Mobile support device

Abstract

The present invention relates to a mobility assistance device comprising: a first self-balancing wheel attached to a first wheel guide, the first wheel guide defining a first curved path on which the first wheel guide and the first self-balancing wheel can move relative to each other; a second self-balancing wheel attached to a second wheel guide, the second wheel guide defining a second curved path on which the second wheel guide and the second self-balancing wheel can move relative to each other; a frame connecting the first wheel guide and the second wheel guide; a harness for accommodating a user, the harness provided on the frame; and at least one control unit configured to control the first self-balancing wheel and / or the second self-balancing wheel according to the principle of an inverted pendulum. In a further embodiment, the present invention relates to a method of using the mobility support device of the present invention, the method comprising the step of transmitting the user's intentional movements by the device while preventing falls, the intentional movements being, in particular, forward and backward rocking movements, forward or backward displacements, pivoting movements about a point, and / or pivoting movements in a partial circle.

Description

Technical Field

[0001] The present invention relates to a mobile support device comprising a first self-balancing wheel attached to a first wheel guide, the first wheel guide defining a first curved path along which the first wheel guide and the first self-balancing wheel can move relative to each other; a second self-balancing wheel attached to a second wheel guide, the second wheel guide defining a second curved path along which the second wheel guide and the second self-balancing wheel can move relative to each other; a frame connecting the first wheel guide and the second wheel guide; a harness for accommodating a user, the harness being provided on the frame; and at least one control unit configured to control the first self-balancing wheel and / or the second self-balancing wheel according to the principle of a pendulum. In a further aspect, the present invention relates to a method of using the mobile support device of the present invention, the method comprising transmitting an intentional movement of a user by the device while preventing a fall, the intentional movement being, in particular, a pitching motion, a forward or backward displacement, a turning motion about a point, and / or a turning motion in a partial circle.

Background Art

[0002] Mobility aids are commonly used to assist individuals who are unable to maintain a normal posture, gait, or walking speed due to physical disability, injury, age, or illness. Examples of conventional mobility aids include walking canes, crutches, wheelchairs, walkers, or walking frames such as Zimmer frames. These typically rely heavily on the user's existing motor functions, such as the upper body, specifically the arms and hands, for propulsion. Generally, their use is limited to adults or older children who already possess sufficient muscle strength and motor control to propel the device. Furthermore, they do not promote a normal walking pattern at a normal speed. These devices are particularly unsuitable for users with generally reduced motor function, such as those with congenital or acquired neuromuscular disorders that affect muscle strength, motor control, balance, or posture, preventing them from standing or walking independently, as well as for young children, such as those with cerebral palsy, who cannot rely on their arms to propel the mobility aid.

[0003] The majority of users requiring mobility assistance are children with long-term or genetic disorders. Other users include the elderly, frail individuals, those who have suffered injuries, or those who have had a stroke. There is a significant imbalance in the market, primarily targeting such adult users or users who had prior mobility experience before their injury. In the case of children, the specific requirement of training to improve muscle strength and balance is added to the general needs of all children as they grow—learning, exploring, and socializing. Ideally, regular and independent movement should begin in early childhood to ensure both long-term physical and cognitive development opportunities. Furthermore, while children's needs and sizes tend to change rapidly, children generally have less muscle strength compared to older users. In particular, in the case of cerebral palsy, depending on the severity of the disease, children may have reduced motor skills and muscle strength, but their movement intentions may still be read and interpreted by outsiders. Approximately 1 to 4 children are born with cerebral palsy.

[0004] To help individuals with limited mobility develop the strength, motor control, balance, and posture necessary for a wide range of movements, parents, therapists, or assistants may partially lift the child and hold them upright by supporting their waist or hips to prevent falls. Simultaneously, the arms and legs may be kept relatively free to allow the affected individual to develop better control and strength of their limbs. The assistant may observe and interpret the individual's movements, supporting intentional movements such as deliberately bending to the ground, while suppressing undesirable movements such as falls or spasms. This requires a high degree of dependence on the assistant and does not enable the individual to independently interact with peers at eye level.

[0005] Especially in the case of children and teenagers, this can significantly impact the user's development in other areas, such as social skills. The constant need for assistance from others not only diminishes the user's self-confidence but also restricts their access to various places and activities, such as outdoor areas, schools, and leisure facilities. Often, children and / or assistive devices require caregivers to carry them over steps or obstacles. Reliance on caregivers, often family members, can place an excessive burden on the user's family environment. Therefore, excessive reliance on others not only hinders the user's physical development but also prevents them from developing their own personality, interests, and social relationships.

[0006] Similar problems can be seen in adult patients with congenital limitations in mobility, or those who develop them as a result of, for example, a stroke. In the case of adult patients, reliance on therapists is even more difficult due to their heavier weight and their needs for independence and privacy. Adult patients recovering from a stroke or accident may also need to relearn how to walk. Supporting such patients under the guidance of a specialist usually requires larger devices, but these devices are very limited in their function. For example, known devices may be configured to assist patients only in walking in a straight line with the help of a handrail. Patients may still require the assistance of one or more additional adults to learn the more complex movements required for activities of daily living. This is highly labor-intensive.

[0007] Therefore, devices have been developed to act as assistants and enable improved mobility for users who have overall muscle weakness, reduced motor function, and a tendency to fatigue rapidly.

[0008] As an example, Patent Document 1 discloses a wheeled device equipped with a load, the load itself may be a battery that drives the wheels. This device can stabilize the user's walking speed because of the inertia caused by the load. When the user pushes the device so that it is in front of them during use, the device can generate a tensile force when the user decelerates and a pressing force when the user begins to accelerate. The user's effective weight can be changed depending on the position of the load. It is important to emphasize here that this device is still primarily driven and controlled by a user who is, for example, a frail elderly person.

[0009] In a particular embodiment of Patent Document 1 shown in Figure 10, the device comprises a hinge extending from the distal end of the device near the wheels. The hinge is equipped with a load that functions as a counterweight to reduce the user's effective weight. The user can hold the proximal end of the device with their hands, but alternatively, they can keep their hands free by using a belt or the like to attach the device to the user. Thus, the device can provide some degree of burden reduction and assistance to frail users. In a further embodiment shown in Figure 4, Patent Document 1 discloses a speed controller in which the user sets a desired walking speed. The user needs to pay attention while walking and safely control the speed themselves. Apart from the need for user intervention in the control unit, the device still relies heavily on the user's own balance and motor functions. The device cannot, for example, assist the user in turning. This must be done by overcoming the inertia caused by the load. If the user chooses to squat, for example, to pick up an object from the floor, depending on the angle at which the load is raised, the device may no longer support the user. Furthermore, because this device lacks a control system capable of distinguishing between squatting and falling, it is only suitable for users with adequate balance and good motor skills.

[0010] For people with reduced mobility, devices have been developed that reduce the user's effective weight and prevent falls. For example, Patent Document 2 describes a passive (non-electric) device with a set of rods arranged within an A-shaped frame, between which a hip support belt is provided at a height corresponding to the standing position. The belt is connected to the frame by pneumatic or spring-loaded arms. The belt supports the user's hips and acts as an assistant's hand when training children to walk. The rods prevent the entire device from tilting forward and provide a stable base, and the belt can be clipped directly onto the rods to prevent it from falling. The device also includes a pair of parallel wheels positioned to follow the user from behind, and a counterweight positioned behind these wheels on an arm extending from and pivoting around the wheel's axis. The counterweight reduces the user's effective weight, enabling people with weak muscle tone to walk upright. The frame configuration provides greater safety for people with limited balance and mobility. This device also allows users, typically children with cerebral palsy, to interact with peers at eye level and participate in activities such as eating and playing, with their hands and feet free.

[0011] However, similar to Patent Document 1, the low angle and height of the arm supporting the counterweight also limits the support provided by the device of Patent Document 2. If the user bends down, the counterweight does not provide sufficient support to lift the user back up. If this occurs, adult assistance is required. Once the belt is clipped to the rod, the user's hip height is effectively fixed within a narrow range, so the user can no longer squat or stand on tiptoe. Although safety is improved, the range of movement that can be supported is limited because the device does not provide active assistance for the user to move forward, backward, or turn left or right.

[0012] Furthermore, since the walking aid described in Patent Document 2 lacks an electrically powered support, the user must bear at least part of their own weight and the weight of the device. Because the user's weight is partially supported by the device, the ground reaction force against the user's effective weight decreases. This reduces the horizontal force on the feet relative to the ground. The increased weight pulled by the user and the reduced grip on the ground create a risk of slipping. Additionally, the need to pull the weight of the device can be particularly problematic when moving on uneven ground or attempting to overcome small obstacles. When walking uphill, the user may require assistance from another adult to maintain walking speed and prevent fatigue. When walking downhill, the user may require assistance from an adult to stop safely.

[0013] When children use such devices, they need frequent and active adult intervention and strict supervision. Because a child's range of movement without adult assistance is limited, they are unable to effectively explore their surroundings, such as by picking up objects from the ground or reaching upwards. This, in turn, places a significant burden on others.

[0014] A problem with existing mobility assistance devices designed for children (such as those described in Patent Document 2) is that they cannot be easily scaled up for use by teenagers or adults. Increasing the dimensions of known devices tends to result in devices that are too heavy, bulky, and cumbersome for everyday use.

[0015] A further challenge with the above-mentioned devices of the prior art is that, in order to change the direction of walking or standing, the user must rotate around a pivot point of the device, typically located behind or in front of the user. Therefore, the user must walk in a partial circle to change the direction their body is facing. This is extremely burdensome and unnatural. In the natural walking of a healthy user, it is possible for the user to rotate around a point that substantially coincides with the ground on which they are standing. In other words, a healthy user can usually rotate around their own body. However, devices of the prior art require the user to make much larger movements to turn left or right, or to look behind. If only large and bulky devices are available to support an adult, the rotational circle becomes even larger and requires a large space. Walking around large rotational circles can also be extremely burdensome for the user.

[0016] To provide greater assistance to users, electric devices have also been developed. One example is Patent Document 3, which discloses a walking assistance robot for training users, the robot comprising a body carried by a set of four wheels that follow the user from behind. Arms extend from the robot's body along with attachment belts around the user's buttocks. The belts and the robot are fitted with numerous sensors configured to support or assist the user's movements to promote normal walking. To do this, the position and movement of substantially all of the user's limbs are monitored and interpreted. The robot's wheels are also motor-driven and controlled using feedback from the sensors. The robot is configured to move the arms and the user upward when the sensors detect movement that matches a fall.

[0017] However, due to the robot's large size, its turning radius is very large, making it unsuitable for use in everyday environments. Furthermore, the robot is configured to assist the user only when training in walking; other types of movement are not anticipated. Due to the robot's size and the arrangement of its four wheels, it is impossible for the user to use the robot to overcome small obstacles on the ground, thresholds, or sets of stairs. Therefore, it is only suitable for use in controlled environments such as hospitals or rehabilitation centers. While it may somewhat reduce the burden on the assistant, sufficient supervision is still required.

[0018] Generally, a drawback of conventional devices is that their large size and configuration require a large swivel circle for the user to rotate around a single point. This results in the user needing a large personal space, making group interaction difficult. For example, a schoolchild using a large mobility aid to sit at a table with other children requires a large space to rotate their entire body to face another area of ​​the classroom. Due to the large swivel circle required, other children may not be able to sit right next to this child, resulting in the inability of close interaction between the children. This can limit the educational development of the children involved. This problem is even worse for adults, as the devices are generally much wider to provide stability for adults. The presence of protruding components in the devices, such as the rods and weights of the device in Patent Document 2, or the large attachment belt in Patent Document 3, further increases the swivel circle because there is a risk of interference with the rods or weights if others stand too close to the user. Therefore, there is a need for mobility aids with a more compact swivel circle for both adults and children.

[0019] Patent document 4 refers to an assistive system designed to enhance the stability of a person intended to walk with its help. The wheels of the device are positioned behind the walker in a V-shaped configuration, and the device is secured around the user's waist with a belt.

[0020] Patent Document 5 refers to a device intended for attaching a hoverboard to a walker, which allows a mechanical walker to be cost-effectively and optionally converted into an electric walker, with the hoverboard functioning as a drive mechanism. The hoverboard is mounted between the front and rear wheels of the walker and secured to the rear legs of the walker with clamps.

[0021] Patent document 6 refers to a walking aid in the form of an exoskeleton robot for assisting natural walking motion. It consists of a rigid frame with four wheels, two of which are positioned to the sides of the user and two behind the user. The user wears a harness, which is connected to the frame at three points using a variable-length module. Sensors for detecting walking motion and a controller that allows adjustment of the length of the variable-length module are provided. This device does not appear to assist any other natural movement patterns besides walking.

[0022] Considering the teaching methods of conventional technology, there is room to provide improved mobility assistance devices that can appropriately support various vertical movements such as standing, jumping, and crouching, as well as supporting turning movements. Ideally, regular and independent movement should begin in early childhood to ensure both physical and cognitive developmental opportunities in the long term. In particular, conventional devices typically still require an assistant to lift the user when they crouch to the ground, to help them change direction, and / or to overcome obstacles. This means that if access to buildings such as museums, cinemas, and sports centers requires overcoming even one or two steps, the burden of overcoming the steps with a heavy device effectively excludes the user of the device. Therefore, it cannot provide a high degree of autonomy.

[0023] In view of these difficulties, there is an urgent need for an improved mobility support device that can support users, especially children with long-term diseases, in a wide range of activities without the need for intensive supervision or assistance. There is a lack of walking training devices and training devices that are specifically designed to improve the balance or posture of users and are particularly suitable for regular use in daily environments. Furthermore, there is a need for an improved mobility support device that can enable more communication, active participation, and more enjoyment in movement both indoors and outdoors among users, especially by providing more self-reliance, easier overcoming of obstacles, and improved maneuverability and a more compact turning radius on uneven ground.

Prior Art Documents

Patent Documents

[0024]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Patent Document 5

Patent Document 6

Summary of the Invention

Problems to be Solved by the Invention

[0025] An object of the present application was to provide an improved mobility support device that overcomes the drawbacks of the prior art, supports a wide range of postures and movements, and is preferably adapted for use by adults and children.

Means for Solving the Problems

[0026] The above problems are solved by the features of the independent claim. Preferred embodiments of the present invention are provided by the dependent claims.

[0027] The present invention A first self-balancing wheel attached to a first wheel guide, wherein the first wheel guide defines a first curved path on which the first wheel guide and the first self-balancing wheel can move relative to each other, A second self-balancing wheel attached to a second wheel guide, wherein the second wheel guide defines a second curved path in which the second wheel guide and the second self-balancing wheel can move relative to each other, A frame connecting the first wheel guide and the second wheel guide, A harness for accommodating a user, which is mounted on a frame, and the harness, One or more control units configured to control a first self-balancing wheel and / or a second self-balancing wheel according to the principle of an inverted pendulum, This relates to a mobility support device equipped with the following features.

[0028] In the sense of the present invention, “mobility assistance device” is preferably a device for assisting a user in moving, positioning, or maintaining the posture of their own body. The assistance may be for therapeutic or non-therapeutic purposes. In particular, a mobility assistance device may be configured to assist a user in training their own body in order to perform a given movement or to maintain a given position. The training may relate to coordination, spatial awareness, muscle strength, stamina, posture, balance, endurance, or any other skills. Such training may be conducted in the context of physical therapy, rehabilitation, elderly care, or mobilization after a stroke or accident, to name a few. A mobility assistance device in the sense of the present invention may also preferably be a device for assisting a user in moving, positioning, or maintaining the posture of their own body for leisure reasons, such as walking, hiking, dancing, or engaging in sports activities. The device may help reduce fatigue, increase stamina and / or endurance, and prevent accidents, for example, by protecting the user from falls. A mobility assistance device in the sense of the present invention does not need to be specifically designed for walking or for activities performed while standing. Rather, mobility aids can also be configured to assist seated activities. For example, a mobility aid can serve as an improved alternative to any type of wheelchair or wheeled office chair. Such a mobility aid can improve the user's posture while seated in such a chair, while also allowing the user to turn or move around a desk. This can be particularly beneficial for training good posture, while also reducing strain on the legs, arms, or other muscle groups that the user typically uses repeatedly to push and pull themselves to and from a desk in order to move in and / or move the office chair. Such a mobility aid may be particularly suitable for preventing repetitive overuse injuries. Additionally or alternatively, a mobility aid can be configured to assist a user's specific mobility needs. Such a mobility aid can be used as an alternative to crutches, wheelchairs, or Zimmer frames.It can also be used to safely assist users in moving around or resting (e.g., sitting activities) within their homes.

[0029] In the sense of the present invention, the vertical axis z may be defined as the direction of gravity. This is also referred to herein as the up-and-down direction or the vertical direction. The x-axis may be defined as the direction in which the user walks. This is also referred to herein as the front-to-back direction. The y-axis may be defined as the transverse direction perpendicular to the x-axis and z-axis. This is also referred to herein as the left-to-right direction or the lateral direction. These directions are used below to describe the relationships between different components of the device and their functions.

[0030] In the sense of the present invention, “frame” is preferably a mechanical connection between different components, configured to set the distance and / or relative positioning between the components. The frame may fix the distance between a first wheel guide and a second wheel guide so that they are substantially parallel to each other. Alternatively, the frame may allow limited movement or “play” between the wheel guides, for example, by compression or tension elements. The frame may limit the variation in the distance between the wheel guides to less than 50 mm, preferably less than 10 mm, and more preferably less than 5 mm. The frame may also limit the variation in the angular position between the wheel guides with respect to the y-axis to less than 2 degrees, preferably less than 1 degree. The frame may also limit the variation in the angular position between the wheel guides with respect to the x-axis to less than 10 degrees, preferably less than 2 degrees, and more preferably less than 1 degree. The angular position may, in particular, represent the camber angle of a self-balancing wheel.

[0031] In the sense of the present invention, “harness” preferably means any means of securing and / or supporting a user to the device. This may include a seat, saddle, belt, set of straps, torso brace, set of bandages, rucksack-type configuration, wearable clothing, exoskeleton, trunk brace, torso brace, or the like. The harness is preferably customized to the user, especially if the harness includes braces. The harness may be movably or fixedly connected to the frame. The connection of the harness to the frame is preferably such that the harness is fixed thereto, movable, or movable within constraints relative to the frame.

[0032] In the sense of the present invention, “wheel guide” is preferably a mechanical element configured to guide and restrict the movement of the wheel’s center of rotation relative to the frame and harness provided on the frame, and vice versa. The wheel guide may be configured, for example, as a skid, rail, track, or the like. Preferably, the wheel guide mechanically restricts the forward and backward movement of each wheel so that the wheel reaches the forward and rearward stoppers. This can prevent excessive tilting of the device and ensure that the user does not fall over or reach an uncomfortable position.

[0033] In the sense of the present invention, “curved path” is preferably a path to which the center of rotation (or other reference point) of each wheel can move. Preferably, the curved path is mechanically provided in or on each wheel guide. The curved path is preferably restricted and has a front endpoint and a rear endpoint. Preferably, the curved path includes a central portion, which preferably includes at least 60%, preferably at least 70%, and more preferably at least 80% of the length of the curved path. The central portion of the curved path is preferably curved in a substantially vertical plane such that it is substantially concave when viewed from above and convex when viewed from below. In other words, when viewed from the side, the curved path is preferably open upward, i.e., the quadratic term of the function approximating the curved path is positive in the central region, particularly at the midpoint of the wheel guide. The curved path or the central portion is not linear. The curved path or the central portion may have a constant or gradually changing radius, as further described herein. However, one or more ends of the curved path may be straight, angled, curved in a different way, or otherwise branch off from the curved shape of the central portion.

[0034] Therefore, the curved path is preferably provided by a wheel guide, where the self-balancing wheel is preferably able to move along the curved path along the wheel guide, and vice versa. For example, the wheel guide can move relative to the self-balancing wheel, allowing for forward and backward tilting of the frame, and therefore the user, such as in rocking motion or when tilted forward.

[0035] In the sense of the present invention, a curve is preferably a line of continuously changing tangential gradients, where the tangential gradient is preferably positive on one side of the curve and negative on the other side. Preferably, the tangential gradient increases (or decreases) from one end to the other of the curved path or its central portion. In other words, the rate of change of gradient along the curve is preferably always either positive or negative, depending on the direction the curve is followed. Preferably, the curved path curves away from the ground at both ends and, by default, is closest to the ground at a point between its ends. Preferably, all points on the curved path or its central portion have a radius to a virtual origin, where the virtual origin is preferably always above the respective wheel guides, more preferably above the default height position of the harness. Preferably, the difference between the radii of two adjacent points on the curved path or its central portion (e.g., less than 5 mm apart from each other) is 20% or less. The curved path may also include one or more straight sections with continuously different gradients. In such cases, the best-fitting circular curve can preferably be drawn through points in the curved path, and as a result, the best-fitting circular curve has a virtual origin above each wheel guide.

[0036] The curved path of the wheel guides preferably allows the device to swing in the longitudinal direction (xz plane) without necessarily driving the entire device forward. Thus, small changes in the user's posture can be accommodated by the device without forcing the user to move. When the user leans their body slightly forward without pushing their feet off the ground to walk or run, the device can swing forward. The wheel guides can move along the curved path relative to stationary self-balancing wheels that remain in place on the ground directly beneath the user's center of gravity. Thus, the device can distinguish between an intention to lean forward, for example, to reach an object on a low shelf, and an intention to walk forward. The risk of the device "forcing" the user to walk forward against their intention can therefore be avoided.

[0037] In the sense of the present invention, “rocking” motion is preferably motion about a real or virtual pivot point, and this motion occurs within a limited angular range that is preferably less than a perfect circle. The rocking motion may also be referred to as a swing or seesaw motion about a real or virtual pivot point. The pivot point is preferably the horizontal axis or the y-axis, or substantially parallel to the y-axis. The pivot point may be static or moving during the rocking motion.

[0038] In the sense of the present invention, the “self-balancing wheel” preferably functions as a wheeled inverted pendulum system. An example of such a system is known in U.S. Patent No. 6,302,230 of Segway Corporation.

[0039] In the present invention, each self-balancing wheel preferably comprises its own motor and its own set of sensors. One or more control units can centrally control both self-balancing wheels individually or together, according to the principle of an inverted pendulum. To do this, the central control unit may receive data from the respective sets of sensors of the first self-balancing wheel and the second self-balancing wheel. Preferably, "one or more control units" includes at least two control units, where each self-balancing wheel includes its own control unit that drives a motor based on sensed data from the set of sensors. Thus, each self-balancing wheel can preferably be controlled individually, independently of the other self-balancing wheels. Further (third or central) control units may be provided to monitor and / or centrally control the individual controllers of the first and second self-balancing wheels. For example, the central control unit may monitor the positions of the self-balancing wheels relative to each other and maintain them within predetermined parameters.

[0040] Each self-balancing wheel preferably includes at least one sensor, at least one motor, and is preferably connected to at least one control unit which preferably includes a computing device.

[0041] Self-balancing wheels preferably include sensors and are connected to a control system that autonomously maintains the wheel's upright position and stability. A self-balancing wheel may preferably include at least one sensor, preferably a gyroscope sensor and / or accelerometer, a microcontroller, and / or a motor. These components preferably cooperate to detect the wheel's orientation and make real-time adjustments to maintain balance.

[0042] The center of gravity of the weight supported by each self-balancing wheel can be theoretically modeled as an inverted pendulum. In a wheeled inverted pendulum system, the speed, acceleration, and rotation direction of the motorized wheels are preferably controlled to prevent the pendulum, which extends perpendicularly upward with respect to the wheel axis, from tilting, swinging downward, and falling. When the pendulum is in a vertical position above the wheel axis, the wheeled inverted pendulum system is balanced. This vertical position is referred to as the unstable equilibrium position. This is the target position to which the system attempts to return if the pendulum's orientation deviates.

[0043] The pendulum can begin to tilt and fall in front of or behind the wheel in the x-plane. The x-plane is preferably defined as a plane extending along the x and z axes. The angle between the pendulum, the center of the wheel, and the vertical position in the x-plane is preferably detected by a set of sensors. The wheel is driven in the direction that causes the pendulum to tilt and fall, preventing it from falling and returning the pendulum's orientation to the vertical position.

[0044] In this case, the weight of the pendulum can include, at least partially, the weight of the self-balancing wheel itself, the weight of the frame, the weight of any counterweights placed on the frame, and the weight of the user. The user typically maintains contact with the ground separately from the wheel, and typically at least half of the user's feet are on the ground so that the user can intentionally influence the orientation of the whole or part of the device. Furthermore, due to contact with the ground, typically only a portion of the user's weight contributes to the weight of the virtual inverted pendulum.

[0045] Preferably, the self-balancing wheels can be controlled independently of each other according to the principle of an inverted pendulum. This is preferably achieved by providing each self-balancing wheel with its own control unit. As used herein, the expression "independent adjustment of each self-balancing wheel according to the principle of an inverted pendulum" preferably means that each self-balancing wheel functions as an independent wheeled inverted pendulum system. Additional comprehensive control methods and coordination between wheels are not excluded here. Thus, the angular position of the falling pendulum in the x-plane is preferably detected by a set of sensors for each wheel, and each wheel is driven at the required speed in the direction necessary to return the pendulum to the vertical position as described above.

[0046] Preferably, the frame of the device is configured such that the angular position of the pendulum in the xz plane through each self-balancing wheel changes as the user moves their center of gravity forward or backward, i.e., within the xz plane. To achieve this, the harness may be configured on the frame so that the user's center of gravity is raised substantially higher than the center of rotation of each self-balancing wheel. The angle θ in the xz plane formed at the vertical position by the user's center of gravity and the center of rotation of each self-balancing wheel may preferably change during use of the device. This variation in angle θ can be achieved by the user leaning forward in the harness and / or by the user pressing their feet against the ground to move the user's body (and the device) forward. Preferably, the frame is configured such that the angle θ formed by the user's position can change independently between one side of the device and the other, so that the orientation of the pendulum in the xz plane through the first self-balancing wheel may differ from the angle θ formed in another xz plane through the second self-balancing wheel. In this case, each self-balancing wheel may act independently of the other to return the pendulum to its vertical position. For example, when a user begins to move their body forward, a positive angle θ with respect to the vertical may be formed. The user's center of gravity may be slightly ahead of the center of rotation of the self-balancing wheels. Each self-balancing wheel can be actuated by the controller to return its center of rotation below the user's center of gravity and return the angle θ to zero. This can be done by each self-balancing wheel moving forward in accordance with the user's movement. As the self-balancing wheels move forward, their position relative to their wheel guides may also change in accordance with the user's acceleration in the forward direction. When the user begins to decelerate, the entire device may tilt slightly backward, providing the user with a slight backward rocking (or "swinging" or "seesaw" motion). This can return the user to a slow walking or standing position. The opposite may occur if the user moves their body backward by leaning backward within the harness and / or pressing against the ground, creating a negative angle θ with respect to the center of rotation of the self-balancing wheels.In such a case, the self-balancing wheels may rotate in the opposite direction to move backward. Therefore, the entire device may move backward.

[0047] Preferably, the direction in which the user attempts to turn laterally results in a smaller (or negative) deviation in the angle θ of the frame member connected to the wheel positioned in the direction of the turn. The wheel on the opposite side of the user preferably detects a larger (or positive) angle θ to maintain balance. The self-balancing wheel with a lower angle θ preferably rotates more slowly in the forward direction or (if the angle θ is negative) moves backward compared to the self-balancing wheel with a larger angle θ. This causes the entire device to pivot. Depending on the user's movement, the device may change direction, follow curves, or rotate around the user's body.

[0048] When two such self-balancing wheels are used in relation to each other, the pivoting motion is preferably brought about by the difference in speed or direction between the two wheels. The frame connecting the wheel guides preferably maintains the distance between the rotation centers of the self-balancing wheels within a limited range. The rotation centers of the self-balancing wheels can be kept approximately equidistant. This supports the device in pivoting around a single point.

[0049] Advantageously, with respect to the moving device according to the present invention, each self-balancing wheel may be provided as a ready-made product. Typically, as with commercially available self-balancing wheels, it may be preferable that each self-balancing wheel comprises its own set of sensors and its own processor, housed within the wheel or wheel casing. Each wheel may also be equipped with a motor. Each processor can control the motor of its respective wheel independently of the other wheel, according to the principle of inverted pendulum. Alternatively, the self-balancing wheels may be provided in a custom design, with a separate processor provided for each wheel, or a common processor enabling the independent adjustment of each self-balancing wheel according to the principle of inverted pendulum. Additional or alternative processors may be used to give some degree of dependence to the self-balancing wheels and / or to coordinate the movement between them.

[0050] For the purposes of this application, “control unit” preferably refers to any computing device having a processor, processor chip, microprocessor, or microcontroller for enabling automatic control of components of the device, such as self-balancing wheels and / or support wheels, harnesses, counterweights, and other potential actuators for adjusting their positions. The components of the control unit may be conventional or custom-configured for a particular implementation. Preferably, the control unit includes a processor, memory, and computer code (software / firmware) for controlling the components of the device.

[0051] The control unit may also include a programmable printed circuit board, microcontroller, or other device for receiving and processing data signals from components of the device, such as from sensors relating to the position of the self-balancing wheels, or other sensory information relating to the position of the harness, frame, or parts thereof.

[0052] The control unit preferably further includes a computer-usable or computer-readable medium, such as a hard disk, random access memory (RAM), read-only memory (ROM), or flash memory, on which computer software or code is installed. The computer code or software for performing control of the device components may be written in any programming language or model-based development environment, such as, but not limited to, C / C++, C#, Objective-C, Java, Basic / VisualBasic, MATLAB, Python, Simulink, StateFlow, LabView, or assembler.

[0053] Any functional description of the software, including any description of controlling specific components or aspects of the apparatus described herein, is considered a technical feature for direct physical output on the apparatus. Therefore, a functional description of the software may be considered preferred and defining an embodiment of the present invention. The specific computer code employed is available to those skilled in the art and can be constructed accordingly using standard knowledge.

[0054] As used herein, the terms “one or more control units” or “at least one control unit” preferably refer to the presence of at least one computing device for controlling the movement of one or both of the self-balancing wheels. While it is within the scope of the invention for a single control unit to be connected to both self-balancing wheels in a wired or wireless manner and to control both together or independently, in most embodiments of the invention, it may be assumed that each self-balancing wheel includes a dedicated control unit. Thus, the term “one or more control units” should generally be understood to refer to two preferred control units, namely a first control unit for the first self-balancing wheel and a second control unit for the second self-balancing wheel. A comprehensive or “central” control unit may also preferably be referred to.

[0055] The term "control unit is configured to perform certain operational steps, such as determining the relative positions of the self-balancing wheels and wheel guides, and, in response to sensed data, adjusting the position of the counterweights, adjusting the speed and / or direction of the self-balancing wheels to suppress or transmit the user's movement" may include custom-designed or standard software installed on the control unit that initiates and coordinates these operational steps.

[0056] Preferably, one or more control units include one or more processors for adjusting each self-balancing wheel based on data from sensors provided on the wheels in accordance with the principle of an inverted pendulum. Preferably, one or more control units may include a first processor for a first self-balancing wheel and a second processor for a second self-balancing wheel, where each of the first and second processors preferably receives data from a set of sensors associated with each wheel, uses the sensed data to determine corrective actions required to maintain the stability of the device, and commands one or more wheel motors to take corrective actions.

[0057] As described above, the device's wheel guides include a curved path. This allows the device to support a forward and backward rocking motion. When rocking forward or backward, the device's frame may tilt relative to its default vertical position. This allows the user to adjust their vertical position, for example, to reach for something at a low position by leaning forward and tilting the frame forward. The curved path and / or wheel guides preferably limit the degree of the forward tilt so as not to put excessive strain on the user and to prevent them from falling. The user can then return to an upright position by leaning backward, which returns the frame to its default vertical position. This is advantageous as it allows the user to adjust their position while keeping their hands free. This operation is also particularly suitable for stroke patients and elderly users, as it does not require a strong upper body with skilled arms and hands. In particular, the user does not need to use their hands to control the device, in contrast to known devices. By freeing the user's hands, the user is freed to participate in daily activities. This is especially important for enabling the user to integrate into society.

[0058] The forward and backward rocking motion also allows the self-balancing wheels to remain stationary during small forward and backward shifts in the user's center of gravity. This is because the position of the self-balancing wheels relative to the user's center of gravity does not need to change until the end of the curved path, as these shifts can be compensated for by the movement of the wheel guides along the curved path. Therefore, changes in the user's posture do not even need to be detected by the self-balancing wheels (or their sensors), and they are not activated when not needed or desired. On the other hand, forward shifts in the user's center of gravity caused by the user attempting to walk will be detected by the self-balancing wheels, because this movement (characterized primarily by forward translation rather than inclination) cannot be compensated for by the inclination of the device. The self-balancing wheels can be intuitively activated to help move the user forward at the user's pace, according to the user's intention.

[0059] The harness is preferably configured to face forward. That is, the user can be secured to the harness with the frame substantially behind. Since the harness is mounted on a frame connecting the first and second wheel guides, a forward-facing harness can position the user between and above the vertical wheel guides. The user can preferably be positioned so that their center of gravity is above the horizontal plane defined by the wheel guides (or the center of rotation of the wheels) by default, but not in front of the front end or behind the rear end of the wheel guides. Thus, the harness and user can be positioned relatively centrally and / or slightly rearward of the device. In contrast to a device that includes large protrusions in front of or behind the user, this can reduce the pivot circle of the device. This arrangement also allows the device to pivot substantially around the harness, mimicking a more natural movement in which the user pivots substantially around their own body. This can improve the rehabilitation of injured or elderly patients. It also allows the user to change the direction they are facing more quickly and with less effort, especially since the user does not need to walk in large partial circles. Because users can react quickly to social cues, interaction with peers is further promoted. Swiveling around a single point is essential in situations where users may want to maneuver themselves to perform everyday tasks, such as in narrower spaces like supermarket aisles. Swiveling is also necessary for quick and effective responses to environmental cues in some sports activities, or when the mobility aid is used as a desk chair in an office environment. Therefore, a small swivel circle can greatly expand the applications of the device.

[0060] A further advantage of using a harness is that it saves space and secures the user to the device in a compact way, allowing the user to face their peers without perceived physical "barriers." This is in contrast to known devices where numerous sensors are placed in and around large, inflexible carrying arms that receive the user. Furthermore, using a harness allows the device to be easily adapted to the child's growth, as the harness straps can be loosened or tightened as needed. Harnesses are easily replaceable, cleaned, or adapted to changing requirements, and their flexibility and versatility allow for a wide range of unrestricted movement. This is especially important for children who often play with objects on the floor, squat, and / or crawl. For adult patients undergoing physical rehabilitation programs, support needs can also change, so harnesses with greater flexibility may be used as treatment progresses.

[0061] The connection of the harness to the frame also helps the user reduce fatigue and remain in an upright position. This is because the harness and frame can mechanically support the user so that the user's default position is upright. For children and people with weakened muscles, the reduced muscle strength, motor control, balance, and postural control are greatly reduced by the support provided by the harness. This allows the user to stand or walk for much longer before fatigue sets in. Thus, the user can participate in activities for longer, develop their experience of the world, and improve their quality of life. As will be further described herein, the harness and frame can be configured in various ways to further support the user's vertical movement, reducing the muscle strain required to reach downwards and stand up.

[0062] Self-balancing wheels provide a more compact way to move the frame, including the harness, in the forward, backward, and lateral directions. Thus, the device can assist the user not only by allowing them to remain upright for longer periods, but also by enabling them to maintain their balance regardless of the direction of their gait. The force required to move the device, including the weight of the wheels, wheel guides, frame, harness (and user), is kept to a minimum, as the user only needs to move the pendulum from an unstable equilibrium position to move the device. Therefore, even small attempts at walking can be detected by one or more control units. The sensitivity of the device can be set so that this movement is minimized when the user's muscle tone is reduced. For users suffering from involuntary movements such as spasms or jerks, the movement required to trigger the control of the reverse pendulum can also be reduced, so that only intentional movements will trigger the device. Therefore, the force required to move forward and backward and to turn is reduced to an appropriate degree and kept safe by the device. Thus, active assistance from others is no longer required, especially for turning, maneuvering on uneven terrain, or overcoming small obstacles.

[0063] The principle of an inverted pendulum used to control the self-balancing wheels offers a simpler alternative to the more complex electric solutions of conventional technology. Therefore, balance can be achieved without requiring numerous sensors on various limbs. Since the limbs can remain free, normal clothing can be worn. By using at least two self-balancing wheels, the size of the device can be reduced while maintaining a high degree of stability and excellent maneuverability. Thus, there is no need to increase the size of the device to four wheels, which would lead to an increased turning radius.

[0064] Furthermore, in the case of uneven ground, such as that often found outdoors, using at least two self-balancing wheels offers advantages over the prior art, as they respond quickly and automatically to sudden shifts in the user's center of gravity. Thus, the device can handle difficult terrain. Since the device does not require more than two self-balancing wheels, climbing stairs and overcoming obstacles and thresholds becomes easier. However, the presence of additional wheels, such as support wheels or self-balancing wheels, is not ruled out on the device and may actually be preferable in some embodiments. For example, a first self-balancing wheel may form part of a first group of self-balancing wheels located on the right side of the harness, while a second self-balancing wheel may form part of a second group of self-balancing wheels located on the left side of the harness.

[0065] By providing self-balancing on the curved path of the wheel guide, the front portion of the wheel guide may tend to orient itself away from the ground. This can provide increased ground clearance toward the front of the device, thereby allowing the device to adapt to obstacles. For example, a step at an entrance or exit may contact the device at its curved wheel guide instead of colliding with the straight portion of the device. As in the case of an entrance or exit, the curved wheel guide can smoothly pass over the step while the user has their feet on the step, until the self-balancing wheels engage with the surface of the step and guide the device and the user onto the step.

[0066] The harness is preferably configured so that the user faces away from the frame. Therefore, the wheels and frame follow the user from behind, allowing the user to more freely check what is in front of them, use their hands and feet to perform activities, and interact with others without physical barriers.

[0067] In a further preferred embodiment of the present invention, the harness is pivotably positioned relative to the frame, where a shock absorber is preferably provided between the harness and the frame. Those skilled in the art will recognize means for positioning the harness pivotally relative to the proximal arms. Examples of such means may include hinges. Hinges can allow pivoting around a single axis, preferably the y-axis. Alternatively, ball joints may be used to allow pivoting around two or three axes. The pivotable connection between the harness and the frame allows the user to increase their range of unrestricted movement, as the angle of the user's hips or waist does not need to be kept constant relative to the frame. Thus, a more natural movement pattern can be achieved. By providing a shock absorber between the harness and the frame, e.g., rubber, a compressible hydraulic component, a compressible pneumatic component, or a compression, tension, or torsion spring, the voluntary or involuntary backward movement of the user's torso is not abruptly stopped by the proximal arms.

[0068] In a preferred embodiment of the present invention, each of the first and second curved paths includes a central portion. The central portion of a curved path is preferably the portion of its length excluding one or more ends. The central portion preferably includes at least 60%, more preferably at least 70%, and even more preferably at least 80% of the length of the curved path. Each central portion preferably has a characteristic radius CR to a virtual pivot point VF. The virtual pivot point of the curved path is preferably a virtual point representing the origin of a circle having a characteristic radius. Each wheel guide can be considered to pivot around its virtual pivot point, particularly to produce a fore-and-aft swaying motion. The virtual pivot point is preferably above each wheel guide and can move with the device. This provides improved stability to the device, as forward and backward tilting of the user and the device can be accommodated without the device tipping over. Particularly high stability is provided when the virtual pivot point VF is higher than the height of the device's center of gravity, especially higher than the center of gravity of the system, including the user in the device and harness. Since the weight of the system is largely influenced by the weight of the user, this can be approximated by referring to the user's center of gravity. Since the user's center of gravity tends to be located within the harness, this can also be approximated by referring to the position of the harness, where the virtual pivot point VF is preferably always above any possible vertical position of the harness.

[0069] If the curved path has a circular curvature along its entire length or along its central portion, the characteristic radius is preferably the radius of the circle. However, the curvature of the curved path or its central portion may vary along its length. In such cases, the characteristic radius is preferably the mean radius of curvature.

[0070] In a preferred embodiment of the present invention, the characteristic radius CR of the central portions of the first and second curved paths are identical. This may also apply to the entire first and second curved paths. By providing identical characteristic radius CR, the wheel guide and the entire device can pivot around a single virtual pivot point. The single virtual pivot point may represent the origin of a virtual sphere or ellipsoid, while the curved path (or its central portion) may represent the arc of the virtual sphere. This can provide a uniform oscillating motion such that the user does not tilt to the left or right when the user's intention is to kneel or squat.

[0071] In some preferred embodiments of the present invention, it may be preferable that each of the first and second curvature paths (or its central portion) includes a different characteristic radius CR. This can result in a slight lateral tilt of the user, in addition to the anterior-posterior rocking motion. Such a tilt may be desirable when the user's anatomical structure includes a pelvic or spinal tilt that should be balanced by the lateral tilt of the device. This can help such a user maintain a normal posture while performing a series of vertical and anterior-posterior movements.

[0072] In a preferred embodiment of the present invention, one or more end portions of the wheel guide have a different configuration from the central portion of the same wheel guide. For example, one or more end portions of the wheel guide may not be curved. The wheel end portions may be configured to be substantially horizontal when the harness is in its default position. The wheel end portions may be configured to be angled away from the ground. Alternatively, one or more end portions may be curved or angled in the opposite direction to the curvature of the central portion. The same features may be present in one or more end portions of each curved path. Such features allow the user to sense when the self-balancing wheel has reached the end portion of the wheel guide, and as a result, the user can intuitively reduce the forward lean of their body in order to slow down the device and / or prevent tipping forward or backward.

[0073] In a further preferred embodiment of the present invention, the harness is positioned at a default height h1 above the first and second wheel guides. Positioning the harness above the first and second wheel guides preferably means that the harness is also positioned between the vertical plane corresponding to the front end of the wheel guides and the vertical plane corresponding to the rear end of the wheel guides, particularly when the wheel guides are in their default position. Providing the harness in such a position allows the harness to be particularly stable and remain within a safe range of heights during use of the device. When the user is secured in the harness, the center of gravity of the device is, by default, preferably approximately above the centers of the first and second wheel guides, and as a result, no swaying (particularly around a virtual pivot or y-axis) occurs. When the user shifts their weight forward or backward, the center of gravity of the device can be safely kept above the wheel guides forming the base of the device, so the device does not easily tip over. By positioning the harness at a default height h1 above the wheel guides, the likelihood of the entire device tipping over and consequently the user losing support for the device and falling is reduced. This is further explained herein with respect to drawings showing preferred relative dimensions of components to prevent tipping.

[0074] In the sense of the present invention, “default height” h1 is preferably the height of the harness when the user is not applying any intentional force. The default height of the harness may be the height of the harness when the user is not in it. Alternatively, the default height of the harness may correspond to the height of the harness when the user is held in a standing position so that both of the user's feet can touch the ground. Alternatively, when the device is generally used for sitting (e.g., as an ergonomic or therapeutic movable chair), the default height of the harness may correspond to the height of the harness when the user is held in a seated position so that both of the user's feet can touch the ground. The height of the harness may be measured from any reference point to the ground, in particular from a point corresponding to the user's waist to the ground.

[0075] In a further preferred embodiment of the present invention, the device is configured for use by children up to 3 years of age. When such a device is intended for standing or walking use, the default height of the harness is preferably 33 cm to 64 cm from the ground. When such a device is intended for seated use, the default height of the harness is preferably 15 cm to 26 cm from the ground. The characteristic radius of each wheel guide is preferably at least 65 cm, more preferably 70 cm to 130 cm.

[0076] In a further preferred embodiment of the present invention, the device is configured for use by children aged 4 to 8 years. When such a device is intended for standing or walking use, the default height of the harness is preferably 55 cm to 80 cm from the ground. When such a device is intended for seated use, the default height of the harness is preferably 23 cm to 40 cm from the ground. The characteristic radius of each wheel guide is preferably at least 81 cm, more preferably 90 cm to 170 cm.

[0077] In a further preferred embodiment of the present invention, the device is configured for use by children aged 9 to 14 years. When such a device is intended for standing or walking use, the default height of the harness is preferably 70 cm to 96 cm from the ground. When such a device is intended for seated use, the default height of the harness is preferably 36 cm to 48 cm from the ground. The characteristic radius of each wheel guide is preferably at least 96 cm, more preferably 110 cm to 180 cm.

[0078] In a further preferred embodiment of the present invention, the device is configured for use by teenagers or adults over 14 years of age. When such a device is intended for standing or walking use, the default height of the harness is preferably 86 cm to 120 cm from the ground. When such a device is intended for seated use, the default height of the harness is preferably 42 cm to 54 cm from the ground. The characteristic radius of each wheel guide is preferably at least 120 cm, more preferably 110 cm to 200 cm, and particularly 130 cm to 170 cm.

[0079] In a further preferred embodiment of the present invention, the characteristic radius CR of the first and second curved paths (or their central portions) is greater than the default height h1, and in particular greater than the minimum distance between the first or second curved path and the user's center of gravity within the harness. Such curved paths have been found to provide improved stability against tipping. When the characteristic radius of the curved path is greater than the height of the user's center of gravity (which is typically located within the harness between the waist and navel, depending on age, sex, and medical condition), the virtual spherical arc (or curved path) formed by the wheel guide can be located between the user's center of gravity and the ground for all possible swinging positions. Thus, the wheel guide can function as the base of the system including the mobility aid and the user. Since the user's center of gravity is always above the base during use, the device will not tip over.

[0080] In a further preferred embodiment of the present invention, each of the first and second self-balancing wheels is provided with one or more guide elements to support its movement along the curved path of the first or second wheel guide. Such guide elements can ensure that the movement of the first self-balancing wheel is limited to the first curved path of the first wheel guide and cannot deviate from there. The same applies to the second self-balancing wheel. This can be achieved by configuring the guide elements to provide sufficient contact between each self-balancing wheel and its respective wheel guide.

[0081] In a further preferred embodiment of the present invention, one or more guide elements connect a first self-balancing wheel or a second self-balancing wheel to a first curved path or a second curved path at the rotation center of each self-balancing wheel. In this case, it may be preferable that the guide elements be provided on both the inner and outer surfaces of each self-balancing wheel, particularly at its rotation center. This prevents the self-balancing wheel from separating from the wheel guide, especially on uneven terrain. This arrangement is also space-saving, as the self-balancing wheel can move along the entire length of the curved path.

[0082] In a further preferred embodiment of the present invention, one or more guide elements connect a first self-balancing wheel or a second self-balancing wheel to a first curved path or a second curved path at a point other than its center of rotation. For example, the first self-balancing wheel or the second self-balancing wheel may be suspended from the first curved path or the second curved path, for example, using a wheel case. This can increase the height of the device above ground level.

[0083] In a further preferred embodiment of the present invention, one or more guide elements connect a first self-balancing wheel or a second self-balancing wheel to the first or second self-balancing wheel at at least two distinct points along the curved path, wherein the at least two distinct points are preferably at least 25 mm apart. By connecting the guide elements at at least two distinct points along the curved path, movement of the self-balancing wheel across the curved path is prevented. Thus, movement of the wheel along the ground cannot occur without the movement of each of the wheel guides.

[0084] In a further preferred embodiment of the present invention, one or more guide elements connect a first self-balancing wheel or a second self-balancing wheel to the first or second curved path tangentially to the curved path. This may be the case when two separate contact points along the curved path are immediately adjacent to each other.

[0085] In a further preferred embodiment of the present invention, one or more guide elements preferably include a sleeve, a reel, a pulley, a scroll, a caster, a pair of clips, a pair of track inserts, a pair of guide rollers, or a pair of roller bearings. The use of guide rollers is particularly preferred because it provides stability to the wheel. They have also been found to be space-saving, which in turn reduces the risk of tripping and entanglement with objects on the ground.

[0086] In a further preferred embodiment of the present invention, the mobility support device includes one or more contact sensors, acceleration sensors, position sensors, and / or tilt sensors, and one or more control units are configured to determine the angular tilt of the frame and / or wheel guides around a virtual pivot point VF based on the sensed data. The virtual pivot point VF may be the same for both wheel guides, in particular if both wheel guides have the same characteristic radius. Alternatively, each wheel guide may have a different virtual pivot point.

[0087] For example, contact sensors may be provided on the wheel guide, particularly at the ends of its curved path. The contact sensors can detect when the self-balancing wheel, in particular the wheel's center of rotation or the wheel casing, has reached the end of the curved path. Alternatively or additionally, contact sensors may be provided at intervals along the curved path. This allows one or more control units to determine the position of the wheel relative to the wheel guide. This can indicate the direction and angle of the fore-aft tilt of the device, particularly the frame. By determining the angular tilt of the frame and / or wheel guide around a virtual pivot point VF, the user's intention to move, for example, forward or downward, can be interpreted by one or more control units. The degree of the frame's angular tilt can be optionally combined with other factors, such as the duration of the tilt, to determine that the user's intention is to squat downward. This can be achieved by allowing the harness to descend while the wheels move forward according to the inverted pendulum principle outlined above, if the user attempts to crawl (pushing the ground backward with hands or feet). The angular tilt can also be electronically limited to prevent the device from tipping over.

[0088] In a further preferred embodiment of the present invention, one or more control units are configured to determine whether the angular inclination of the frame and / or wheel guides has reached or exceeded an acceptable angular inclination. To do so, one or more control units may include appropriate programs for comparing the actual angular inclination of the device with a pre-stored acceptable angular inclination. The programs may also be configured to predict future inclined movement of the device. Preferably, the angular inclination is determined in the front-rear plane. Monitoring the front-rear inclination is advantageous because it indicates the posture of the user in the harness in events such as a slump. Movement of the device may be inappropriate for a user in this posture, and therefore the movement may be slowed down or stopped. Front-rear inclination can also indicate the stability of the device and, therefore, the user. For example, an unacceptable angular inclination may indicate instability or near-instability, resulting in an unacceptable risk of the device tipping forward or backward.

[0089] In the sense of the present invention, “allowable angle tilt” is preferably a range of angles in a particular plane within which the device can be safely tilted. To the extent that “allowable angle tilt” refers to tilt in the front-to-back plane, it is preferably limited by a maximum forward angle tilt and / or a maximum backward angle tilt. “Allowable angle tilt” may also be tilt in the left-to-right plane and may be limited by a maximum left tilt and / or a maximum right tilt. Preferably, “allowable angle tilt” is such that the risk of the user falling is considered negligible. “Allowable angle tilt” may preferably be adjustable for a particular user. This may depend on various factors such as the type of harness used by the user and the default height h1.

[0090] Preferably, when it is determined that an acceptable angle of inclination has been reached or exceeded, one or more control units are configured to signal actuators to prevent uncontrolled movement of the device, in particular to prevent the entire device from tipping over, and / or to prevent the harness from falling uncontrollably. Preventing the harness from falling uncontrollably may include preventing the device from tipping over. While the curved path or wheel guide itself can mechanically prevent tipping by limiting the possible positions of the self-balancing wheels, one or more control units can add an additional layer of safety. This provides the user with additional protection from tipping, in particular when the device encounters an unexpected obstacle or uneven ground that could cause an unexpected inclination of the device beyond the inclination permitted by the curved path itself. Thus, the mental burden on parents, caregivers, or therapists supervising the use of the device can be reduced.

[0091] In a further preferred embodiment of the present invention, if it is determined that an acceptable angular inclination has been reached or exceeded, the actuator is configured to cut off power to the self-balancing wheels, release one or more support wheels, activate the brakes, adjust the position of the counterweights, and / or adjust the speed and / or direction of movement of the self-balancing wheels. By cutting off power to the self-balancing wheels, the continuous movement of the device can be stopped. This can prevent a user who is no longer intentionally controlling the device from colliding with a wall or other obstacle. Preferably, the device is configured to keep the device in a stable position by cutting off power to the self-balancing wheels. This can be achieved by the weight distribution of the device, which may, for example, keep the self-balancing wheels stationary near the center of each curved path. The weight distribution may also be such that the rear portion of the frame touches the ground when the self-balancing wheels are stopped. Activating the brakes may allow the self-balancing wheels to stop at a given position, particularly near the center of a curved path. This allows the device to be safely stopped so that the user remains upright with both feet on the ground. For example, adjusting the position of the counterweights to manipulate the system's center of gravity so that it is above the central part of the wheel guide can also allow the device to stop in a safe position. Adjusting the speed and / or direction of the self-balancing wheels can allow the device to return to its final safe position. For example, the device can be retracted from obstacles such as ditches in the ground that caused it to approach or reach the maximum allowable angle of inclination. These approaches can, of course, be combined with each other to prevent the user from falling or landing in an unintended and uncomfortable position.

[0092] In a further preferred embodiment of the present invention, the allowable angular inclination of the frame, the first wheel guide, and / or the second wheel guide is limited by a maximum allowable forward angle, which is smaller than the angle at which the harness reaches the point of forward tipping. This is because the center of gravity of the user (and system) typically coincides with a point within the harness. A tipping can occur when the center of gravity of the system begins to drop outside its base.

[0093] In the sense of the present invention, the “point of forward tipping” is preferably the position where the center of gravity of the device, user, or system including the device and user is outside the base of the device. This occurs when the center of gravity coincides with the front end of the base of the device, particularly when the user leans excessively forward. The base of the device is preferably the region spanning and including the wheels and wheel guides.

[0094] In a further preferred embodiment of the present invention, the allowable angular inclination of the frame, the first wheel guide, and / or the second wheel guide is limited by a maximum allowable left and / or right angle, the maximum allowable left and / or right angle being smaller than the angle at which the harness reaches the point of lateral tipping. Mechanical and / or electronic safety mechanisms described herein may also be used to prevent lateral tipping.

[0095] In the sense of the present invention, the “point of lateral instability” is preferably a position where the center of gravity of the device, user, or system including the device and user is outside the base of the device. This occurs particularly when the center of gravity coincides with the left or right end of the base of the device, especially when the user is excessively tilted to the side.

[0096] In a further preferred embodiment of the present invention, the frame includes a harness guide. This allows the harness to move in a controlled and restricted manner relative to the frame. This is advantageous as it can increase user comfort, as it allows the user to assume a variety of postures and positions while seated on or inside the harness without necessarily triggering the self-balancing wheels to move the device. Furthermore, the harness guide can significantly increase the vertical range of the user's movement. For example, the harness guide may allow the user to kneel or squat as well as swing forward. When kneeling or squatting, the user does not necessarily have to move their center of gravity forward or backward relative to the self-balancing wheels, and as a result, the angle θ can be kept substantially zero. This allows the user to raise and lower their body without necessarily moving the device forward or backward, thus separating forward and backward movement from the user's vertical movement.

[0097] In the sense of the present invention, a "harness guide" is preferably a controlled means for changing the position of the harness relative to the frame on which it is installed.

[0098] The harness guide preferably defines the path the harness can move in relation to the frame. By defining the path for the movement of the harness, the movement can occur smoothly in a controlled manner, without particularly undesirable abrupt movements. Preferably, the path defined by the harness guide is substantially vertical. A substantially vertical path is substantially vertical with respect to the default position of the device, for example, when the user is standing with both feet on the ground. The vertical path may, of course, be inclined if the device itself is also inclined. Thus, the user can raise and lower their body in a manner that is not only controlled but also does not substantially shift the user's center of gravity in the anterior-posterior direction. Thus, the user can not only kneel, squat, and bend, but also stand up from a low position, jump, or reach above to grasp an object. This allows the user to practice a wide variety of physical movements and transitions from different positions while improving their muscle strength and motor skills, and at the same time supporting their daily activities.

[0099] In a further preferred embodiment of the present invention, the mobility assistance device includes mechanical biasing means for returning the harness to a default height position when the height position of the harness is changed from a default height position h1. The default height position h1 is preferably configured such that the user's feet can reach the ground surface between the first and second self-balancing wheels. At the default height position h1, the user may be seated or standing, depending on the configuration and application of the device. By biasing the harness towards its default height position, the user's desired posture (e.g., upright) can be facilitated. The user may be supported in this posture by providing a lifting force that reduces strain on the user's muscles, for example. Thus, the user may remain upright (or seated) for longer periods without exhaustion, while enjoying the flexibility of movement. The biasing also ensures that changes in the user's vertical position occur only as a result of the user's intentional movement, in particular because the user must provide some effort exceeding a threshold force to move themselves against the bias. Thus, unintentional loss of posture or falls to the ground can be prevented. At the same time, once the user reaches a lower position, it automatically returns to the default height unless sufficient force is applied to indicate an intention to remain in that position. Therefore, the device is both flexible and supportive.

[0100] In a further preferred embodiment of the present invention, the harness guide additionally or alternatively defines a lateral path to which the harness may move relative to the frame. The lateral harness guide may also include mechanical biasing means for returning the harness to a default lateral position, which is preferably centered between the wheel guides. Such a lateral harness guide may allow the user to assume a wider range of postures, such as leaning to one side or reaching for an object to the left or right. Thus, the user can slightly shift their center of gravity relative to the device without requiring the entire device to move with them.

[0101] In a further preferred embodiment of the present invention, the mechanical biasing means includes a counterweight, a parallelogram, a spring, an elastic material, a cushioning material, a pneumatic cylinder, a hydraulic cylinder, a permanent magnet, and / or an electromagnet component. The mechanical biasing means preferably includes a compression spring for lifting the harness along the vertical harness guide of the frame, and the mechanical biasing means preferably further includes a further second spring, the further second spring preferably being a tension spring for lowering the harness along the vertical harness guide of the frame. Since these components are low cost and do not consume power, it is particularly preferred that the mechanical biasing means include a combination of a compression spring and a tension spring.

[0102] In a further preferred embodiment of the present invention, the apparatus includes a counterweight, which is preferably mounted on the frame or on one or both of the first and second wheel guides. The counterweight may form part of a mechanical biasing means for returning the harness to its default height position. However, the counterweight may be integrated into the apparatus with or without harness guides and may provide a variety of functions other than returning the harness to its default height position.

[0103] By applying a counterweight, the center of gravity of the device may be shifted, resulting in the device tending to rest in a safe position, for example, on the rear portion side. When the user is not pushing the front portion of the device downward, the counterweight can at least partially compensate for the user's weight and, if necessary, provide a lifting force according to the principle of a lever or seesaw, allowing the user to be raised to the default height position h1. The device may operate as a seesaw by allowing the user and the counterweight to rotate around a real or virtual fulcrum. The fulcrum of the seesaw is preferably a substantially horizontal axis passing laterally through or above the device. The fulcrum may be the y-axis in particular, or substantially parallel to the y-axis. In some embodiments, the center of rotation of the self-balancing wheel acts as the fulcrum. Alternatively, the fulcrum may be an axis extending parallel to the center of rotation of the self-balancing wheel.

[0104] In the sense of the present invention, “seesaw” is a type 1 lever supported at a single fulcrum between two (real or virtual) beam sections, which may or may not be aligned with each other. Each beam section is configured to carry a load. The first load may include a counterweight that can be mounted on the frame or on one or both wheel guides by a distal arm having a length L1 to the fulcrum. The second load may include a harness (and, if applicable, a user in the harness) that can be mounted on the frame by a proximal arm having a length L2 to the fulcrum. L2 is preferably greater than L1.

[0105] In the sense of the present invention, "compensation for user weight" preferably means providing an upward force acting on the user's center of gravity in the opposite direction to the user's gravity. This upward force is often referred to as a lifting force.

[0106] A counterweight and seesaw preferably support the user's upward and downward movement. This configuration allows the seesaw to lift the user while also allowing the user to intuitively lower themselves. The harness, partially lifted by the counterweight, allows the user's hands to remain free, and does not require a strong upper body with skilled arms and hands. In particular, the user does not need to use their hands to control the device, in contrast to known devices. By freeing the user's hands, the user can freely participate in everyday activities. This is especially important for children who need to learn and socialize through play.

[0107] The counterweight preferably operates passively; that is, it does not require the user to actively lift it. This also reduces the load on the electrically, pneumatically, or hydraulically powered components of the device, and as a result, the device can be used wirelessly for longer periods, for example outdoors, before being recharged. This further opens up wider opportunities for the user to move around and share experiences with others.

[0108] In a more preferred embodiment of the present invention, the counterweight has a mass of 5 kg to 30 kg, preferably 5 kg to 20 kg, more preferably 8 kg to 12 kg, and even more preferably about 10 kg. In the case of multiple counterweights, the total weight preferably corresponds to the preferred values ​​described above.

[0109] In a further preferred embodiment of the present invention, the wheel guides are configured to extend behind the frame, particularly behind the harness guides. Preferably, at least 10%, and more particularly at least 20%, of the length of each wheel guide extends behind the frame. This extension to the rear of the frame itself can act as a load. This load can act as a counterweight in a seesaw-like configuration, thereby assisting the user in standing up from a lower position.

[0110] In a further preferred embodiment of the present invention, counterweights are provided at the rear portions of the first and second wheel guides, respectively, which extend to the rear of the frame. Preferably, the first wheel guide holds a first counterweight, and the second wheel guide holds a second counterweight, and the first and second counterweights are preferably of equal weight. The counterweights can together act as a load in the seesaw system. The counterweights can also shift the center of gravity of the device backward so that when the user dismounts from the harness, the rear portion of the wheel guides comes to rest in contact with the ground. This can prevent the device from tipping over dangerously when the user dismounts, as can be observed in many scooters. For users who may have limited mobility and reduced muscle tone, being able to leave the device without the possibility of tipping over on the user or their caregiver is particularly advantageous.

[0111] In a further preferred embodiment of the present invention, the position of the counterweight along the wheel guide and / or frame is automatically or manually variable, and as a result, L1 can change. For this purpose, the device may include actuators for changing the position of the counterweight along the track. For example, one or more control units may adjust the position of the counterweight by sliding the counterweight along a dedicated track in the wheel guide, for example by actuators (electrical, pneumatic, etc.), according to the sensed intention of the user. For example, if a sensor in the device detects that the user is not attempting to lift himself from a squatting position, one or more control units may be configured to move the counterweight closer to the pivot point to reduce the lifting force on the user, allowing the user to continue moving according to the user's intention to maintain the squat. If it is detected that the user is reaching upward, for example by standing on tiptoe or raising his arms, the counterweight can be moved further away from the pivot point to increase the moment applied to lift the user.

[0112] The separation of the balancing function between the counterweight and the self-balancing wheel also improves modularity, allowing different parts of the device to be replaced as user needs evolve. Preferably, one or more of the harness, counterweight, self-balancing wheel, and any support wheel are configured to be removable and replaceable by an adult without the need for specialized tools. Replaceable parts may preferably be secured to the frame or seesaw with, for example, a hex wrench. This further improves the modularity and lifespan of the device. Preferably, the position of the counterweight and / or any support wheel relative to the frame is also manually adjustable by an adult without the need for specialized tools.

[0113] In a further preferred embodiment of the present invention, the frame is connected to the central portion of the wheel guides, preferably at points between 20% and 80%, and particularly between 30% and 70%, along the length of each wheel guide. In such embodiments, it may be preferable that the pivot point of the seesaw passes through the point where the frame is connected to each wheel guide. Such arrangement has been found to be convenient in providing a length L1 between one or more rear counterweights and the pivot point that is shorter than the length L2 between the harness (or the user's center of gravity within it) and the pivot point. In such embodiments, the user's center of gravity may be in front of the wheel guides. However, the overall center of gravity of the system is preferably above the wheel guides.

[0114] In a further preferred embodiment of the present invention, the frame is connected to the rear portion of the wheel guides, preferably at a point between 0% and 30%, particularly between 0% and 20%, of the length of each wheel guide. In such an embodiment, the center of gravity of the user (and the system including the device and the user) is preferably above the wheel guides. This protects the system from tipping over while allowing the system to easily move out of an unstable equilibrium when the user shifts their weight.

[0115] In a further preferred embodiment of the present invention, one or more counterweights are also functional components of the system. Examples of functional components include guide elements such as support wheels, replacement parts, shock absorbers, handles, and pulleys, and mechanical or electronic components such as sensor packs, processors, memory units, batteries, cables, and the like. In this way, the counterweights can perform hybrid functions without increasing the overall weight of the device.

[0116] The mobility assistance device preferably includes a portable power supply, which is preferably positioned on the frame to function as a counterweight for the user's weight, etc. The portable power supply is particularly well-suited for use as a counterweight because it is a relatively heavy component that can be flexibly positioned at various locations on the device, including the frame and / or wheel guides. The device may optionally include two portable power supplies (e.g., one for each of the first and second self-balancing wheels), in which case each portable power supply is preferably located at the rear portion of each wheel guide. The portable power supply preferably includes a battery. Positioning of the portable power supply is preferably chosen not only to provide one or more of the counterweight advantages described above, but also to reduce the length of cables required to connect the portable power supply to the self-balancing wheels and / or control unit or other electronic components. Reducing the required cable length can simplify the device, reduce the risk of tripping, and decrease the risk of items getting caught in the device or cables getting snagged on obstacles in the environment.

[0117] In a further preferred embodiment of the present invention, the weight distribution of the mobility assistance device when the user is not in it is preferably such that the mobility assistance device tends to remain stationary on the rear portion side of the first and second wheel guides, respectively. This can prevent the device from tipping over over a large angle when the user dismounts from the harness. Preferably, the weight distribution of the device is such that when the user is at the default height h1, the user's center of gravity in the harness is vertically above the central portion of the first and second wheel guides. This provides particularly high stability against tipping, especially forward tipping. Accidental tipping of the user can be avoided.

[0118] In a further preferred embodiment of the present invention, the mobility assist device includes at least one support wheel, which is preferably connected to the frame, harness, or one or both wheel guides, particularly in a spring-loaded manner, to prevent uncontrolled movement of the device in use. Such uncontrolled movement may include tipping over of the entire device or uncontrolled dropping of the harness. The spring load can be achieved mechanically or pneumatically via compression spring, tension spring, or torsion spring elements. The support wheel may be a wheel suspended from a proximal arm by a telescopic spring-loaded rod (also referred to here as a suspension), so that the wheel reaches the ground before the harness. The wheel and suspension do not abruptly stop the user as in the case of rods found in the prior art, but rather soften the user's landing. The length and position of the suspension along the proximal arm are such that the minimum height position h for the user min It can be configured to set the following: The length of the suspension preferably corresponds to the user's squatting position, preferably 5 cm to 40 cm, more preferably 10 cm to 30 cm.

[0119] In a further preferred embodiment of the present invention, the support wheels are positioned to allow the user to change their height within a range corresponding to tiptoeing, walking, squatting, and / or crawling movements. Advantageously, this allows the user a high degree of freedom and independence when using a device that restricts only movements deemed unsafe for a particular user. Preferably, the position of the support wheels is adjustable. This allows the device to grow with the user rather than being replaced.

[0120] In a further preferred embodiment of the present invention, one or more control units are configured to monitor the position of the first wheel guide and / or the second wheel guide relative to the first self-balancing wheel and / or the second self-balancing wheel, respectively. Alternatively or additionally, one or more control units are configured to monitor the position of the first self-balancing wheel and / or the second self-balancing wheel relative to the respective wheel guide. This allows one or more control units to determine whether and to what extent the device is tilted. The device can be concluded to be tilted if both self-balancing wheels are in a non-center position along each respective curved path and each self-balancing wheel is at the same distance along the length of that curved path. The distance along the length of the curved path can be converted to an angle of inclination by one or more control units, for example, when expressed as a percentage of its total length. One or more control units can also detect that one of the first and second self-balancing wheels is slightly ahead of the midpoint of its curved path, while the other of the first and second self-balancing wheels is slightly behind the midpoint of its curved path. Such arrangements may indicate that the device is rotating around a single point. Other relative positions may indicate that the device is moving along a curve or in a straight line.

[0121] In response to monitored position data, one or more control units are configured to restrict or transmit the user's movement, preferably by adjusting the speed and / or direction of the self-balancing wheels and / or the position of the harness relative to the frame. One or more control units include or can access a program for this purpose. For example, the device of the present invention may include one or more infrared sensors for detecting approaching obstacles such as walls. One or more control units may also determine that the device is moving forward. One or more control units may use this information to determine that the forward movement should be slowed down or stopped, or that the device should turn to avoid an obstacle. This can achieve a higher level of safety, particularly for users who require this additional assistance.

[0122] In a more preferred embodiment of the present invention, one or more control units are configured to interpret sensed data to determine whether the user's movement is voluntary and to transmit only voluntary movement, and the degree to which the user's movement is transmitted and / or suppressed is preferably adjustable.

[0123] In a more preferred embodiment of the present invention, one or more control units are configured to interpret forces applied by the user and to instruct motors and / or actuators to suppress or ignore forces below a threshold force and / or applied for a duration less than a threshold, where the threshold force and / or threshold duration correspond to involuntary movements. Thus, one or more control units can be configured to filter out and remove movements deemed involuntary and not amplify them. This can be achieved by inputting data from various sensors, e.g., user state and position, frame movement, data from wheel guides, and / or data from self-balancing wheel sensors, into one or more control units. Algorithms may be used to interpret the sensed data, for example, to filter and classify the sensed data. One or more control units may be configured to send commands to one or more motors and / or actuators, e.g., motors for self-balancing wheels, and actuators that control the position of counterweights, the stiffness of pivotal connections between harnesses and frames, and / or the stiffness of suspension elements, in order to move according to the user's intentions. Involuntary movements may be absorbed by the mechanical components of the device to avoid abrupt stops. One or more control units can, advantageously, support only the user's movements that are deemed to correspond to a specific intention, so that the device moves the user further according to the user's intent. The user can rely less on their own muscle tension and reduce fatigue.

[0124] The control unit preferably includes adjustable thresholds corresponding to data from one or more sensors, including the duration and force of the user's movement. Based on whether the user's movement exceeds or remains below the threshold, the control unit preferably commands the motor and / or actuator to transmit, suppress, or ignore the movement.

[0125] In a further preferred embodiment of the present invention, each of the first and second self-balancing wheels is preferably given a negative camber such that each of the first and second self-balancing wheels defines a camber angle β of 5 to 20 degrees, particularly about 10 degrees, relative to the ground surface. The frame and / or wheel guides may be configured to hold the first and second self-balancing wheels so that their camber angles are variable, particularly to a maximum of 2 degrees, more preferably to a maximum of 1 degree.

[0126] In the sense of the present invention, “negative camber” is preferably a setting such that the wheels of the device are closer to each other in the y-direction at the top than at the bottom. The camber angle can be the angle of each self-balancing wheel around the x-axis. The “negative camber angle” β is preferably the angle between the center line passing from the top to the bottom of the wheel in the yz-plane and the ground, where the angle faces the center of the device. Preferably, the camber angle β is about 10 degrees. This provides the device with a more stable shape with a wider base. The addition of camber makes it virtually impossible for the device to tip over laterally, resulting in increased safety in rough terrain conditions and / or during rough play with other children. In addition, the addition of camber significantly improves the maneuverability of the device, allowing it to easily turn around a single point.

[0127] In a further preferred embodiment of the present invention, a portable power supply is positioned on either the first or second self-balancing wheel, where optionally, an additional portable power supply is positioned on the other of the first or second self-balancing wheel. Positioning the portable power supplies on each self-balancing wheel can lead to a more compact device with no or fewer cables. Since each self-balancing wheel can directly contact its own portable power supply, no cables are required to connect these components. The risk of cables becoming loose, tangled, or pinched is therefore eliminated. This improves the safety of the device.

[0128] In a further preferred embodiment of the present invention, the mobility support device includes an emergency stop button and an emergency stop relay for each of the first and second self-balancing wheels. This allows the control device to stop any electric movement and / or drop the support wheels to the ground. The emergency stop is preferably located on the top of the wheel or on the top of the frame so that it can be easily seen and accessed by a nearby adult. The emergency stop button may be located on the harness or in a location that can be operated by the user, depending on the user's needs and abilities.

[0129] In a further preferred embodiment of the present invention, the frame further includes a handle for guiding the mobility aid when it is not in use and / or for manually assisting the user. As shown in the drawings, the frame itself may be configured as the handle. This allows the user to take a break from maneuvering the device themselves and also allows a caregiver to assist the user's movement. The handle can also be used to carry the device to a storage location when not in use, and conveniently, it does not require adding any weight to the device.

[0130] The apparatus of the present invention can also preferably be configured for use by adults, teenagers, or children who do not require any special mobility requirements. The apparatus can preferably be adapted for use in leisure activities, such as hiking. This can substantially reduce fatigue and lower the risk of falls, even for healthy adults.

[0131] In a preferred embodiment, the device is configured for non-therapeutic use. In particular, the device can be configured for use by healthy users, especially healthy adults. For example, the device can be configured to extend the length of continuous walking before fatigue sets in.

[0132] In a more preferred embodiment, the device can be configured to increase the number of repetitive movements that the user can perform before fatigue sets in. Such movements include jumping, turning, and ground contact. The device can also be configured to assist the user in performing such movements so that the user's attention and effort are directed towards refining aspects of the movement, such as the arm position for shooting a basketball. This is particularly advantageous in sports and dance, where the user typically receives varying degrees of support from a trainer or handrail depending on their experience level. The device can reduce the burden on the trainer and allow the user to independently practice various movements over a long period of time in order to achieve perfection.

[0133] In a further embodiment, the present invention relates to a method for using a mobility support device according to any embodiment of the present invention.

[0134] Those skilled in the art will understand that the technical features and advantages disclosed herein with respect to mobility assistance devices also apply equally to methods of using such devices to assist a user's movement, and vice versa.

[0135] The method preferably includes the step of transmitting the user's intentional movements through the device while preventing it from tipping over, the intentional movements being, in particular, forward and backward rocking motion, forward or backward displacement, rotational motion around a point, and / or rotational motion in a partial circle.

[0136] In a preferred embodiment of the present invention, a method of using a mobility assistance device includes the step of transmitting the user's intentional movements for therapeutic purposes. The method may be a training or rehabilitation method. The method may also be for relieving fatigue and preventing accidents.

[0137] Preferably, the treatment method includes the use of a mobility assist device to assist the user in moving, positioning, or maintaining the posture of their own body in a safe and healthy manner. The device may be used by a user in an upright position. This may be achieved by a harness, but preferably also involves the use of a vertical harness guide with mechanical biasing means to bring the user into a healthy upright position. In such cases, the device may assist the user in standing for longer periods without the risk of fatigue or falling. This may enable the user to independently participate in daily activities such as attending events or standing in line in an upright position. The device may also be used to provide the user with relief from fatigue during walking or running activities. Thus, the user may be able to walk longer and more safely, and especially travel further from home. The support provided by the device may also improve the user's gait by allowing the user's attention to be directed towards coordinating the movement of their own body.

[0138] The device can also be used by a user in a seated position. In such cases, the device can assist the user in remaining seated for longer periods without, for example, leaning forward or backward. This can be achieved by a harness, but preferably also by the use of a vertical harness guide with mechanical biasing means to bring the user into a healthy seated position.

[0139] In a preferred embodiment of the present invention, the method of using the mobility assistance device is a physiotherapy method. The device can perform one or more steps that are typically performed by a physiotherapist, and as a result, the user is well supported to safely train muscle groups or skills. This can reduce the burden on physiotherapists, who may not be widely available in all areas. The user can also optionally use the mobility assistance device to perform physiotherapy exercises at any location, such as their home, with telemedicine support.

[0140] In a preferred embodiment of the present invention, a method of using a mobility assistance device includes the step of transmitting the user's intentional movements for non-therapeutic purposes.

[0141] For example, the user's intentional movement may be walking, and the user may be a healthy adult. In this way, the device can allow the user to extend the period during which they can walk without fatigue. This can be particularly useful in long hiking situations, especially on uneven or uphill terrain. In such a context, the device can also help protect the user from slipping and falling due to its inherent stability.

[0142] As a further example, the user's intentional movement may be a jumping movement, and the user may be a healthy adult. In this way, the device can enable the user to practice and improve their technique without fatigue when performing jumping movements over a longer period of time. This can be particularly useful for improving form in basketball, volleyball, dance, or gymnastics training. In some sports, such as basketball and netball, it is essential for the user to pivot around their own body. The movement assistance device of the present invention can advantageously reduce fatigue and enable the user to exercise specific muscle groups while simultaneously enabling the user to play these games according to the rules. For example, a netball player can catch the ball, pivot around themselves using the device, and then shoot the ball into the net. In this process, the user's attention can be focused on improving their shooting technique rather than on the pivoting movement. This makes the device particularly suitable for training.

[0143] In a further preferred embodiment of the present invention, the method includes using the apparatus for Paralympic activities. Thus, the apparatus may enable a user to participate in sports that require supporting their own weight in an upright or seated position.

[0144] In a further preferred embodiment of the present invention, the method includes using the device for seated activities. In particular, the method includes assisting a user in performing desk-based activities. In this context, the mobility assistance device may function as an improved ergonomic mobile chair.

[0145] In substance, terms such as approximate and about preferably represent an acceptable range of less than ±20%, preferably less than ±10%, particularly preferably less than ±5%, and particularly less than ±1%, and also include the value itself.

[0146] Those skilled in the art will understand that the technical features and advantages disclosed relating to the mobility assistance devices described herein apply equally to the methods of using such devices to assist the movement of a user, and vice versa.

[0147] Detailed description of the present invention and examples It should be understood that various substitutes for the embodiments of the present invention described herein can be used in carrying out the invention. The claims of the present invention define the scope of the invention and are intended to encompass methods and apparatus within the scope of these claims and equivalents.

[0148] Without the intention to limit, the present invention will be described in more detail with reference to exemplary embodiments and the following drawings. [Brief explanation of the drawing]

[0149] [Figure 1] This is a schematic side view of a mobility support device according to a preferred embodiment of the present invention. [Figure 2] Figure 1 is a schematic diagram of a perspective view of the mobility support device. [Figure 3] This is a schematic side view of a mobility support device according to a further preferred embodiment of the present invention, and the figure shows the radius of curvature of the curved path within the wheel guide. [Figure 4] This is a schematic diagram of a curved path with a radius of curvature greater than the height of the system's center of gravity. [Figure 5] This is a schematic diagram of a curved path with a radius of curvature equal to the height of the system's center of gravity. [Figure 6] This is a schematic diagram of a curved path with a radius of curvature smaller than the height of the system's center of gravity. [Figure 7] This is a schematic diagram of the rear view of the mobility support device according to the present invention, showing the point of lateral tipping. [Figure 8] This is a schematic top view of a mobility support device according to a further preferred embodiment of the present invention, in which guide rollers are attached to the self-balancing wheels. [Figure 9]Figure 8 is a schematic diagram of the rear view of the mobility support device. [Figure 10] Figure 8 is a schematic diagram of a perspective view of the mobility support device. [Figure 11] Figure 8 is a schematic diagram of a side view of the mobility support device. [Figure 12] This is a schematic top view of a mobility support device according to a further preferred embodiment of the present invention, in which a pair of upper clips and a pair of lower clips are attached to each of the self-balancing wheels. [Figure 13] Figure 12 is a schematic diagram of the rear view of the mobility support device. [Figure 14] This is a schematic perspective view of a mobility support device according to a further preferred embodiment of the present invention, in which the self-balancing wheels are each attached to the wheel guide by a sleeve. [Figure 15] Figure 14 is a schematic diagram of a side view of the mobility support device. [Figure 16] This is a schematic perspective view of a mobility support device according to a further preferred embodiment of the present invention, where the self-balancing wheels are each attached to the wheel guide by casters. [Figure 17] Figure 16 is a schematic diagram of a side view of the mobility support device. [Figure 18] Figure 16 is a schematic diagram of the rear view of the mobility support device. [Figure 19] This is a schematic perspective view of a mobility support device according to a further preferred embodiment of the present invention, in which the self-balancing wheels are each attached to the wheel guide by guide rollers. [Figure 20] Figure 19 is a schematic diagram of a side view of the mobility support device. [Figure 21] This is a schematic perspective view of a mobility support device according to a further preferred embodiment of the present invention, in which the self-balancing wheels are attached to the wheel guides by inner and outer clips, respectively. [Figure 22] This is a schematic side view of a mobility support device according to a further preferred embodiment of the present invention, in which the mobility support device includes front and rear support wheels. [Figure 23]Figure 22 is a schematic diagram of the front view of the mobility support device. [Figure 24] Figure 22 is a schematic diagram of a perspective view of the mobility support device. [Figure 25] This is a schematic perspective view of a mobility support device according to a further preferred embodiment of the present invention, in which the wheel guide has a greater ground clearance and includes retractable support wheels. [Figure 26] This is a schematic side view of a mobility support device according to a further preferred embodiment of the present invention, in which the wheel guide includes a counterweight behind it. [Figure 27] Figure 26 is a schematic diagram of the top view of the mobility support device. [Figure 28] Figure 26 is a schematic diagram of a perspective view of the mobility support device. [Figure 29] This is a schematic rearward perspective view of a mobility support device according to a further preferred embodiment of the present invention, in which the harness guide element is supported at a default height by mechanical compression and tension biasing means within a vertical harness guide. [Figure 30] This is a schematic side view of a mobility support device, showing its forward and backward swaying motion. [Figure 31] This is a schematic side view of a mobility support device, showing forward and backward drive. [Figure 32] This is a schematic diagram of a mobility support device, showing a device that rotates around a single point. [Figure 33] This is a schematic diagram of a mobility support device according to a further preferred embodiment of the present invention, showing preferred relative dimensions. [Modes for carrying out the invention]

[0150] Figure 1 schematically shows a mobility support device 100 according to a preferred embodiment of the present invention. The device is shown from the right and includes a first self-balancing wheel 22 and a second self-balancing wheel (not shown). The first self-balancing wheel 22 is mounted on a first wheel guide 220. The first wheel guide 220 itself is curved such that it is concave when viewed from above and convex when viewed from below. The first wheel guide 220 includes a first curved path (not shown) on which the first self-balancing wheel 22 can move. However, the first self-balancing wheel 22 is constrained within the first wheel guide 220 so that it cannot leave the first curved path. The first self-balancing wheel 22 is provided with a wheel casing 48. The wheel casing protects the user of the device from coming into contact with the moving wheel and prevents objects from being caught between the first self-balancing wheel 22 and the first wheel guide 220. The self-balancing wheel is provided with a set of sensors 46 and a dedicated control unit 36. To avoid the need for cables, the illustrated embodiment includes a set of sensors 46 and a control unit 36 ​​for each self-balancing wheel, with the sensor set 46 and control unit 36 ​​housed within their respective wheel casings 48. Otherwise, cables may be useful to connect the sensor set 46 and control unit 36 ​​to each other and / or to a portable power source 66 such as a battery. In the illustrated embodiment, each self-balancing wheel 22, 24 includes its own battery 66.

[0151] The frame 26 connects the first wheel guide 220 to the second wheel guide (not shown). The frame 26 is preferably made of a rigid material such as a metal tube or an aluminum profile. In this particular embodiment, the frame 26 is connected to the rear portion of each wheel guide, so that at least the rear portions of the wheel guides remain at a constant distance from each other.

[0152] The mobility assistance device further includes a harness 16 in the form of a seat having a backrest and waist enclosure. The harness is connected to a frame 26 by a proximal arm 12. The proximal arm 12 is attached to a substantially vertical portion of the frame 26 by a harness guide element 54. In this case, the harness guide element 54 is connected to a vertical rail of the frame 26 by a ring. The vertical rail of the frame 26 forms a vertical harness guide 160 that defines the path to which the harness 16 can move. A compression spring 56 constitutes means for mechanically biasing the harness guide element 54 so that the harness guide element 54 (and therefore the harness 16) tends to remain in a default position along the vertical harness guide 160. The harness 16 is also attached to the proximal arm 12 by a harness-arm coupling 52. The harness-arm coupling 52 in this case includes a ball joint, but may additionally or alternatively include a cushioning element that can absorb small movements of the user, particularly involuntary movements.

[0153] Figure 2 shows a perspective view of the mobility support device 100 of Figure 1. The first wheel guide 220 and the second wheel guide 240, which have substantially the same radius of curvature and are substantially parallel to each other, are more clearly visible. In this embodiment, the first wheel guide 220 and the second wheel guide 240 are solid profiles, and the curved paths along them are virtual paths that follow their curvature in the longitudinal (or front-to-back) direction. The second self-balancing wheel 24 is mounted on the second wheel guide 240 by a guide element 60. In this case, the guide element 60 includes a pair of clips for the self-balancing wheel, and the pair of clips is joined to the casing 48 of the second self-balancing wheel. The pair of clips ensure that the second self-balancing wheel moves along the second curved path without deviating from it. Although not shown, the wheel guides 220 and 240 include stoppers for restricting the movement of the first self-balancing wheel 22 and the second self-balancing wheel 24 to the central portion of the wheel guides. The central section includes 90% of the length of each wheel guide, excluding only the ends.

[0154] Figure 2 also more clearly shows the configuration of the frame 26 and the harness guide element 54 mounted thereon. As can be seen, the frame 26 includes a substantially vertical portion. The harness guide element 54 is mounted on two parallel rails of the substantially vertical portion so that it can slide along a substantially vertical path. A compression spring 56 applies an upward force to the harness guide element 54. When the harness guide element 54 is in its default position, the harness 16 is at a default height h1 from the ground, and a seated user can stand with both feet on the ground. In the default position, the upward and downward forces acting on the harness guide element 54 are preferably balanced. These forces may include the upward force due to the compression spring 56, as well as the downward force due to the harness guide element 54, the proximal arm 12, the harness-arm coupling 52, the harness 16, and / or the weight of the user. As the harness 16 descends, for example due to a change in the user's posture, the upward force provided by the compression spring 56 preferably lowers to the lowest height position h min It increases until it reaches the minimum height position h. min In this configuration, the upward force provided by the compression spring 56 is preferably infinite. Additionally or alternatively, the closing end of the vertical harness guide 160 may prevent further downward movement of the harness along the provided vertical path. The frame 26 also has an integrated handle 64 at its top. The handle 64 preferably allows the caregiver to conveniently hold, push, or carry the device 100.

[0155] Figure 3 schematically shows a side view of the mobility support device 100 according to a further preferred embodiment of the present invention. The curved path is shown as a curved dashed line. In this particular embodiment, the shown curved path has a constant radius R with respect to a virtual pivot point VF. The figure also schematically shows the location of the user's center of gravity 34. The center of gravity 34 is typically located between the person's navel and waist and within the harness 16. The overall center of gravity of the system, including both the mobility support device 100 and the user, preferably approximates the user's center of gravity 34. A sector of a circle defined by the curved path and the virtual pivot point is shown enclosed by a dashed line. The safe sector of the circle is shaded in darker gray. This safe sector is demarcated by the central portion of the curved path and the virtual pivot point VF. To avoid the entire device 100 tipping over (which could cause the user within it to fall), the centers of gravity of the user and the system preferably remain within the safe sector. This is best achieved when the radius R or characteristic radius CR of each curved path is greater than the height of the standing user's center of gravity 34, and more preferably greater than the user's height. This can provide a sector-shaped safety area of ​​sufficient width around the height of the user's center of gravity 34, allowing the user to safely shift their weight to steer the device without the risk of falling.

[0156] Figure 4 shows the configuration of the curved path without detailing the mobility support device 100. The user's center of gravity 34 is slightly shifted forward, causing the device 100 to swing forward. This causes the wheel guides (and their curved paths) to rotate around a virtual pivot point VF. The leading edge of the wheel guides may coincide with the front of the curved path. This may represent a tipping point TP, in which case tipping can occur when the user's center of gravity 34 is located directly above or in front of the tipping point. The position of the virtual pivot point VF determines the distance of the user's center of gravity to the tipping point. This distance is indicated by the backward-pointing arrow. However, the virtual pivot point may be located considerably forward of the leading edge of the wheel guides without tipping, in which case tipping only occurs in extreme forward swings. When the virtual pivot point VF is at a sufficient distance from the curved path, the user can shift their weight, and the device can swing over a wide range of angles before there is a risk of tipping. However, the radius of the curved path may be limited to restrict the size and weight of the mobility support device 100.

[0157] Figure 5 shows a scenario in which the virtual pivot point of the curved path coincides with the user's center of gravity 34. In this scenario, tipping can occur as soon as the virtual pivot point reaches a position directly above the leading edge of the wheel guide. Therefore, the safe range of angles in which the device can swing is more limited, but it covers the entire length of the curved path and the wheel guide. This preferably represents the edge case, i.e., the minimum recommended radius of the curved path.

[0158] Figure 6 shows a scenario where the virtual pivot point of the curved path is lower than the user's center of gravity 34. Therefore, the radius of curvature of the curved path is smaller than the minimum distance of the user's center of gravity to the curved path. In such a case, the device has more limited stability. The shown arrangement is unstable and will tip forward. The tipping point TP is the point where the user's center of gravity 34 is located in front of the virtual pivot point VF. This occurs before the user's center of gravity 34 reaches the leading edge of the wheel guide. Therefore, safe swinging is limited to only a smaller range of angles across the central portion of the wheel guide.

[0159] Figure 7 schematically illustrates the lateral stability of a mobility support device according to a preferred embodiment of the present invention. The wheels can make contact with the ground, especially on uneven terrain, and can define the base of the system. Lateral tipping of the device can occur if the user's center of gravity 34 and the center of gravity of the entire system are located laterally outside the base. The first and second self-balancing wheels shown herein are given a negative camber of approximately 10 degrees. This increases the width of the base and, therefore, increases the width of the safety zone in which the device can safely tilt laterally. The angles of the first and second self-balancing wheels resulting from their positions relative to the frame 26 thus enhance the lateral stability of the device. Additional safety features, such as support wheels, can also be implemented to enhance the longitudinal or lateral stability of the device.

[0160] Figure 8 schematically shows a mobility support device 100 according to a further preferred embodiment of the present invention. In this embodiment, each of the first wheel guide 220 and the second wheel guide 240 includes a pair of parallel rails. The curvature of each parallel rail defines a curved path having a characteristic radius CR. The first self-balancing wheel and the second self-balancing wheel are each mounted on their respective wheel guides by guide elements 60 (shown here more specifically as guide rollers 62). In this embodiment, the guide elements 60 include six guide rollers 62 per self-balancing wheel. The rotation center of the first self-balancing wheel 22 is connected to the inner rail of the first wheel guide 220 by guide rollers 62 above the inner rail and guide rollers 62 below the inner rail. The first self-balancing wheel 22 is also connected to the outer rail of the first wheel guide 220 by one central guide roller 62 above the outer rail and two eccentric guide rollers below the outer rail. The guide rollers 62 are joined to the wheel casing 48. This configuration has been found to be particularly lightweight, economical, and stable.

[0161] Figures 9 to 11 show further illustrations of this embodiment. As seen in Figure 11, the wheel casing 48 is adapted to house a unit including a sensor 46 and a control unit 36. These are provided individually for each self-balancing wheel.

[0162] Figures 12 and 13 show a further preferred embodiment of the mobility support device 100. The structure of the mobility support device in this embodiment differs from Figures 8 to 11 due to the form of the wheel guides 220, 240 and guide elements 60 used primarily. In this embodiment, each wheel guide includes a curved profile with stoppers (not shown) at its front and rear ends. The wheel casing 48 that holds the self-balancing wheels is attached to each wheel guide 220, 240 by a pair of clips, each surrounding each wheel guide.

[0163] Figures 14 and 15 show a further preferred embodiment of the mobility support device 100. In this embodiment, the wheel case 48 is provided with slots configured to fit the curved profiles of the wheel guides 220 and 240. Thus, the wheel case 48 is modified to form a sleeve surrounding each wheel guide. The sleeve may cover further guide elements 60, such as casters or guide rollers. This is a particularly safe solution because the moving parts are enclosed and not accessible to the user or the environment. The risk of items getting caught or entangled in the parts is reduced.

[0164] Figures 16 to 18 show a further preferred embodiment of the mobility support device 100. In this embodiment, each self-balancing wheel is suspended from a track within its respective wheel guide in the style of a caster. However, unlike casters, the self-balancing wheels are provided with a drive mechanism. The wheel guides 220 and 240 are closed from above to prevent the user's foot from accidentally getting caught in a narrow cavity or gap. Guide elements are provided within the track within each wheel guide to restrict the movement of each self-balancing wheel to the track. The guide elements are conveniently surrounded by the wheel guides 220 and 240.

[0165] Figures 19 and 20 show further preferred embodiments of the mobility support device 100. Each wheel guide 220 and 240 includes a pair of parallel upper and lower guide rails. The guide rails are curved and have the same characteristic radius CR. Each of the upper and lower guide rails includes a groove. Each self-balancing wheel is mounted on its respective wheel guide by guide rollers 62. These preferably have a radius of 20% or less of the radius of each self-balancing wheel. A subset of the guide rollers 62 engage with the grooves of the upper guide rails, and a further subset of the guide wheels engage with the grooves of the lower guide rails, so that the self-balancing wheels can only follow the paths defined by the guide rails. As shown in the figures, the guide rollers 62 are arranged in a V-shape. By providing the self-balancing wheels outside the wheel guides 220 and 240, the user has more space to place their feet between the wheel guides.

[0166] Figure 21 shows a further preferred embodiment of the mobility support device 100, where the wheel guides 220 and 240 each include a pair of guide rails. In this case, instead of upper and lower guide rails, the guide rails may be characterized as inner and outer guide rails. The self-balancing wheels are positioned between the inner and outer guide rails and clipped to them. The inner and outer guide rails are joined at their front and rear ends to restrict the movement of the first self-balancing wheel 22 and the second self-balancing wheel 24. These figures show just a few examples of many preferred arrangements for mounting the self-balancing wheels on the wheel guides.

[0167] Figure 22 shows a further preferred embodiment of the mobility support device 100, in which the device includes at least two, preferably four, support wheels 38. The support wheels 38 are located on the rear portion of the first wheel guide 220. Further support wheels 38 are also located on the front portion of the first wheel guide 220. The lowest point of each support wheel 38 is located between the ground level and the height of the center of rotation of the self-balancing wheel 22. In other words, the support wheels 38 are configured to reach a point within the device's so-called "ground clearance". Preferably, the bottom of the support wheels 38 is at least half the ground clearance. The support wheels 38 are preferably provided with suspension, so that the distance to the first wheel guide 220 can be shortened by the application of pressure, especially when the support wheels 38 are in contact with the ground. The support wheels 38 preferably make contact with the ground when the device is tilted forward to the maximum allowable forward tilt angle, or when the device is tilted backward to the maximum allowable rearward tilt angle. The support wheels 38 can prevent abrupt stops or friction caused by the front of the device coming into contact with an obstacle. Instead, they can assist the user of the device in overcoming obstacles such as steps by providing additional stability to the device when in contact with both the obstacle and the original ground level.

[0168] Figures 23 and 24 show a front view and a perspective view of the mobility support device 100 of Figure 22, which has four support wheels 38. The support wheels 38 are positioned in front of and behind the first wheel guide 220 and the second wheel guide 240, respectively, for uniform weight distribution.

[0169] Figure 25 shows a perspective view of a further preferred embodiment of the mobility support device 100, where the support wheels 38 are configured to reach ground level. These support wheels 38 are mounted in a retractable manner to the first wheel guide 220 and the second wheel guide 240 to allow for the swinging of the device. They can provide some resistance to the forward and backward swinging motion that the user must overcome in order to steer the device forward or backward. This can help filter out and eliminate involuntary movements of the user.

[0170] In some preferred embodiments, the support wheels 38 are, by default, in a retracted position (as shown in Figure 24), for example, by a telescopic connection. The telescopic connection can bias the support wheels 38 toward the lowered position. When certain conditions are detected, the support wheels 38 can be lowered to the ground to stabilize the device, as shown in Figure 25. This may occur when the control unit 36 ​​detects an abnormal or emergency condition, particularly when the forward / backward tilt of the device approaches, reaches, or exceeds the maximum allowable forward / backward tilt angle. It may also occur when an emergency stop is used or when the brakes are applied. The lowered support wheels 38 can prevent the device from swaying back and forth, increasing stability, and as a result, the user can get on or off safely.

[0171] As shown in the figure above, any number or arrangement of support wheels 38 can be combined with any number or arrangement of guide elements 60.

[0172] Figures 26-28 show a further preferred embodiment of the mobility support device 100, in which counterweights 18 are provided at the rear ends of each wheel guide 220 and 240. This can shift the center of gravity of the device backward, and as a result, the device tends to rest on the rear end side of the wheel guides 220 and 240, especially when not in use. This can provide a safe resting position. This can prevent large and sudden movements of the device as the center of gravity of the system changes, especially when riding on the device or when the user has released themselves from the harness. The counterweights 18 may be shaped such that they do not substantially reduce the curved path provided for the self-balancing wheels 22 and 24.

[0173] In the illustrated embodiment, the counterweight 18 is additionally used to configure the mobility support device 100 as a seesaw, with the rotation centers of the self-balancing wheels 22 and 24 acting as the fulcrum of the seesaw. The frame 26 connects the wheel guides 220 and 240 to each other. Instead of being joined at the rear point of each wheel guide, the frame 26 is rather connected around points within the front half of each wheel guide 220, 240. This allows the harness 16 to also be positioned above or in front of the front end of each wheel guide 220, 240. Thus, the harness 16 and the user can act as a load in front of the fulcrum, while the counterweight 18 acts as another load behind the fulcrum. The counterweight 18 may preferably be a portable power source 66, particularly a battery.

[0174] Figure 29 shows a further preferred embodiment of the mobility support device 100, where the harness guide element 54 is in a default position corresponding to the default height h1 of the harness 16. A compression spring 56 connects the harness guide element 54 to the lower end of the vertical harness guide 160 and functions as described above with respect to Figures 1 and 2. In this embodiment, the harness guide element 54 is additionally suspended from the upper end of the vertical harness guide 160 by a tension spring 58. When the harness guide element is raised above the default height position h1, the spring 58 provides a downward force to the harness 16, now acting as a compression spring, returning it to the default height position h1. This is particularly true, for example, when the user is jumping or on tiptoe.

[0175] Figure 30 shows the effect of the user's center of gravity shift on the movement of the mobility support device 100. In the center, Figure 30 shows the default position of the device where the user is in an unstable equilibrium on the self-balancing wheels. The vertical plane passing through the rotation centers of the self-balancing wheels is represented by a dashed line. The user's center of gravity is directly above the rotation centers of the self-balancing wheels 22 and 24. Thus, the user's center of gravity forms an angle θ of 0 degrees with respect to the vertical plane. This can be detected directly or indirectly by the control unit 36 ​​using data readings from a set of sensors 46. The self-balancing wheels 22 and 24 may remain stationary.

[0176] On the left, Figure 30 shows the case where the user leans back within the harness 16, shifting their center of gravity backward. The user's movement rotates the frame 26, and therefore the wheel guides 220 and 240, around their virtual pivot points, while the self-balancing wheels remain stationary. This keeps the user's center of gravity in the same relative position on the self-balancing wheels, maintaining an angle θ of zero. The device remains in an unstable equilibrium with the user in the new backward-leaning posture.

[0177] On the right, Figure 30 shows the case where the user leans forward. The wheel guides 220 and 240 rotate again around their virtual pivot points, while the self-balancing wheels may remain stationary. The angle θ remains zero, and the device remains in an unstable equilibrium. In this way, the user can shift their center of gravity while stationary, particularly by changing their posture, without driving the device forward or backward.

[0178] Figure 31 illustrates how the mobility support device 100 assists the user in walking forward and backward. In the center of Figure 31, an unstable equilibrium position is shown, where the user's center of gravity is directly above the rotation center of the self-balancing wheels. On the right, Figure 31 shows a continuous forward shift of the user's center of gravity when the user walks or attempts to walk forward, such as when pushing the ground backward with one foot. The device helps the user escape the unstable equilibrium by shifting their center of gravity so that it is in front of the rotation center of the self-balancing wheels, thereby raising the angle θ above zero. To return the angle θ to zero, the self-balancing wheels move forward to return their rotation center below the user's center of gravity. However, because the user's center of gravity is continuously shifting forward, the self-balancing wheels continue to move forward. This assists the user as the harness 16, which supports the user's upright posture and prevents fatigue, follows the user's intended movement.

[0179] The opposite happens when the user continuously shifts their weight backward. This is shown on the left side of Figure 31. Here, the self-balancing wheels continue to drive backward until the user comes to a stop. At this point, the self-balancing wheels return their centers of rotation along the wheel guides to below the user's center of gravity, returning the system to an unstable equilibrium.

[0180] Figure 32 illustrates how the mobility support device 100 rotates around a single point. When a user intends to turn their body to the left, they tend to shift their right hip forward and their left hip backward. When such a rotational movement is initiated, a set of sensors 46 on the first (right) self-balancing wheel 22 detects a shift in the rotation center of the self-balancing wheel 22 along the wheel guide 220, forming a positive angle θ. Simultaneously, a set of sensors 46 on the second (left) self-balancing wheel 24 detects a shift in the rotation center of the self-balancing wheel 24 along the wheel guide 240, but in the opposite direction, correspondingly forming a negative angle θ. The self-balancing wheels act to make both of their respective angles θ zero. To do so, the first self-balancing wheel 22 is driven forward, while the second self-balancing wheel 24 is driven backward at the same speed. As a result, the entire device pivots around the user. Thus, a natural pivoting motion with a compact pivot circle can be achieved.

[0181] Figure 33 shows a mobility support device 100 according to a further preferred embodiment of the present invention. The figure shows preferred configurations and proportions of the components of the device. Ground height G is schematically represented by a horizontal line on which both the self-balancing wheels 22, 24 and the user's feet rest. The self-balancing wheels 22 and 24 preferably have the same wheel radius WR. Thus, the centers of rotation of the self-balancing wheels 22 and 24 are separated from the ground height by a distance equal to their wheel radius. The lowest surfaces of the wheel guides 220 and 240 are separated from the ground G by a ground height GC. In some embodiments, the lowest surfaces of the wheel guides 220 and 240 are at approximately the same height as the centers of rotation of the self-balancing wheels, particularly as inner and outer rails, or as enclosed tracks from above, and as a result, the ground height GC can be considered to be approximately equal to the wheel radius WR. However, the ground height GC is preferably slightly lower than the wheel radius WR. Preferably, the ground height is 0.2·WR to 0.9·WR, more preferably 0.6·WR to 0.8·WR. The ground clearance (GC) can be set to allow the vehicle to overcome obstacles such as steps. This allows the top of the step to pass beneath the wheel guide, enabling the user to stand on it and improving their physical skills. For this purpose, a ground clearance (GC) of 15 cm to 25 cm may be selected. The self-balancing wheels and wheel guides can be sized accordingly.

[0182] The wheel radius WR can be selected according to the user, the user's walking speed, stride length, and the desired overall size and weight of the device. For children, especially those up to 12 years of age, a wheel radius of 10 cm to 15 cm is preferred. For children over 12 years of age or adults, a wheel radius of 15 cm to 25 cm is preferred. The ground clearance can be set accordingly to be slightly lower than the wheel radius.

[0183] The dimensions of the device are preferably the user's height h userThe selection is made considering the following. For children up to 12 years old, a user height of approximately 80 cm to 160 cm is assumed. For adults or children over 12 years old, a user height of 140 cm to 220 cm is assumed. The center of gravity of adults and children is usually at a height between the navel and the waist. This can vary depending on age, sex, and medical condition, so all of these should be taken into consideration when dimensioning the device. For adults, the center of gravity is usually about 56% of the user's height when measured from the ground.

[0184] The default height of the harness is preferably such that, when used by the user, the user can stand with both feet on the ground. The height h1 of the user's center of gravity from the ground can be assumed to be the height of the harness, particularly the position of its waist belt. The characteristic radius CR of the curved path of the wheel guide is preferably selected such that the virtual pivot point VF is higher than the default height h1. In some embodiments, the virtual pivot point VF is the user's height h user It is preferable that it be higher than . The characteristic radius is preferably selected appropriately considering the wheel radius WR. The sum of the wheel radius WR and the characteristic radius CR of the curved path is preferably about 1.2·h user ~1.8·h user Particularly preferably about 1.5·h user For devices intended for use by children, a characteristic radius CR of approximately 1.5 m is preferred. [Explanation of symbols]

[0185] 100 Mobility support equipment 12 Proximal Arm 16 Harness 160 Vertical Harness Guide 18 counterweights 22 The first self-balancing wheel 24. The second self-balancing wheel 220 First Wheel Guide 240 Second Wheel Guide 26 frames 34. User's center of gravity 36 Control Unit 38 Support wheels Set of 46 sensors 48 Wheel casing 52 Harness-arm coupling 54 Harness guide elements 56 Compression spring 58 Tension spring 60 Wheel Guide Elements 62 Wheel guide rollers 64 handle 66 Portable Power Supply

Claims

1. A mobility support device (100), A first self-balancing wheel (22) attached to a first wheel guide (220), wherein the first wheel guide (220) defines a first curved path on which the first wheel guide (220) and the first self-balancing wheel (22) can move relative to each other, A second self-balancing wheel (24) attached to a second wheel guide (240), wherein the second wheel guide (240) defines a second curved path on which the second wheel guide (240) and the second self-balancing wheel (24) can move relative to each other, A frame (26) connecting the first wheel guide (220) and the second wheel guide (240), A harness (16) for accommodating a user (32), the harness (16) being provided on the frame (26), One or more control units (36) configured to control the first self-balancing wheel (22) and / or the second self-balancing wheel (24) in accordance with the principle of an inverted pendulum, A mobility support device equipped with the following features.

2. A mobility support device (100) according to claim 1, A mobility support device wherein each of the first curved path and the second curved path includes a central portion, each central portion having a characteristic radius (CR) to a virtual pivot (VF), and preferably the characteristic radius (CR) of the central portion of each of the first curved path and the second curved path is the same.

3. A mobility support device (100) according to claim 1 or 2, The harness (16) is positioned above the first wheel guide (220) and the second wheel guide (240) at a default height (h 1 The characteristic radius (CR) of the first curved path and the second curved path is set to the default height (h 1 A mobility assistance device that is larger than the first curved path or the second curved path and the minimum distance between the center of gravity of the user (32) in the harness (16).

4. A mobility support device (100) according to any one of claims 1 to 3, A movement support device comprising: each of the first self-balancing wheel (22) and the second self-balancing wheel (24) respectively provided with one or more guide elements (60) for supporting the movement of the first wheel guide (220) or the second wheel guide (240) along the curved path, wherein the one or more guide elements (60) connect the first wheel guide (220) or the second wheel guide (240) to the first curved path or the second curved path at at least two distinct points along the curved path, or tangentially to the curved path, wherein the at least two distinct points are preferably at least 25 mm apart, and the one or more guide elements (60) preferably include a sleeve, reel, pulley, scroll, caster, pair of clips, pair of track inserts, pair of guide rollers, or pair of roller bearings.

5. A mobility support device (100) according to any one of claims 1 to 4, The mobility support device (100) includes one or more contact sensors, acceleration sensors, position sensors, and / or tilt sensors, and the control unit (36) is configured to determine the angular tilt of the frame (26) and / or the wheel guides (220, 240) around a virtual pivot point (VF) based on the sensed data.

6. A mobility support device (100) according to claim 5, The control unit (36) determines whether the angular inclination of the frame (26) and / or the wheel guides (220, 240) has reached or exceeded the allowable angular inclination. If it is determined that the allowable angle of inclination has been reached or exceeded, the system is configured to provide a signal to the actuator in order to prevent uncontrolled movement of the movement support device (100). Preferably, when it is determined that the allowable angle of inclination has been reached or exceeded, the actuator is configured to cut off power to the self-balancing wheels (22, 24), release one or more support wheels (38), activate the brakes, adjust the position of the counterweight (18), and / or adjust the speed and / or direction of movement of the self-balancing wheels (22, 24), a mobility support device.

7. A mobility support device (100) according to claim 5 or 6, A mobility support device wherein the allowable angular inclination of the first wheel guide (220) and the second wheel guide (240) is limited by a maximum allowable forward angle, the maximum allowable forward angle being smaller than the angle at which the harness (16) reaches the point of forward tipping.

8. A mobility support device (100) according to any one of claims 1 to 7, A mobility support device comprising a frame (26) including a harness guide (160) that defines a path along which the harness (16) may move in relation to the frame (26), wherein the path is preferably substantially vertical.

9. A mobility support device (100) according to claim 8, The mobility support device has a height position of the harness (16) that is the default height position (h 1 When changed from the default height position, the harness (16) includes mechanical biasing means for returning to the default height position (h 1 The mobility support device is preferably configured such that the user's (32) feet can reach the ground surface between the first self-balancing wheels (22) and the second self-balancing wheels (24).

10. A mobility support device (100) according to claim 9, The mechanical biasing means includes a counterweight, a parallelogram, a spring, an elastic material, a cushioning material, a pneumatic cylinder, a hydraulic cylinder, a permanent magnet, and / or an electromagnet component. A mobility support device wherein the mechanical biasing means preferably includes a compression spring (56) for lifting the harness (16) along a vertical harness guide (160) of the frame (26), and the mechanical biasing means preferably further includes a further second spring, the further second spring preferably being a tension spring (58) for lowering the harness (16) along the vertical harness guide (160) of the frame (26).

11. A mobility support device (100) according to any one of claims 1 to 10, The apparatus includes a counterweight (18), which is preferably mounted on the frame (26) or on one or both of the first wheel guide (220) and the second wheel guide (240). Preferably, the mobility support device (100) includes a portable power supply, the portable power supply (66) preferably positioned on the frame (26) to function as a counterweight (18) for the weight of the user (32).

12. A mobility support device (100) according to any one of claims 1 to 11, The mobility support device (100) includes at least one support wheel (38), the support wheel preferably connected to the frame (26), the harness (16), or one or both of the wheel guides (220, 240), particularly in a spring-loaded manner, to prevent uncontrolled movement of the device (100) during use.

13. A mobility support device (100) according to any one of claims 1 to 12, A mobility assistance device in which at least one of the one or more control units (36) is configured to interpret sensed data to determine whether the user's movement is voluntary or not, and to transmit only voluntary movement, and the degree to which the user's movement is transmitted and / or suppressed is preferably adjustable.

14. A mobility support device (100) according to any one of claims 1 to 13, A mobility support device wherein each of the first self-balancing wheels (22) and the second self-balancing wheels (24) is preferably given a negative camber such that each of the first self-balancing wheels (22) and the second self-balancing wheels (24) defines a camber angle β of 5 to 20 degrees, particularly about 10 degrees, with respect to the ground surface.

15. A method of using the mobility support device (100) described in any one of claims 1 to 14, The process includes a step of transmitting the user's intentional movements through the device while preventing falls, The aforementioned intentional movement is, in particular, a forward-backward rocking motion, a forward or backward displacement, a rotational motion around a point, and / or a rotational motion in a partial circle, in the method.

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