingly. Accordingly, the embodiment can support the user so that the user can stand up naturally by appropriately preventing the user's center of gravity from deviating significantly from the front and back depending on whether the mobility assistance device (700) is attached when the user stands up.

FIGS. 21 and 22 illustrate a walking vehicle according to another embodiment of the present invention from various angles.

Referring to FIGS. 21 and 22, a walking vehicle (10) according to another embodiment of the present invention may include a lower frame (100), a wheel part (200), a vertical frame (400), a side frame (500), a handle frame (600), and a chair (900).

The lower frame (100) may include first and second lower frames (110, 120) that are parallel to each other and spaced apart by a predetermined distance, and a third lower frame (130) that is connected to one end of each of the first and second lower frames (110, 120) and positioned perpendicular to them. One side of the first lower frame (110) and one side of the third lower frame (130), which are connection points between the first lower frame (110) and the third lower frame (130), may be fastened inside the first housing (101), and one side of the second lower frame (120) and the other side of the third lower frame (130), which are connection points between the second lower frame (120) and the third lower frame (130), may be fastened inside the second housing (102). The first to third subframes (110, 120, 130) may be configured as a frame having an overall 'ㄷ' shape, and the third subframe (130) may be positioned higher from the ground than the first and second subframes (110, 120), but is not limited thereto.

The wheel part (200) may include a right wheel part (210) and a left wheel part (220).

The right wheel unit (210) may include first and second right wheel units (211, 212), and the left wheel unit (220) may include first and second left wheel units (221, 222).

The first right wheel part (211) is installed on the lower side of the first lower frame (110), and the second right wheel part (212) is installed in the first housing (101) and can be spaced apart from each other by a predetermined distance.

The first left wheel part (221, 222) is installed on the lower side of the second lower frame (120), and the second left wheel part (222) is installed in the second housing (102) and can be spaced apart from each other by a predetermined distance.

Here, the second right wheel part (212) and the second left wheel part (222) may be configured to control the driving direction of the walking vehicle (10) by rotating at the same angle and in the same direction under the control of the steering device. In various embodiments, the second right wheel part (212) may be fastened to a steering gear that rotates under the control of the steering device inside the first housing (101), and the second left wheel part (222) may be fastened to a steering gear that rotates under the control of the steering device inside the second housing (102). In various embodiments, when a user walks using the walking vehicle (10), the second right wheel part (212) and the second left wheel part (222) may naturally rotate in the corresponding direction by a physical force applied to the walking vehicle (10) in the left or right direction, thereby allowing the walking vehicle (10) to move in the direction desired by the user.

The wheel unit (200) supports the walking vehicle (10) from the ground and enables the walking vehicle (10) to move. In various embodiments, the wheel unit (200) may be configured to rotate at a predetermined angle around a connecting axis between the wheel unit (200) and the lower frame (100), so that the walking vehicle (10) may be configured to move in various directions.

In various embodiments, the wheel of the wheel unit (200) may be configured to be rotatable by external power. The external power here may include not only a physical force applied to the walking vehicle (10) by a user of the walking vehicle (10), but also power provided by a device such as a motor. In order to provide power to the second right wheel unit (212) and the second left wheel unit (222), a power device for providing power for the rotation of the second right wheel unit (212) and the second left wheel unit (222) may be installed within the first and second housings (101, 102). In various embodiments, in order to provide power to the first right wheel unit (211) and the first left wheel unit (221), a power device for providing power for the rotation of the first right wheel unit (211) and the first left wheel unit (221) may be installed within the first and second lower frames (110, 120).

In addition, the wheel unit (200) includes a tire and a wheel wrapped by the tire, and a brake system for controlling the rotation speed of the second right wheel unit (212) and the second left wheel unit (222) can be installed in the second right wheel unit (212) and the second left wheel unit (222).

The vertical frame (400) can be installed on the lower frame (100). The vertical frame (400) can be installed on the third lower frame (130). The third lower frame (130) and the vertical frame (400) can be connected to each other in a form that penetrates the side surface of the lower portion of the vertical frame (400). The vertical frame (400) can be positioned vertically with respect to the third lower frame (130).

The vertical frame (400) may be positioned perpendicularly to each other as two vertical frames. The movable vertical frame (402) positioned on the upper side of the two vertical frames may be configured to move upward or downward from the fixed vertical frame (401) positioned on the lower side. A vertical movement power device (490) for moving the movable vertical frame (402) may be provided on the fixed vertical frame (401).

The side frame (500) may include first and second side frames (540, 550).

The first side frame (540) is connected to the first lower frame (110) and can be positioned vertically with respect to the first lower frame (110), and the second side frame (550) is connected to the second lower frame (120) and can be positioned vertically with respect to the second lower frame (120). The first side frame (540) and the first lower frame (110) can be connected to each other within the first housing (101), and the second side frame (550) and the second lower frame (120) can be connected to each other within the second housing (102).

The first and second side frames (540, 550) may have symmetrical shapes and may be positioned facing each other. The first and second side frames (540, 550) may be formed by extending from the lower frame (100) in a direction perpendicular to the lower frame (100) and extending in a form that is bent at a predetermined angle in the rearward (Y-direction) direction, which is the opposite direction of the forward direction in which the walking vehicle (10) moves, at a predetermined height point.

In various embodiments, each of the first and second side frames (540, 550) may be configured to have an adjustable height. In various embodiments, each of the first and second side frames (540, 550) may be configured with two side frames, one of which is connected to the lower frame (100) and the other may be configured to be inserted into the other side frame and be raised and lowered therefrom, and a power device for raising and lowering the side frame (500) may be installed within the side frame (500) so that the height can be adjusted through the raising and lowering motion of the side frame (500). In addition, the first and second side frames (540, 550) may be variable to the same height, and they are configured so that the height can be changed in the same manner as the height change of the vertical frame (400).

The side frame (500) may include first to third connecting frames (510, 520, 530).

The first connecting frame (510) may extend forward (in the -Y direction) from the first side frame (540) in a direction parallel to the ground, the second connecting frame (520) may extend forward (in the -Y direction) from the second side frame (550) in a direction parallel to the ground, and the third connecting frame (530) may connect the first and second connecting frames (510, 520) to each other and be positioned perpendicular to them. In various embodiments, the first to third connecting frames (510, 520, 530) may be configured integrally with each other.

One side of the first connecting frame (510) may be connected to the first side frame (540) and the other side may be connected to one side of the third connecting frame (530), and one side of the second connecting frame (520) may be connected to the second side frame (550) and the other side may be connected to the other side of the third connecting frame (530).

The central region of the third connecting frame (530) can be connected to the vertical frame (400). In various embodiments, the third connecting frame (530) can be connected to the vertical frame (400) in a form that penetrates the left and right sides of the upper side of the vertical frame (400).

The vertical frame (400) and the first and second side frames (540, 550) can maintain the same height in synchronization with each other. That is, the vertical frame (400) and the first and second side frames (540, 550) can be driven up or down simultaneously to adjust the overall height of the handle frame (600).

In various embodiments, the first and second side frames (540, 550) may be height-variable, but there may be no separate power device for lifting and lowering. In this case, the height may be naturally varied by matching the height of the vertical frame (400) by a physical force applied to the first and second side frames (540, 550) through the first to third connecting frames (510, 520, 530) according to the height change by the vertical frame (400).

Additionally, the side frame (500) may further include a shin support fastening frame (560). The shin support fastening frame (560) may be connected between the first and second side frames (540, 550).

The handle frame (600) may include first and second handle frames (610, 620).

The first handle frame (610) can be connected to the first side frame (540), and the second handle frame (620) can be connected to the second side frame (550).

The first handle frame (610) may be composed of a first-first handle frame (611) and a first-second handle frame (612). The first-first handle frame (611) may be composed of a bar type, and the first-second handle frame (612) may be composed of a bar type by extending from one side of the first-first handle frame (611). A virtual axis along the longitudinal direction of the first-first handle frame (611) and a virtual axis corresponding to the longitudinal direction of the first-second handle frame (612) may have a predetermined angle with each other. That is, the first-second handle frame (612) may be composed by extending while bending at a predetermined angle in the downward direction from one side of the first-first handle frame (611). In addition, one point of the first-second handle frame (612) may be connected to the upper end of the first side frame (540).

The second handle frame (620) may be composed of a second-first handle frame (621) and a second-second handle frame (622). The second-first handle frame (621) may be composed of a bar type, and the second-second handle frame (622) may be composed of a bar type by extending from one side of the second-first handle frame (621). A virtual axis along the longitudinal direction of the second-first handle frame (621) and a virtual axis corresponding to the longitudinal direction of the second-second handle frame (622) may have a predetermined angle with each other. That is, the second-second handle frame (622) may be composed by extending while bending downward at a predetermined angle from one side of the second-first handle frame (621). In addition, one point of the second-second handle frame (622) may be connected to the upper end of the second side frame (550).

The user can hold the 1-1 handle frame (611) with the right hand and the 2-1 handle frame (621) with the left hand as needed.

In addition, the handle frame (600) may further include a third handle frame (640). The third handle frame (640) may include a third-first handle frame (641) formed by extending upward from the first-second handle frame (612) while forming a predetermined angle with the first-second handle frame (612), and a third-second handle frame (642) formed by extending upward from the second-second handle frame (622) while forming a predetermined angle with the second-second handle frame (622).

In addition, the handle frame (600) may further include a fourth handle frame (660) that connects the first-first handle frame (611) and the second-first handle frame (621) to each other. The user may hold the fourth handle frame (660) with both hands as needed.

In addition, the handle frame (600) may further include a fifth handle frame (670) that connects the first-second handle frame (612) and the second-second handle frame (622) to each other. The user may hold the fifth handle frame (670) with both hands as needed.

A chair (900) can be installed between the 3-1 handle frame (641) and the 3-2 handle frame (642).

The chair (900) may be made of a material that allows the user to feel comfortable when sitting, and the chair (900) may include a cushion.

The chair (900) may include a first chair (910) and a second chair (920).

The first chair (910) can be installed on the 3-1 handle frame (641), and the second chair (920) can be installed on the 3-2 handle frame (642).

In various embodiments, the first chair (910) and the second chair (920) may be configured in a form that is fastened or unfastened to each other. In various embodiments, when the first and second chairs (910, 920) are unfastened, the first chair (910) may be configured in a form that folds by rotating inwardly of the 3-1 handle frame (641), and the second chair (92) may be configured in a form that folds by rotating inwardly of the 3-2 handle frame (642).

The first and second chairs (910, 920) can rotate at the same angle in synchronization with each other. For their rotation, a rotation drive device can be installed on the third handle frame (640).

In addition, according to the rotation of the first and second handle frames (610, 620), the chair (900) installed between the first and second handle frames (610, 620) is released from the first and second chairs (910, 92) and can rotate while drawing a predetermined rotation radius.

The mobility assistance device and detachable walking vehicle (10) according to an embodiment of the present invention may further include a footrest (300).

The footrest (300) can be installed on the third lower frame (130). The footrest (300) can be connected to a vertical connecting frame (140) formed by extending downward from the lower side of the third lower frame (130) with the vertical frame (400) in between.

In various embodiments, the footrest (300) may be configured to be connected to the vertical connecting frame (140) and move forward or backward.

The user can assume a posture of placing both feet on the footrest (300) while sitting on the chair (900). The footrest (300) may be configured to be inclined at a predetermined angle so that the user can feel the comfort of the legs when placing the feet on the footrest (300). In various embodiments, the footrest (300) may be configured to be rotatable within a predetermined angle range around a connection point therewith while being connected to the vertical connection frame (140), and may be configured to maintain a specific angle after the rotation.

In various embodiments, the footrest (300) may be moved forward when the user walks using the walker (10). The user may also manipulate the position of the footrest (300) through a control unit provided on the handle frame (600).

In various embodiments, the footrest (300) may be provided with a button that is operated by a physical force applied by the foot to control the driving speed of the walking vehicle (10).

The mobility assistance device and the detachable walking vehicle (10) according to an embodiment of the present invention may further include a shin support part (330).

The shin support member (330) may be installed on the shin support fastening frame (560). The front of the shin support member (330) may face the user and may be positioned at a predetermined angle on the shin support fastening frame (560). That is, the shin support member (330) may be installed on the shin support fastening frame (560) at a predetermined incline so that the upper side thereof is positioned closer to the front of the walking vehicle (10) than the lower side thereof.

After the user sits on the chair (900), while the walker (10) supports the user's standing, the shins of the user's two feet come into contact with the shin support member (330), thereby preventing the user's two legs from moving forward and temporarily fixing and supporting the position of the user's two legs.

In various embodiments, the shin support member (330) may be configured to have an adjustable height. The shin support member (330) may be manually or automatically adjusted in height, and may be configured to rotate around the connection point of the shin support fastening frame (560) to change the angle formed with respect to the ground.

Figures 23 and 24 schematically illustrate a user standing up with the assistance of a walking cart.

Referring to FIGS. 21 to 24, a user can stand up with the support of the walker (10) and walk while assisted by the walker (10). At this time, the user can move in various directions while walking together with the walker (10) by assisting the movement of the walker (10) itself through the operation of the input device and the brake device provided in the main handle part (800). In addition, when the user has completed standing up, the chair (900) is separated into first and second chairs (910, 920), and each of them rotates so that the first chair (910) rotates inwardly of the first handle frame (610) and is fixed, and the second chair (920) rotates inwardly of the second handle frame (620) and is fixed, thereby opening up space toward the rear of the walker (10), thereby ensuring ample space for the user's movement when walking.

In addition, the control unit (20) can control the driving device (30) to perform the stand-up support operation of the walker (10). The control unit (20) can control at least one of the height of the vertical frame (400) and the first and second side frames (540, 550) and the rotation angle of the chair (900) in response to receiving a command signal through the stand-up support button. For example, power can be provided in the upward direction necessary for the user to establish a posture when standing up by increasing the height of the vertical frame (400) and the first and second side frames (540, 550). In addition, by supporting the user's buttocks area through the rotation of the chair (900) and simultaneously pushing the walker (10) toward the front, auxiliary power necessary for the user to stand up can be provided. In addition, the user can release the force from the buttocks lifting operation and have the buttocks and shins come into close contact with the shin support member (330). That is, the chair (900) pushes the user's buttocks toward the front of the walker (10) and at the same time, the shin support (330) supports the user's shins, so that the chair (900) and the shin support (330) can limit the range of change in the user's forward and backward position. Accordingly, the walker (10) provides auxiliary power to the user in response to the user's natural movement when standing up by his or her own strength. Accordingly, the walker (10) can help the user to stand up naturally without exerting much force by changing the positions of each component constituting the walker (10) in response to the change in the user's posture due to the user's standing up.

In addition, a user who can move on his own power can move while leaning on the walker (10) with his buttocks supported on the chair (900). In addition, the user can lightly support his buttocks on the chair (900) and support his shins on the shin support member (330) so that the user's lower body is in contact between the chair (900) and the shin support member (330), allowing the user with a bent back to move while leaning on the walker (10).

In various embodiments, the controller (21) can detect height information of the vertical frame (400) when the user is seated. In addition, the controller (21) can detect height information of the vertical frame (400) when the user is standing. The controller (21) can estimate the position of the user's shin based on the height information of the vertical frame (400) when the user is seated and when the user is standing. That is, the controller (21) detects height information of the chair (900) according to the height of the vertical frame (400) when the user is seated, estimates the distance between the user's knee and the ground, and first estimates the position of the shin, and secondarily estimates the distance between the user's waist and the ground according to the height of the vertical frame (400) when the user is standing, and then finally estimates the position of the user's shin based on the first and second estimates. And, the controller (21) can adjust the height and/or angle of the shin support (330) based on the estimated position of the user's shin. Accordingly, while the chair (900) pushes the user's buttocks toward the front of the walker (10), the shin support (330) accurately supports the user's shin, thereby maintaining the balance of the force applied to the front and back of the user, thereby allowing the user to maintain a sense of balance in the posture when standing.

FIG. 25 and FIG. 26 schematically illustrate a detachable mobility assistance device attached to a walking vehicle according to various embodiments of the present invention.

Referring to FIG. 25, a detachable moving assistance device (800) according to various embodiments may include a moving main body part (810), a detachable bracket (820), and a moving assistance wheel part (840).

A detachable mobility assistance device (800) can be installed on the forward side of the walking vehicle (10) to assist the movement power of the walking vehicle (10).

The detachable bracket (820) is installed on the moving body (810), and the detachable bracket (820) can be fastened to the third lower frame (130) of the walking vehicle (10). The detachable bracket (820) can be composed of first and second detachable brackets (821, 822), which can be installed on each of both sides of the moving body (810). Each of the first and second detachable brackets (821, 822) can be fastened to the third lower frame (130) with the vertical frame (400) of the walking vehicle (10) interposed therebetween. Each of the first and second detachable brackets (821, 822) can be configured in a form that can be fastened to the third lower frame (130).

The movement assistance wheel part (840) is configured to be stored inside the moving main body part (810), and a part of the movement assistance wheel part (840) is exposed from the moving main body part (810) toward the ground and can come into contact with the ground. The movement assistance wheel part (840) may be configured with a plurality of wheels. For example, the movement assistance wheel part (840) may be configured with first and second movement assistance wheel parts (841, 842).

Referring to FIG. 26, according to various embodiments, a detachable mobility assistance device (800) may be installed on the rear side of a walking vehicle (10) to assist the movement power of the walking vehicle (10). A detachable bracket (820) may be detachably installed on the first and second lower frames (110, 120) of the walking vehicle (10). The first detachable bracket (821) may be attached to the first lower frame (110), and the second detachable bracket (822) may be attached to the second lower frame (120).

The detachable mobility assistance device (800) may include a driving control unit (750) as described in FIGS. 9 and 10, and the driving control unit (750) may include a mobility assistance device processor (751), a mobility assistance device memory (752), a mobility assistance device communication module (753), and a mobility assistance device power supply unit (754) including a battery and a battery management device that can be charged with external power.

A drive motor for providing rotational power to a movement assistance wheel unit (840) may be mounted inside a moving main body (810) of a detachable movement assistance device (800). A driving control unit (750) controls the drive motor to enable movement of the movement assistance device (800). As the movement assistance device (800) moves, a walking vehicle (10) connected thereto may move together.

As described in (a) of FIG. 14, a user can sit on a walking vehicle (10) to which a mobility assistance device (800) is attached. The user can ride the walking vehicle (10) according to the movement of the mobility assistance device (800). The driving force for the movement of the walking vehicle (10) is provided by the rotation of the wheels in the mobility assistance wheel unit (840) of the mobility assistance device (800). In addition, the user can adjust the rotation angle of the wheel unit (200) of the walking vehicle (10) by operating the steering device provided on the walking vehicle (10), and control the moving direction of the walking vehicle (10) accordingly. In addition, as described in (b) of FIG. 14, the user can stand up on the mobility assistance device (800) while the mobility assistance device (800) is attached to the walking vehicle (10) and operate the steering device of the walking vehicle (10) to move in a desired direction.

The embodiments of the present invention described above may be implemented in the form of program commands that can be executed through various computer components and recorded on a computer-readable recording medium. The computer-readable recording medium may include program commands, data files, data structures, etc., alone or in combination. The program commands recorded on the computer-readable recording medium may be those specially designed and configured for the present invention or those known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands, such as ROMs, RAMs, and flash memories. Examples of the program commands include not only machine language codes generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc. The hardware devices may be changed into one or more software modules to perform processing according to the present invention, and vice versa.

The specific implementations described in the present invention are only exemplary embodiments and do not limit the scope of the present invention in any way. For the sake of brevity of the specification, descriptions of conventional electronic configurations, control systems, software, and other functional aspects of the systems may be omitted. In addition, the connections or lack of connections of lines between components illustrated in the drawings are merely exemplary of functional connections and/or physical or circuit connections, and may be replaced or represented as various additional functional connections, physical connections, or circuit connections in an actual device. In addition, if there is no specific mention such as “essential,” “important,” etc., it may not be a component absolutely necessary for the application of the present invention.

In addition, although the detailed description of the present invention has been described with reference to preferred embodiments of the present invention, it will be understood by those skilled in the art or having common knowledge in the art that various modifications and changes can be made to the present invention without departing from the spirit and technical scope of the present invention as described in the claims below. Accordingly, the technical scope of the present invention should not be limited to the contents described in the detailed description of the specification, but should be defined by the claims.

Mobility aids and removable walkers (10)
Control unit (20), controller (21), memory (22), communication module (23), power supply (24), driving device (30)
Lower frame (100), first to third lower frames (110, 120, 130)
1st fastening guide home (111), 2nd fastening guide home (121)
Wheel part (200), right wheel part (210)
1st and 2nd right wheel parts (211, 212)
Left wheel section (220), first and second left wheel sections (221, 222)
Footrest (300), first and second footrests (310, 320)
Shin support (330), first and second shin support (331, 332)
Vertical frame (400), first to third vertical frames (410, 420, 430)
Fastening module (410a), moving rail device (411), fastening main body (412), fastening arm (413)
Side frame (500), first to third connecting frames (510, 520, 530)
First and second side frames (540, 550)
Handle frame (600), first and second handle frames (610, 620)
Side guide part (630), first and second side guide parts (631, 632)
No. 1-1 handle frame (611), No. 1-2 handle frame (612)
2-1 handle frame (621), 2-2 handle frame (622)
Main handle part (800), first and second main handle parts (810, 820)
Front handle (890)
Chair (900), Chair 1 and 2 (910, 920)
Moving assistance device (700), foot frame (710), foot part (711), docking part (720)
Mobility Assist Subwheel (730)
1-1 Moving Auxiliary Sub-Wheel (731), 1-2 Moving Auxiliary Sub-Wheel (732)
2-1 Moving Auxiliary Subwheel (733), 2-2 Moving Auxiliary Subwheel (734)
Moving auxiliary main wheel (740), 1st moving auxiliary main wheel (741), 2nd moving auxiliary main wheel (742)
Driving control unit (750), processor (751), movement assistance device memory (752)
Mobility assistance device communication module (753), mobility assistance device power supply (754)
Mobility assistance wheel part (760), first and second mobility assistance wheel parts (761, 762)
Footrest section (770), first and second footrest sections (771, 772)
Fastener (780), first and second fasteners (781, 782)

Claims (7)

subframe;
Wheel unit installed on the above lower frame;
A vertical frame installed on the above lower frame;
A side frame installed on the above lower frame and having its height adjusted in response to the height adjustment of the vertical frame;
A handle frame installed on the above side frame;
including a chair installed on the above handle frame;
The above vertical frame is provided with a moving rail device and a fastening module that moves up or down on the moving rail device.
The above-mentioned fastening module is docked with a moving assistance device that provides driving power.
Mobility aids and removable walkers. In the first paragraph,
The above-mentioned fastening module detects the position of the docking part of the above-mentioned moving assistance device,
When the moving assistance device is positioned in a position where the above-mentioned fastening module and the above-mentioned docking unit can be docked, the above-mentioned fastening module is driven downward and fixedly connected to the above-mentioned docking unit.
Mobility aids and removable walkers. In the second paragraph,
The above fastening module includes a fastening main body that can be driven up or down from the moving rail device and a fastening arm installed on the lower side of the fastening main body.
The above-mentioned fastening part is inserted into the docking hole of the above-mentioned docking part and is fixedly connected to the above-mentioned docking part.
Mobility aids and removable walkers. In the third paragraph,
The walking vehicle is driven by the rotation of the movement-assisting main wheel of the movement-assisting device including the movement-assisting sub-wheel that rotates by friction with the ground and the movement-assisting main wheel that rotates by receiving driving force from the driving motor.
Mobility aids and removable walkers. In the first paragraph,
The above side frame includes first and second side frames installed on the lower frame and positioned with the user interposed therebetween,
The above handle frame includes a first handle frame installed on the first side frame and a second handle frame installed on the second side frame.
The above chair is installed between the first and second handle frames.
Mobility aids and removable walkers. In clause 5,
The above chair includes a first chair installed on the first handle frame and a second chair installed on the second handle frame,
The above first and second chairs are configured to be detachable from each other,
The first chair is configured to be rotatable around the connection point of the first handle frame, and the second chair is configured to be rotatable around the connection point of the second handle frame, so that when the user is in a standing state, the first and second chairs are separated from each other, and the first chair rotates inwardly of the first handle frame, and the second chair rotates inwardly of the second handle frame, thereby securing a rearward space when the user walks.
A walker that assists the user in standing up. In Article 6,
When a user transitions from a seated state on the chair to a standing state, the user's standing is supported by adjusting at least one of the heights of the vertical frame, the side frame, the angle of the chair, and the angle of the handle frame.
The above user rides the above mobility assistance device in a standing position and moves with the above walking vehicle.
A walker that assists the user in standing up.