ASSISTANCE SYSTEM FOR MANUAL WHEELCHAIR

Abstract

Title: ASSISTANCE SYSTEM FOR MANUAL WHEELCHAIR The invention relates to an assistance system (10) for a manual wheelchair and a manual wheelchair equipped therewith, said system comprising a mounting base (50) configured to be fixed to a manual wheelchair frame, a battery, a motor module (20) comprising at least one first electric motor configured to drive a wheel of the motor module (20) in rotation. Figure for the abstract: Fig. 1

Description

Title of the invention: ASSISTANCE SYSTEM FOR MANUAL WHEELCHAIR Scope of the invention

[0001] The invention relates to the field of assistive devices for persons with reduced mobility. More specifically, the invention relates to the field of manual and electric wheelchairs. The invention relates to assistance in the movement of persons with reduced mobility, temporarily disabled persons, and elderly persons. State of the art

[0002] Manual wheelchairs are known from the prior art. A manual wheelchair is a device that assists people with reduced mobility to move around. More specifically, a manual wheelchair has a seat on which the user sits and a backrest to support the user's back. The wheelchair also includes two main wheels located on the sides of the chair, with handles that allow the user to turn the wheels to propel the chair, brake it when it picks up speed, or steer it. Such wheelchairs are well-known and effective for enabling people with reduced mobility, the elderly, or people who are temporarily disabled to move around. Such wheelchairs are generally foldable or modular to allow, for example, transport in the trunk of a car or compact storage. However, they have several drawbacks.First, such wheelchairs are only suitable for people with lower limb disorders, as the user's arms are used to propel the chair. Second, such wheelchairs are very uncomfortable when used on sloping surfaces, as propelling the chair uphill requires a great deal of energy from the user. Finally, the use of manual propulsion can lead to musculoskeletal disorders such as tendinitis for regular users of such wheelchairs.

[0003] Electric wheelchairs also exist. Such wheelchairs generally have an electric motor and a battery integrated into a frame, which are usually relatively heavy. The wheelchair has a control device, usually in the form of a joystick, allowing the user to control the wheelchair's electric motor. This device allows control of the motor(s) to move the wheelchair forward and brake it. Such a wheelchair overcomes some of the drawbacks of the art The existing system allows for motorized transportation adapted to a wider range of people with reduced mobility and facilitates movement on sloping terrain. However, such a device remains very heavy and bulky. For example, when moving the wheelchair and its occupant, it is difficult to fold, requiring a specially adapted vehicle with ample storage space and a ramp to load the wheelchair onto the vehicle. Similarly, such wheelchairs do not allow for manual movement, particularly when the battery is depleted and can no longer power the motor. These wheelchairs are also very expensive.

[0004] One of the objects of the invention is to overcome the disadvantages of the prior art. Summary of the invention

[0005] The invention relates to a manual wheelchair assistance system comprising a mounting base configured to be fixed to a manual wheelchair frame and a motor module, said motor module comprising: - a housing comprising at least one removable fastening means configured to cooperate with an attachment means for the mounting base; - a battery; - a wheel fixed in translation relative to the casing; - at least one initial electric motor.

[0006] The wheel is driven in rotation about a first axis of rotation and about a second axis of rotation perpendicular to the first axis of rotation. The system includes a means for controlling the first and second motors.

[0007] The assistance system according to the invention thus makes it possible to motorize a manual wheelchair by attaching the removable mounting means of the housing to the attachment means of the mounting base. In this way, the system is removable on a manual wheelchair, allowing for quick and easy removal and reattachment of the system to the wheelchair, thus facilitating seamless transitions between motorized and manual use. Similarly, the device according to the invention is lightweight, allowing for easy transport of both the system and the wheelchair. Furthermore, the ease of disassembly of the system allows for easy storage and transport of the wheelchair, for example, in the trunk of a car.

[0008] According to one embodiment, the wheel is intended to be in contact with a surface of a floor on which the wheelchair is placed when the housing is attached to the fixing base.

[0009] According to one embodiment, the wheel is in contact with a surface of a floor on which the wheelchair is placed when the housing is attached to the fixing base.

[0010] According to one embodiment, the wheel is mechanically connected to the housing with at least two degrees of rotational freedom.

[0011] According to one embodiment, the first electric motor is configured to drive the wheel in rotation about the first axis of rotation, the assistance system further comprising a second electric motor configured to drive the wheel in rotation about the second axis of rotation.

[0012] According to one embodiment the first motor is integrated into the wheel.

[0013] According to one embodiment, the second motor is integrated into the housing.

[0014] According to one embodiment, the removable fastening means comprises at least one hook, and in which the fastening means comprises at least one rod configured to cooperate with the hook and to perform the removable fastening.

[0015] According to one embodiment, the first axis of rotation of the wheel is perpendicular to a principal plane of said wheel, and in which the first electric motor is servo-controlled to enable the propulsion and braking of the wheel.

[0016] According to one embodiment, the braking by the first motor is a regenerative braking allowing the battery of the assistance system to be recharged.

[0017] According to one embodiment, the assistance system includes a controller controlling the rotation and / or braking of the first motor.

[0018] According to one embodiment, the removable fastening means and / or the attachment means comprises at least one magnet configured to maintain contact between a contactor of the attachment means and a contactor of the removable fastening means.

[0019] According to one embodiment, the controller includes a user interface comprising means for controlling the propulsion and / or braking of the assistance system.

[0020] The invention also relates to a manual wheelchair which includes an assistance system according to the invention and in which the fixing base is fixed on a frame of the manual wheelchair. Brief description of the figures

[0021] Other features and advantages of the invention will become apparent from the following detailed description, with reference to the accompanying figures, which illustrate:

[0022] [Fig-1]: A perspective view of a wheelchair assistance system manual according to an embodiment of the invention.

[0023] [Fig.2]: a perspective view of a motor module of the manual wheelchair assistance system according to the embodiment of [Fig.1].

[0024] [Fig.3]: a front view of the motor module of the manual wheelchair assistance system according to the embodiment of [Fig.1].

[0025] [Fig.4]: a side view of the motor module of the manual wheelchair assistance system according to the embodiment of [Fig.1].

[0026] [Fig. 5]: A perspective view of a mounting base for the assistance system manual wheelchair according to the embodiment of [Fig.1].

[0027] [Fig.6]: a perspective view of a manual wheelchair equipped with an assistance system according to an embodiment of the invention.

[0028] [Fig.7]: a perspective view of a detail of [Fig.4].

[0029] [Fig.8]: a perspective view of a motor module of the assistance system according to an embodiment of the invention lacking a part of the casing. Description of the invention

[0030] Figure 1 represents an embodiment of an assistance system 10 for a manual wheelchair. The assistance system is shown in perspective in this figure.

[0031] The assistance system 10 according to the invention comprises a motor module 20. Figures 2, 3, and 4 show the motor module 20 in perspective. The motor module 20 comprises a housing 30. The housing 30 comprises a rigid enclosure protecting at least one or more components located inside it. The term "housing 30" also refers to the frame of the motor module 20. The housing 30 of the motor module comprises at least one removable mounting means 32. This removable mounting means 32 is preferably fixed to an external surface of the housing 30. In one embodiment, the removable mounting means 32 is integrated into the housing 30.

[0032] The assistance system 10 includes a wheel 40. The wheel 40 preferably includes a tire 42. By tire 42 is meant a circular band made of rubber and other textile and / or metallic materials. Alternatively, the tire 42 may be made of plastic. The tire may be inflated with air, for example, or be solid. The wheel 40 has a general disc shape. The wheel 40 therefore includes a principal plane, the spokes of the disc formed by said wheel 40 being contained within it.

[0033] The wheel 40 is fixed in translation relative to the housing 30. By fixed in translation, we mean that the wheel 40 cannot move in translation along an axis of translation relative to the housing 30.

[0034] The motor module 20 of the assistance system 10 includes at least one first electric motor 46. The first electric motor 46 is configured to convert electrical energy into rotational motion. In other words, the first motor 46 is configured to supply mechanical energy to the assistance system 10. The assistance system 10 includes a battery. A battery is defined as any system for storing electrical energy. A battery can therefore be a cell or an accumulator. The battery is configured to supply electrical power to at least the first electric motor 46.

[0035] The assistance system 10 includes a mounting base 50. The mounting base 50 is configured to be fixed to a wheelchair 60. Preferably, the base of The mounting bracket 50 is configured to be attached to a wheelchair frame 62, but can be attached to any other part of the wheelchair 60. Preferably, the mounting bracket 50 is attached to a manual wheelchair 60. The mounting bracket 50, as well as the entire assistance system 10, can also be attached to a non-manual wheelchair, for example, a motorized wheelchair. Additionally, the system can be attached to any type of means of transport or handling, such as a trolley.

[0036] The mounting base 50 includes an attachment means 52. An attachment means 52 is any means to which the removable attachment means 32 of the housing 30 can be attached or secured in order to connect the housing to said mounting base 50. A removable attachment is a connection between the removable attachment means 32 and the mounting base 50 that allows these two elements to be joined, while still allowing them to be easily separated. In other words, the motor module 20 can be easily installed and removed from the mounting base 50. Advantageously, the attachment means 52 of the mounting base 50 allows the motor module 20 to rotate, enabling the wheel 40 to move vertically relative to the ground on which the chair rests. In this way, this rotation allows a movement of the wheel 40 allowing the motor module 20 to be raised to pass obstacles that would be in its path.

[0037] Preferably, the mounting base 50 is fixed rigidly to the frame 62 of the wheelchair 60. Advantageously, this mounting base 50 is removable from the frame of the wheelchair 60. In other words, the fixing of the mounting base 50 does not damage the frame 62 of the wheelchair 60.

[0038] The wheel 40 is in contact with the surface of a floor on which the wheelchair 60 is when the system is installed on the wheelchair 60.

[0039] The wheel 40 is free to rotate relative to the housing 30 about a first axis of rotation Ab. The first axis of rotation Ai is substantially perpendicular to a principal plane of the wheel 40. Preferably, the first axis of rotation Ai passes through a point C which is substantially the center of the wheel 40. The wheel is driven in rotation about the first axis of rotation Ai by the assistance system 10. This rotation of the wheel 40 about the first axis Ai allows propulsion of a manual wheelchair 60 on which the assistance system 10 would be installed. Similarly, this rotational drive of the wheel 40 allows braking of the wheelchair 60 when it is already in translational motion.

[0040] The wheel 40 is free to rotate relative to the housing 30 about a second axis of rotation A2. Advantageously, the second axis of rotation A2 is perpendicular to the first axis of rotation Ab. In other words, the second axis of rotation A2 lies in the principal plane of the wheel 40. Thus, a rotation of the wheel 40 about the The second axis of rotation A2 allows the main plane of the wheel 40 to pivot. Thus, when the system is installed on a wheelchair 60 and the wheelchair is moving forward, the rotation of the wheel around the second axis of rotation A2 allows its main plane to pivot so that it is not aligned with the movement of the wheelchair 60. Therefore, the rotation of the wheel 40 around the second axis of rotation A2 allows the wheelchair to turn as it moves forward. In other words, this rotation allows the wheelchair 60 to transition from a rectilinear motion to a circular motion.

[0041] The system according to the invention advantageously allows for removable attachment to a wheelchair. In this way, the system can be removed when the user does not wish to have a motor on their wheelchair, and replaced when the need for a motor arises. Similarly, the possibility of removing the motor facilitates storage, particularly for transport, of the wheelchair. Indeed, once the motor module 20 is removed from the wheelchair, the wheelchair can be folded or disassembled normally, for example, to be stored in a vehicle trunk. Likewise, the motor module 20 can be easily stored because it can be separated from the wheelchair. Finally, the system according to the invention allows for a removable motor that enables both propulsion of the wheelchair along a straight trajectory and along a circular trajectory, by adjusting the direction of propulsion.In this way, the user can easily make turns with a wheelchair equipped with the assistance device, without having to use their upper limbs to operate the side wheels of the wheelchair. Engine

[0042] According to one embodiment, the system 10 includes a second electric motor 48. The second electric motor 48 is visible in [Fig. 8], which is a perspective view of the motor module 20 in its housing 30, said housing 30 being open. According to this embodiment, the second electric motor 48 drives the rotation of the wheel 40 about the second axis of rotation. Thus, according to this embodiment, it is the second motor 48 that enables the circular trajectory of the chair 60 when it is in motion by pivoting the wheel 40.

[0043] According to one embodiment, the first electric motor 46 performs rotation about the first axis of rotation Ai only. It is according to this embodiment that the first motor 46 propels the wheelchair 60 by rotation of the wheel 40.

[0044] According to one embodiment, the first electric motor 46 is integrated into the wheel 40. In other words, the first electric motor 46 is located in the wheel 40, between the first axis of rotation Ai and the tire of said wheel 40. In this way, the system is more compact than a system with a remote motor. Similarly, this presence of the motor integrated into the wheel 40 makes it possible to dispense with a transmission system, which This allows the system to be streamlined and its cost reduced.

[0045] According to one embodiment, the first motor 46 is a DC motor.

[0046] According to one embodiment, the first electric motor is a brushless motor, also known as a "brushless" motor. Brushless motors are reliable and reduce maintenance compared to a brushed motor.

[0047] According to one embodiment, the second motor 48 is located in the housing 30. In this way, the second motor is positioned so as to be able to easily control the rotation around the second axis of rotation A2.

[0048] According to one embodiment, the second motor 48 directly drives the wheel in rotation along the second axis of rotation A2.

[0049] According to one embodiment, the motor module 20 includes a fork 44. The fork 44 allows the wheel 40 and the housing 30 of the motor module 20 to be connected. Preferably, the fork 44 has two arms, each being connected to a rotation shaft of the wheel 40 at the first rotation axis Ab. The two arms grip the wheel 40. According to a variant, the fork 44 has only one arm.

[0050] In one embodiment, the second motor 48 is directly rotationally linked to the fork 44 of the wheel 40. This arrangement allows the wheel 40 to be driven directly around the second axis of rotation A2. In another embodiment, a gearbox is placed between the wheel 40 and the second motor 48. In other words, the gearbox allows the rotational speed supplied by the second motor 48 to be adapted to the rotation of the wheel 40 around the second axis of rotation A2. Therefore, the rotational speed can be adjusted to impart the desired movement to the fork 44 when the wheelchair is to turn.

[0051] In one embodiment, the motor module 20 of the system 10 includes the battery. In another embodiment, the housing 30 of the module 20 of the system 10 includes the battery. In this embodiment, the battery is integrated into the housing 30 and is fixed to it. In another embodiment, the battery is removable from the motor module 20. This feature allows for quick battery replacement. In another embodiment, the battery is detachable from the housing 30. In this way, the battery can easily be removed from and reattached to the motor module 20. Thus, when the battery runs out of electrical energy, it can easily be replaced with a charged battery. The battery can therefore be recharged, and the system 10 according to the invention can continue to be used. In one embodiment, the motor module 20 includes an electrical connection. The electrical connection allows the battery to be connected to a power source.This connection allows the battery to be recharged. According to one embodiment, the electrical connection of the housing 30 includes at least one magnet configured to cooperate with a . The connecting cable is held in place by a magnet. This allows the cable to be connected to the electrical connection by magnetic interaction. Similarly, the cable can be abruptly disconnected from the connection without damaging the cable or the electrical connection. In one embodiment, the electrical connection of the unit 30 includes at least one USB-C port. This type of connection advantageously allows data transfer from a computer and / or mobile phone to the unit 30. For example, this can be used to update the control software of the assistance system 10. The connection can be made using any type of electrical connection that a person skilled in the art would consider, particularly any type of connection that allows both electrical power and data transfer.

[0052] In one embodiment, the first motor 46 is electrically controlled. The control of the first electric motor 46 allows for precise control of its operation, and therefore stability in the propulsion of the assistance system 10. In one embodiment, the first motor 46 is speed-controlled. Such control allows for precise control of the rotational speed of the first motor 46, and therefore, by extension, precise control of the forward speed of the wheelchair on which the assistance system 10 is installed. In one embodiment, the first motor 46 is position-controlled. In one embodiment, the first motor 46 is torque-controlled. In one embodiment, the first motor 46 is torque-controlled and speed-controlled. In one embodiment, the first motor 46 is speed-controlled and position-controlled. In one embodiment, the first motor 46 is torque-controlled and position-controlled.According to one embodiment, the first motor 46 is servo-controlled in speed, position and torque.

[0053] In one embodiment, the first motor 46 is configured to perform motor braking. The motor brake slows the movement of the wheelchair 60 when the first motor 46 is activated as a brake. Using the first motor 46 as a brake advantageously eliminates the need for mechanical braking, which uses wear parts requiring maintenance. The braking also allows the wheelchair user 60 to navigate slopes safely. In one embodiment, the braking performed by the first motor 60 is regenerative braking. Regenerative braking refers to the recovery of electrical energy generated by the first motor 46 during braking. Advantageously, the electrical energy generated by braking is used to recharge the battery of the assistance system 10. This arrangement increases the autonomy of the assistance system 10.

[0054] According to one embodiment, the second motor 48 is electrically controlled. The control of the second electric motor 48 allows for good control of its operation, and therefore stability in the control of the direction of the assistance system 10. In one embodiment, the second motor 48 is position-controlled. Such control allows precise control of the angular position of the rotation shaft of the second motor 48, and therefore, by extension, precise control of the angular orientation of the wheel 40 about the second axis of rotation A2. Thus, the turning radius of the wheelchair 60 on which the assistance system 10 is installed is effectively controlled. In one embodiment, the second motor 48 is speed-controlled. In one embodiment, the second motor 48 is torque-controlled. In one embodiment, the second motor 48 is torque-controlled and speed-controlled. In one embodiment, the second motor 48 is speed-controlled and position-controlled. In one embodiment, the second motor 48 is torque-controlled and position-controlled.In one embodiment, the second motor 48 is servo-controlled in terms of speed, position, and torque. In another embodiment, the turning radius, defined by the angular orientation of the wheel 40 about the second axis of rotation A2, is changed according to the forward speed of the wheelchair 60 equipped with the system 10. In other words, the angle of the wheel 40, when turning, can be adjusted according to the wheelchair's speed. In this way, a very short turning radius can be achieved for very sharp turns when the wheelchair is moving slowly, and a larger turning radius when the wheelchair 60 is moving at a higher speed. This arrangement prevents excessively sharp turns when the wheelchair 60 is moving at its maximum speed. In this way, the risk of the wheelchair 60 tipping over during turns is reduced.

[0055] According to one embodiment, the wheel 40 is driven in rotation by the second motor 48 until it reaches an angular orientation in which the wheelchair 60 can turn on the spot. In this configuration, the wheel 40 is rotated at an angle close to 90° relative to its straight-line position. This arrangement is particularly practical when the wheelchair 60 needs to turn in confined spaces. The maneuverability of the wheelchair 60 is therefore greatly improved by this arrangement. Fixing

[0056] The removable mounting means 32 of the motor module 20 is advantageously attached to the housing 30. Figure 2 shows a motor module 30 of the assistance system 10. The removable mounting means 32 preferably includes a plate serving as a base for attaching it to the housing 30. Advantageously, the plate of the removable mounting means 32 is screwed onto the housing 30. In one embodiment, the mounting means includes at least one hook 34. The hook 34 advantageously includes a beak, which is the end portion of said hook 34. The hook advantageously includes a base, which is the end portion of the hook 34 that is connected to the The hook 34 serves as a base for the removable attachment means 32. The hook 34 advantageously includes a seat, which is the portion of the hook located between the beak and the base, into which the hook 34 is curved. This portion serves to receive an element of the attachment base 50 for the purpose of the removable attachment. The hook 34 is configured to cooperate with the attachment means 52 of the attachment base 50. The hook has an advantageous shape that allows it to absorb forces in the direction of travel of the wheelchair 60 to which the assistance system 10 is attached. The hook 34 is oriented so that its beak points vertically downwards. In other words, the beak of the hook 34 is oriented substantially in the direction of the wheel 40 of the motor module 20. Advantageously, the seat of the hook 34 forms a substantially horizontal surface when the assistance system 10 is installed on a wheelchair 60.In this way, the hook 34 is able to absorb vertical forces. The hook 34 therefore ensures the balance of the motor module 30 when it is fixed to a wheelchair 60.

[0057] According to one embodiment, the removable mounting means 32 for the motor module 20 comprises at least two hooks 34. In one embodiment, the two hooks 34 are positioned so as to be vertically at the same level on the housing 30 when the assistance system 10 is installed on the wheelchair 60. The two hooks 34 are only horizontally offset from each other when the system is attached to a wheelchair 60. Having two hooks 34 provides a more robust attachment and also greater stability of the motor module 60 once it is attached to the wheelchair 60. The presence of the two laterally offset hooks also allows for the absorption of torques that would be oriented substantially along a vertical axis when the system 10 is attached to the wheelchair 60.

[0058] Figure 5 shows a mounting base 50 of an assistance system 10 according to the invention. The mounting base 50 is preferably fixed to a tubular element of the frame 62 of the wheelchair 60. More specifically, the mounting base 50 preferably has a cavity 56 whose size is adapted to allow the passage of a tubular element of the frame 62. Preferably, the mounting base 50 is fixed tightly around the tubular element of the frame 62. Thus, the mounting base 50 is fixed in position on the frame 62 and can serve as a fixing element for the motor module 20 on the frame 62 of the wheelchair 60. In one embodiment, a crossbar is added to the frame of the wheelchair 60. According to this embodiment, the mounting base 50 is fixed to the crossbar that is added to the frame 62 of the wheelchair 60.This arrangement is particularly advantageous when the wheelchair 60 has a folding frame which is cross-shaped and therefore does not offer a substantially horizontal tubular element on which to fix the fixing base 50.

[0059] According to one embodiment, the fixing base 50 comprises two parts Attachable parts 58, 59. The mounting base 50 comprises a mounting portion 58 and an anchoring portion 59. The mounting portion 58 includes the attachment means 52. A separation between the anchoring portion 59 and the mounting portion 58 is formed at the cavity 56. More precisely, the separation divides the cylindrical cavity 56 in two. The separation passes through a radial plane of the cylinder formed by the cavity 56, cutting it to form two half-cylinders. Thus, when attaching the mounting base 50 to the frame 62, it is sufficient to separate the two parts 58, 59 and position them around the tubular element of the frame 62 so as to clamp said tubular element. In this way, the mounting base 50 forms a jaw around the tubular element of the frame 62. Such an arrangement is visible in particular in figures 6 and 7, which are views of the assistance system 10 installed on a wheelchair 60.Advantageously, the mounting base has at least one tapped hole through the mounting portion 58 and the anchoring portion 59. Advantageously, the mounting base 50 has two tapped holes, each through the mounting portion 58 and the anchoring portion 59. The mounting base 50 has at least one screw, preferably two, configured to cooperate with the tapped hole in the mounting base 50 to hold the mounting portion 50 and the anchoring portion 59 together. In this way, it is possible to tighten the mounting base 50 around the tubular element of the frame 62 of the wheelchair 60.

[0060] According to one embodiment, the mounting base is directly integrated into the frame 62 of the wheelchair 60. In this way, no installation is required for the mounting base 50. For example, a frame 62 has a portion directly projecting from the body of said frame 62. The projecting portion of the frame includes the attachment means 52 for the mounting base 50.

[0061] According to one embodiment, the attachment means 52 of the mounting base 50 comprises at least one rod 54. The rod 54 is configured to cooperate with a hook 54 of the removable mounting means 32 of the motor module 20. According to one embodiment, the attachment means 52 of the mounting base 50 comprises at least two rods 54.

[0062] We will now describe the interaction between the removable fixing means 32 of the motor module and the attachment means 52 of the fixing base 50.

[0063] When the mounting base 50 is fixed to the frame 62 of the wheelchair 60, a user brings the removable fastening means 32 close to the attachment means 52. The hook(s) 34 of the fastening means 32 are aligned with the rod(s) 54 of the attachment means 52. The rod(s) 54 are then inserted into the portion of the hooks 34 that form the seats of said hooks 34. Once the rod(s) 54 are inserted, the system is in the position shown in [Fig. 1]. It can be seen that this fastening is removable because the hooks 34 are easily inserted into and removed from the rod(s) 54 of the Attachment means 52. The motor module 20 of the assistance system 10 can therefore be attached and detached without the need for any special tools. A user can thus perform this operation easily and quickly. The attachment as described here also has the advantage of effectively securing the motor module 20 and the mounting base 50, while remaining slightly mobile. This arrangement allows for attachment without creating strong internal stresses that could damage the attachment means. Furthermore, this mobility provided by the attachment ensures that the wheel 40 maintains constant contact with the ground on which the wheelchair moves. Advantageously, this attachment means 52 of the mounting base 50 allows the motor module 20 to rotate, enabling vertical movement of the wheel 4 relative to the ground on which the wheelchair rests.In this way, this rotation allows the wheel 40 to move, raising the motor module 20 to overcome obstacles in its path.

[0064] According to one embodiment, the removable fastening means includes a magnet. The magnet, through electromagnetic interaction, creates a holding force between the fastening means 32 and the attachment means 52. Alternatively or additionally, the attachment means 52 of the mounting base 50 includes a magnet to create a holding force between the attachment means 52 and the removable fastening means 32. Controls and interfaces

[0065] The assistance system 10 advantageously includes a controller configured to control the operation of the first motor 46 and / or the operation of the second motor 48. More specifically, the controller controls the servo control of the electric motors 46, 48.

[0066] According to one embodiment, the controller includes a user interface allowing a user to control the rotation of the wheel 40 about the first axis of rotation Ai and about the second axis of rotation A2. Thus, the interface allows the user to control the speed and trajectory of the wheelchair 60 on which the assistance system 10 is installed.

[0067] In one embodiment, the user interface is attached to the wheelchair 60, preferably near an armrest or an area toward which a user's arm is positioned when seated on the wheelchair 60. In one embodiment, the user interface can be detached from the wheelchair 60. In one embodiment, the user interface is a remote control. This arrangement allows the user to hold the user interface in their hand. In one embodiment, the user interface includes an accelerometer. The accelerometer preferably controls the operation of the system 10. This arrangement allows the user to control the movement of the wheelchair 60 by tilting the user interface. In one In this embodiment, the user interface includes a joystick or "broomstick" allowing the user to control the trajectory of the wheelchair 60.

[0068] In one embodiment, the controller includes a touchpad. A touchpad is a surface, generally rectangular, on which the user can interact by touch with a finger. Advantageously, the position of the user's finger on the touchpad allows control of the wheelchair's speed. Advantageously, the position of the user's finger on the touchpad allows control of the direction given to the wheelchair 60.

[0069] In one embodiment, the controller is connected by wire to the motor module 20. In another embodiment, the controller includes at least one magnet configured to cooperate with a magnet on a connecting cable. In this way, when the cable is connected to the electrical connection, it is held in place by magnetic interaction. Similarly, the cable can be abruptly disconnected from the connection without damaging the cable and / or the electrical connection. The cable thus allows the control information to be transmitted to the electric motors 46, 48. In one embodiment, when the battery of the assistance system 10 is located on the wheelchair 60, the battery is connected by wire to the motor module 20. The battery therefore provides electrical power to the first and second motors 46, 48.

[0070] In one embodiment, the controller is connected to the motor module 20 by a cable passing near the removable mounting means 32 and near the attachment means 52 of the mounting base 50. In one embodiment, the housing 30 includes a connector for connecting the cable linking the controller to the motor module. In one embodiment, the connector of the housing 30 includes a magnetic attachment means for applying a holding force that secures the connector of the housing 30 to one end of the cable. Advantageously, the magnetic attachment means is a magnet. In one embodiment, the end of the cable includes a magnetic attachment means for applying a holding force that secures the connector of the housing 30 to the end of the cable. Advantageously, the magnetic attachment means is a magnet.According to one embodiment, the removable mounting means 32 includes a connector. In this way, the connection is made directly on the removable mounting means. The connector of the removable mounting means is connected by wire to the electric motors 46, 48 and to all the electronic equipment to be controlled in the motor module 20.

[0071] According to one embodiment, the attachment means 52 of the mounting base 50 includes a connector. The connector of the mounting base is wired to the controller and / or the battery. Advantageously, the attachment means 52 and the Each mounting bracket has a connector. When the motor module 20 is assembled onto the mounting base, the two connectors are brought into contact. This connects the motor module 20 and the controller by wire. This arrangement is particularly advantageous because it allows, in a single assembly operation, both the mechanical connection of the motor module 20 to the wheelchair 60 and the electrical connection of the motor module to the equipment on the wheelchair 60. Such equipment includes, for example, the controller and / or the battery, when the latter is located on the wheelchair.

[0072] According to one embodiment, the controller is connected wirelessly to the motor module 20. This arrangement eliminates the need for a wired connection between the wheelchair 60 and the motor module 20. It also facilitates the use of a remote control as a controller. In this way, the user can hold the controller directly in their hand, without it being attached to or connected to the wheelchair 60 by a cable.

[0073] In one embodiment, the wireless connection is a radio wave connection. In one embodiment, the wireless connection is a Bluetooth® protocol connection. In one embodiment, the wireless connection is a Wi-Fi wave connection.

[0074] In one embodiment, the controller is a smartphone. The advantage is that it allows the user to control the assistance system via their phone without having to install an external controller on the wheelchair 60. In one example, the phone includes an application that allows wireless control of the controllable elements of the assistance system 10.

[0075] According to one example, the phone can connect to the assistance system 10 via a connection described above. The phone connects to a web page allowing control of the assistance system 10, including control of the movement of the wheelchair 60 on which the system 10 is installed.

[0076] In one embodiment, a control interface is displayed on the smartphone screen. The control interface advantageously includes several directional arrows that allow the user, through touch interaction, to control the forward, backward, and rotation of the wheelchair 60 for turning. In other words, the directional arrows allow the user to control the operation of the first electric motor 46 and the second electric motor 48. In one example, the interface includes a touch-sensitive area acting as a touchpad for controlling the assistance system 10. The touchpad allows the user to set the forward, backward, and rotation of the wheelchair 60 on which the system is installed. The touchpad advantageously also allows the user to control the speed of the assistance system 10, by moving forward more or less his finger on said pad. Similarly, the user can control the angle of rotation of the wheel 40 along the second axis of rotation A2 by moving his finger more or less on the touchpad relative to a central point of said pad. Nomenclature:

[0077] 10 Manual wheelchair assistance system

[0078] 20 Motor module of the assistance system

[0079] 30 Housing

[0080] 32 Removable mounting means

[0081] 34 Hook of the mounting means

[0082] 40 Wheel

[0083] 42 Wheel tire

[0084] 44 Fork

[0085] 46 First motor

[0086] 48 Second motor

[0087] 50 Mounting base

[0088] 52 Attachment means of the mounting base

[0089] 54 Rod of the attachment means

[0090] 56 Cavity of the attachment means

[0091] 58 Mounting part of the mounting base

[0092] 59 Anchoring part of the mounting base

[0093] 60 Manual wheelchair

[0094] 62 Frame of the manual wheelchair

[0095] Ai first axis of rotation

[0096] A2 second axis of rotation

[0097] C: central point of the wheel

Claims

Demands

1. A manual wheelchair (60) assistance system (10) characterized in that it comprises a mounting base (50) configured to be fixed to a manual wheelchair (62) frame (60), a battery, a motor module (20), said motor module (20) comprising: • a housing (30) having at least one removable fastening means (32) configured to cooperate with an attachment means (52) of the mounting base (50); • a wheel (40) fixed in translation relative to the housing (30); • at least one first electric motor (46); the wheel (40) being driven in rotation about a first axis of rotation (AJ) by the first electric motor (46) and about a second axis of rotation (A2) perpendicular to the first axis of rotation (AJ), the assistance system (10) further comprising a control means for the first motor (46);the assistance system (10) further comprising a second electric motor (48) configured to drive the wheel (40) in rotation around the second axis of rotation (A2).;

2. Assistance system (10) according to the preceding claim in which the wheel (40) is in contact with a surface of a floor on which the wheelchair (60) is placed when the motor module (20) is attached to the fixing base (50).

3. Assistance system (10) according to the preceding claim in which the first motor (46) is integrated into the wheel (40).

4. Assistance system (10) according to any one of the preceding claims wherein the second motor (48) is integrated into the housing (30).

5. Assistance system (10) according to any one of the preceding claims wherein the removable fastening means (32) comprises at least one hook (34), and wherein the attachment means (52) comprises at least one rod (54) configured to cooperate with the hook (34) and to perform the removable fastening.

6. An assistance system (10) according to any one of the preceding claims, wherein the first axis of rotation (AJ) of the wheel (40) is perpendicular to a principal plane of said wheel (40), and wherein the first electric motor (46) is servo-controlled to enable the wheel propulsion and braking (40).

7. Assistance system (10) according to the preceding claim in which the braking by the first motor (46) is a regenerative braking enabling the recharging of the battery of the assistance system (10).

8. Assistance system (10) according to any one of the preceding claims which includes a controller controlling the rotation and / or braking of the first motor (46).

9. Assistance system (10) according to the preceding claim wherein the removable fastening means (32) and / or the attachment means (52) comprises at least one magnet configured to maintain contact between a contactor of the attachment means (52) and a contactor of the removable fastening means (32).

10. Assistance system (10) according to any one of claims 8 or 9 wherein the controller includes a user interface comprising means for controlling the propulsion and / or braking of the assistance system (10).

11. Manual wheelchair (60) characterized in that it comprises an assistance system (10) according to any one of the preceding claims and in which the fixing base (50) is fixed to a frame (62) of the manual wheelchair.

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