Motion assistance system for wheelchairs
The presently disclosure describes a motion assistance system for a wheelchair, for example, a powered drive wheel system that can continually drive a wheelchair in a circular or elliptical path. The motion assistance system comprises a mounting mechanism attachable to one or more structural elements of the wheelchair, and a drive linkage pivotable with respect to the mounting mechanism. A drive wheel can be mounted to an end of the drive linkage such that the drive wheel contacts the ground when installed on the wheelchair. The drive wheel comprises a plurality of lateral rollers positioned radially about the circumference of the power drive wheel. The lateral rollers can rotate about an axis tangential to the circumference of the drive wheel in order to facilitate driving the wheelchair in a radial direction.
1. A motion assistance system for a wheelchair comprising:
a mounting mechanism that is attachable to a structural element of the wheelchair;
a drive linkage removably connectable to a hitch on the mounting mechanism, the drive linkage being pivotable with respect to the mounting mechanism when connected to the mounting mechanism;
a drive wheel mounted to an end of the drive linkage such that the drive wheel contacts the ground when installed on the wheelchair; and
a control configured to be connected to a pushrim of the wheelchair and that controls the drive wheel, wherein the control includes a sensor, and when the sensor detects movement of the pushrim, the control causes the drive wheel to accelerate or decelerate.
2. The system of claim 1 , wherein the drive wheel comprises a plurality of lateral rollers positioned radially about the circumference of the power drive wheel, wherein the lateral rollers are rotatable about an axis tangential to the circumference of the drive wheel.
3. The system of claim 1 , wherein the control causes the drive wheel to accelerate based on the force of a push of the pushrim.
4. The system of claim 1 , wherein the control causes the drive wheel to accelerate based on the displacement of the wheel of the wheelchair to which the pushrim is attached.
5. The system of claim 1 , wherein the control is a remote control.
6. The system of claim 1 , wherein the control deactivates the drive wheel upon sensing the pushrim being pushed rearward.
7. The system of claim 1 , wherein the control decelerates the drive wheel upon sensing the pushrim being pushed rearward.
8. The system of claim 1 , wherein the drive linkage includes a drive unit connected to the drive wheel, and the drive unit is wirelessly connected to the control.
9. The system of claim 1 , wherein the mounting mechanism includes a clamp that can be mounted to a bar on the wheelchair.
10. The system of claim 9 , wherein the drive linkage includes a hook that engages the hitch of the mounting mechanism.
11. A motion assistance system for a wheelchair comprising:
a mounting mechanism having a hitch and a clamp that is attachable to a structural element of the wheelchair;
a drive linkage including a hook that is removably connectable to the hitch on the mounting mechanism, the drive linkage being pivotable with respect to the mounting mechanism when connected to the mounting mechanism;
a drive wheel mounted to an end of the drive linkage such that the drive wheel contacts the ground when installed on the wheelchair; and
a control configured to be connected to a pushrim of the wheelchair and that controls the drive wheel, wherein the control includes a sensor, and when the sensor detects movement of the pushrim, the control causes the drive wheel to accelerate or decelerate.
12. The system of claim 11 , wherein the drive wheel comprises a plurality of lateral rollers positioned radially about the circumference of the power drive wheel, wherein the lateral rollers are rotatable about an axis tangential to the circumference of the drive wheel.
13. The system of claim 11 , wherein the control causes the drive wheel to accelerate based on the force of a push of the pushrim.
14. The system of claim 11 , wherein the control causes the drive wheel to accelerate based on the displacement of the wheel of the wheelchair to which the pushrim is attached.
15. The system of claim 11 , wherein the control deactivates the drive wheel upon sensing the pushrim being pushed rearward.
16. The system of claim 11 , wherein the control decelerates the drive wheel upon sensing the pushrim being pushed rearward.
17. A motion assistance system for a wheelchair comprising:
a mounting mechanism that is attachable to a structural element of the wheelchair;
a drive linkage removably connectable to a hitch on the mounting mechanism, the drive linkage being pivotable with respect to the mounting mechanism when connected to the mounting mechanism;
a drive wheel mounted to an end of the drive linkage such that the drive wheel contacts the ground when installed on the wheelchair, the drive wheel comprising a plurality of lateral rollers positioned radially about the circumference of the power drive wheel, wherein the lateral rollers are rotatable about an axis tangential to the circumference of the drive wheel; and
a control configured to be connected to a pushrim of the wheelchair and that controls the drive wheel, wherein the control includes a sensor, and when the sensor detects movement of the pushrim, the control causes the drive wheel to accelerate or decelerate.
18. The system of claim 17 , wherein the control causes the drive wheel to accelerate based on the force of a push of the pushrim.
19. The system of claim 17 , wherein the control causes the drive wheel to accelerate based on the displacement of the wheel of the wheelchair to which the pushrim is attached.
20. The system of claim 17 , wherein the control deactivates the drive wheel upon sensing the pushrim being pushed rearward.
21. The system of claim 17 , wherein the control decelerates the drive wheel upon sensing the pushrim being pushed rearward.