Mobility support device with step climbing mechanism

Patent metadata

Field	Value
Publication number	US-12569382-B2
Application number	US-202117907301-A
Country	US
Kind code	B2
Filing date	Mar 30, 2021
Priority date	Mar 31, 2020
Publication date	Mar 10, 2026
Grant date	Mar 10, 2026

Abstract

A mobility support device capable of stably climbing a step without impairing mobility on flat ground is provided. The mobility support device includes a front wheel, a rear wheel, a drive wheel disposed between the front wheel and the rear wheel, a first link coupled to the front wheel, a second link connecting the drive wheel and the rear wheel, a rotation joint coupling the first link and the second link at a first position, and a first elastic member coupling the first link and the second link at a second position different from the first position.

First claim

The invention claimed is:

1 . A mobility support device, comprising:
a front wheel; a rear wheel; a drive wheel disposed between the front wheel and the rear wheel; a first link coupled to the front wheel; a second link connecting the drive wheel and the rear wheel; a rotation joint coupling the first link and the second link at a first position; and a first elastic member coupling the first link and the second link at a second position different from the first position, the first elastic member being disposed above the first position, wherein the first elastic member is disposed to connect a rear end portion of the second link to a horizontal portion of the first link.

2 . The mobility support device according to claim 1 , wherein
the first link includes a first sub-link coupled to the second link by the rotation joint, a second sub-link, as the horizontal portion, coupled to the second link by the first elastic member, and a third sub-link coupled to the front wheel, and the second sub-link has a variable length.

3 . The mobility support device according to claim 2 , wherein
the second link includes a fourth sub-link, as the rear end portion, coupled to the first elastic member, a fifth sub-link coupled to the drive wheel, and a sixth sub-link connecting the fourth sub-link and the fifth sub-link, and the sixth sub-link is coupled to an end portion of the first sub-link by the rotation joint.

4 . The mobility support device according to claim 1 , wherein
the second link includes a fourth sub-link, as the rear end portion, coupled to the first elastic member, a fifth sub-link coupled to the drive wheel, and a sixth sub-link connecting the fourth sub-link and the fifth sub-link, and the sixth sub-link is coupled to the first link by the rotation joint.

5 . The mobility support device according to claim 1 , wherein the first link includes a slider mechanism that is slidable in a travel direction.

6 . The mobility support device according to claim 5 , wherein the slider mechanism includes a second elastic member configured to stretch in the travel direction.

7 . The mobility support device according to claim 6 , wherein the second elastic member returns the front wheel that retracts in a direction of the drive wheel during step climbing to an initial position.

8 . The mobility support device according to claim 1 , wherein
the first link is a downward open U-shaped link, the second link is an upward open U-shaped link, and the first link and the second link are coupled to each other in a reverse direction.

9 . The mobility support device according to claim 1 , wherein
contraction of the first elastic member generates a counterclockwise moment in the rotation joint, and expansion of the first elastic member generates a clockwise moment in the rotation joint.

10 . The mobility support device according to claim 1 , wherein
the first elastic member is disposed between the first link and the second link as a separate member.

Assignees

• Univ Tsukuba

Inventors

• Suzuki Kenji
• Sasaki Kai

Classifications

• A61G5/1078

  with shock absorbers or other suspension arrangements between wheels and frame · CPC title

• A61G2200/36

  standing · CPC title

• A61G5/043

  Mid wheel drive · CPC title

• A61G5/068 Primary

  with extensible supports pushing upwards, e.g. telescopic legs · CPC title

• A61G5/06 Primary

  with obstacle mounting facilities, e.g. for climbing stairs, {kerbs or steps} · CPC title