ELECTRIC WALKING ASSISTANCE DEVICE

Abstract

 Provided is an electric walking assistance device which is prevented from moving despite operator's intention, and to provide a program and method for controlling the electric walking assistance device. An electric rollator 100 includes wheels 220, 230. The electric rollator further includes a motor 320 that drives the wheels 220, 230, a control unit 400 that controls the motor 320, and frames that support the wheels 220, 230 and the seat member 251 b. An assist control is stopped when the pair of handles 240 is rotated by a flip-up mechanism 580.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to an electric walking assistance device, a program and method for controlling the same.

BACKGROUND

[0002] Research and development of walking assistance devices have been actively carried out. Patent Literature 1 (Japanese Patent Application Publication H. 11-267162) disclosed a rollator or a wheeled walker equipped with an electric motor in which battery power consumption by the electric motor is saved as much as possible and a drive force by human power is utilized. Moreover the rollator or the wheeled walker including a baby stroller and a baby carriage can be accelerated or decelerated to a speed at which the rollator can autonomously travel uphill and downhill so that the elderlies and people with a weak walking ability can easily use the rollator or the wheeled walker.

RELEVANT REFERENCES

LIST OF RELEVANT PATENT LITERATURE

[0003] Patent Literature 1: Japanese Patent Application Publication No. H. 11-267162

SUMMARY

[0004] Patent Literature 1 also disclosed that a photoelectric switch of the electric-motor equipped rollator is turned off when a user loses his/her grip from a handle, and the rotation of the motor is stopped while the clutch is working. Consequently a reducer serves as brakes even when the rollator travels downhill and the rollator can be remained standstill.

[0005] With a growing trend toward motorization of walking assistance devices, electric walking assistance devices are being developed. Some electric walking assistance devices are also used as a seat when a user go outside and needs resting. It is preferable that such an electric walking assistance device stops and stays still when a user seats thereon.

[0006] When a seating sensor provided on a seat member of the device is used for control of the device, there may be a problem of malfunction of the electric walking assistance device which could happen before the user sits thereon. Moreover, when the sensor is provided on the seat member, a user cannot place their belongings and the like on the seat member. There are some other situations in which the electric walking assistance device should be stopped and stay still in addition to when the user sits and rests thereon.

[0007] One object of the invention is to provide an electric walking assistance device which is prevented from moving despite operator's intention, and to provide a program and method for controlling the electric walking assistance device.

(1) According to a first aspect of the invention, an electric walking assistance device includes wheels or continuous track driven by a motor, and a control unit that performs an assist control in which the motor is driven such that the motor generates a force to offset a deficiency of an operating force to operate the walking assistance device by an operator. The control unit stops the assist control when the control unit determines that the electric walking assistance device needs to be stopped.
In this way, it is possible for the control unit to stop the assist control when the electric walking assistance device should be stopped. Consequently supply of the assist force (a force to offset a deficiency of an operating force to operate the electric walking assistance device by an operator is generated by the motor) to the wheels or continuous track of the electric walking assistance device is stopped. Therefore it is possible to prevent the electric walking assistance device from moving despite operator's intention. More specifically, "when the electric walking assistance device needs to be stopped" means "when the wheels or continuous track needs to be stopped."

(2) According to a second aspect of the invention, the electric walking assistance device described in the above first aspect may further include a seat member for allowing the operator to sit thereon, and a storage to store things therein. The seat member may be configured such that a seating surface of the seat member can be flipped up and serve as a lid for the storage, and the control unit determines that the electric walking assistance device needs to be stopped when the seating surface of the seat member is flipped up.
In this case, the storage is provided under the seat member and the seating surface of the seat member serves as the lid for the storage. When the seating surface of the seat member is flipped up, it is expected that an operator tries to take something out from the storage or tries to place something in the storage. Therefore the operator wishes to stop the electric walking assistance device and it is determined that the electric walking assistance device needs to be stopped, and the electric walking assistance device is actually stopped. In this manner, it is possible to prevent the electric walking assistance device from moving despite the intention of the operator who tries to take something out from the storage.

(3) According to a third aspect of the invention, in the electric walking assistance device according to the first or second aspect of the invention, the seat member may further include a back belt. The back belt may be rotatably supported, and the control unit may determine that the electric walking assistance device needs to be stopped when the back belt is rotated to allow the operator to sit on the seat member.
As describe above, when the back belt is rotated, it is expected that the operator tries to sit on the seat member. This is because the back belt is used as a backrest when the operator sits on the seat member. Therefore the operator wishes to stop the electric walking assistance device and it is determined that the electric walking assistance device needs to be stopped, and the electric walking assistance device is actually stopped. In this manner, it is possible to prevent the electric walking assistance device from moving despite the intention of the operator who tries to rotate the backrest for sitting on the seat member.

(4) According to a fourth aspect of the invention, in the electric walking assistance device according to any one of the first to third aspects, a handle that the operator grips and is configured to be flipped up is provided. The control unit determines that the electric walking assistance device needs to be stopped when the handle is flipped up.
In this case, the handle is flipped up so that it is possible for the operator to have a sufficient space to sit on the seat member. Therefore the flipping up of the handle may indicate a preliminary action performed by the operator before he/she sits. Therefore the operator wishes to stop the electric walking assistance device and it is determined that the electric walking assistance device needs to be stopped, and the electric walking assistance device is actually stopped. In this manner, it is possible to prevent the electric walking assistance device from moving despite the intention of the operator who tries to flip up the handle before sitting on the walking assistant device.

(5) According to a fifth aspect of the invention, in the electric walking assistance device according to any one of the first to fourth aspects, a handle that the operator grips and is configured to be extendable may be provided. The control unit determines that the electric walking assistance device needs to be stopped when the handle is extended or contracted.
Therefore the operator who tries to adjust the length of the handle wishes to stop the electric walking assistance device and it is determined that the electric walking assistance device needs to be stopped, and the electric walking assistance device is actually stopped. In this manner, it is possible to prevent the electric walking assistance device from moving despite the intention of the operator who tries to adjust the length of the handle. Note that the adjustment of the handle may include an unlocking operation of the handle lock before actually adjusting the length of the handle.

(6) According to a sixth aspect of the invention, in the electric walking assistance device according to any one of the first to fifth aspects, a frame supporting the wheels or continuous track may be provided. The frame is configured to be foldable, and the control unit may determine that the electric walking assistance device needs to be stopped when the frame is folded up.
Therefore the operator who tries to fold up the frame for putting it off wishes to stop the electric walking assistance device and it is determined that the electric walking assistance device needs to be stopped, and the electric walking assistance device is actually stopped. In this manner, it is possible to prevent the electric walking assistance device from moving despite the intention of the operator who tries to fold the walking assistance device away for storage. Note that the folding up of the frame may include an unlocking action performed before the frame is folded up.

(7) According to a seventh aspect of the invention, in the electric walking assistance device according to any one of the first to sixth aspects, a braking operation unit that applies brakes on rotations of the wheels or continuous track may be provided. The control unit determines that the electric walking assistance device needs to be stopped when the braking operation unit is gripped by the operator.
In this case, the operator who holds the braking operation unit wishes to stop the electric walking assistance device and it is determined that the electric walking assistance device needs to be stopped, and the electric walking assistance device is actually stopped. In this manner, it is possible to prevent the electric walking assistance device from moving despite the intention of the operator who grips the braking operation unit.

(8) According to an eight aspect of the invention, in the electric walking assistance device according to any one of the first to seventh aspects, a parking braking operation unit that mechanically stops rotations of the wheels or continuous track may be provided. The control unit may determine that the electric walking assistance device needs to be stopped when the parking braking operation unit is operated.
Therefore the operator who operates the parking braking operation unit wishes to stop the electric walking assistance device and it is determined that the electric walking assistance device needs to be stopped, and the electric walking assistance device is actually stopped. In this manner, it is possible to prevent the electric walking assistance device from moving despite the intention of the operator who operates the parking braking operation unit.

(9) According to a ninth aspect of the invention, in the electric walking assistance device according to any one of the first to eighth aspects, a leg motion detection unit that detects existence of the operator or a distance to the operator may be provided. The control unit may determine that the electric walking assistance device needs to be stopped when the leg motion detection sensor does not detect the operator or when the distance to the operator detected by the leg motion detection unit is a predetermined value or larger.
In this case, the operator is not situated close to the electric walking assistance device and the operator wishes to stop the electric walking assistance device and it is determined that the electric walking assistance device needs to be stopped, and it is actually stopped. In this manner, it is possible to prevent the electric walking assistance device from moving despite the intention of the operator who is not situated adjacent to the walking assistance device.

(10) According to a tenth aspect of the invention, in the electric walking assistance device according to any one of the first to ninth aspects, a seat member for allowing the operator to sit thereon and configured to be flipped up and down is provided. The control unit may determine that the electric walking assistance device needs to be stopped when a seating surface of the seat member is flipped down.
In this case, flipping down of the seating surface of the seating member means that the operator does not try to walk. Therefore the operator wishes to stop the electric walking assistance device and the electric walking assistance device can be stopped. In this manner, it is possible to prevent the electric walking assistance device from moving despite the intention of the operator who tries to sit on the seat member.

(11) According to an eleventh aspect of the invention, in the electric walking assistance device according to the second aspects, a substrate unit of the control unit is collectively provided in the storage.
Because the substrate units of the control unit may be collectively installed in the storage so that the amount of wiring can be reduced. Moreover, in terms of maintenance, the substrate unit can be replaced by a unit so that the number of steps requires for maintenance can be reduced.

(12) According to a twelfth aspect of the invention, in the electric walking assistance device according to any one of the first to eleventh aspects, the control unit may activate a rheostatic braking of the motor when the control unit determines that the electric walking assistance device needs to be stopped.
In this case, the electric walking assistance device can be stopped and stays still by using the rheostatic braking instead of mechanical braking.

(13) According to a thirteenth aspect of the invention, in the electric walking assistance device according to any one of the first to twelfth aspects, a mechanical brake that mechanically applies a brake on rotations of the wheels or continuous track may be provided. The control unit may activate the mechanical brake when the control unit determines that the electric walking assistance device needs to be stopped.
In this case, the electric walking assistance device is securely stopped by the mechanical braking.

(14) Provided is a program for an electric walking assistance device that has wheels or continuous track driven by a motor, and a control unit that performs an assist control in which the motor is driven such that the motor generates a force to offset a deficiency of an operating force to operate the walking assistance device by an operator. The program includes determining whether the electric walking assistance device needs to be stopped or not, and stopping the assist control when it is determined that the electric walking assistance device needs to be stopped.
In this way, it is possible for the control unit to stop the assist control when the electric walking assistance device should be stopped. According to the above-described program, supply of the assist force (a force to offset a deficiency of an operating force to operate the electric walking assistance device by an operator is generated by the motor) to the wheels or continuous track of the electric walking assistance device is stopped. Therefore it is possible to prevent the electric walking assistance device from moving despite operator's intention.

(15) Provided is a method for controlling an electric walking assistance device that has wheels or continuous track driven by a motor, and a control unit that performs an assist control in which the motor is driven such that the motor generates a force to offset a deficiency of an operating force to operate the walking assistance device by an operator. The method includes determining whether the electric walking assistance device needs to be stopped or not, and stopping the assist control when it is determined that the electric walking assistance device needs to be stopped.

[0008] In this way, it is possible for the control unit to stop the assist control when the electric walking assistance device should be stopped. Consequently supply of the assist force (a force to offset a deficiency of an operating force to operate the electric walking assistance device by an operator is generated by the motor) to the wheels or continuous track is stopped.

[0009] Therefore it is possible to prevent the electric walking assistance device from moving despite operator's intention.

BRIEF DESCRIPTION OF THE DRAWINGS

[0010] 

Fig. 1 is a schematic perspective view of an example of an electric rollator.

Fig. 2 is a schematic side view of the example of the electric rollator.

Fig. 3 is a schematic view of the electric rollator showing its major internal structural components.

Fig. 4 is a schematic view of an example of a leg detection sensor.

Fig. 5 is a schematic view for explaining an operating force sensor.

Fig. 6 is a schematic view for explaining an operating force sensor.

Fig. 7 is a schematic side view of the electric rollator for illustrating a flip-up mechanism.

Fig. 8 is a schematic perspective view of the electric rollator for illustrating flipped-up and folded states of the electric rollator.

Fig. 9 is a schematic side view of the electric rollator for illustrating an example of a folded state thereof.

Fig. 10 is a schematic perspective view of another example of the electric rollator.

Fig. 11 is a schematic side view of the electric rollator.

Fig. 12 is a schematic view for explaining details of a back belt.

Fig. 13 is a flowchart for explaining one example of control performed by a control unit.

Fig. 14 is a flowchart for explaining another example of the control performed by the control unit.

Fig. 15 is a flowchart for explaining another example of the control performed by the control unit.

Fig. 16 is a flowchart for explaining another example of the control performed by the control unit.

Fig. 17 is a schematic side view for explaining a flip-up state of a pair of handles.

Fig. 18 is a schematic side view for explaining a height adjustment of the pair of handles.

Fig. 19 is a schematic side view for explaining a storage state of the electric rollator.

Fig. 20 schematically illustrates an example of a brake unit.

Fig. 21 schematically illustrates an example of a state where the brake unit is operated.

Fig. 22 schematically illustrates another example of the state where the brake unit is operated.

Fig. 23 schematically illustrates an example in which a storage is used.

Fig. 24 schematically illustrates another example of the electric rollator.

Fig. 25 schematically illustrates another example of the electric rollator.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Embodiments according to the invention will now be described below with reference to the drawings. In the following description, like elements may be numbered and labeled similarly. Functions of the like elements are also same so that descriptions of such elements will be hereunder omitted.
In this embodiment, an electric walking assistance device will be described. Note that a type of a handle is not limited to a horseshoe-shaped one but any other shaped handle can be used. For instance, the invention encompasses an electric walking assistance device with a handle in which a left handle and a right handle are separately provided.

First Embodiment

[0012] Fig. 1 is a schematic perspective view of an example of an electric rollator 100 according to a first embodiment. Fig. 2 is a schematic side view of the example of the electric rollator 100.

Structure Of Electric Rollator

[0013] Referring to Figs. 1 and 2, the electric rollator 100 may include frames 210 inclined from the vertical at a prescribed angle (a left frame 211, a right frame 212), a pair of front wheels 220 (a left front wheel 221, a right front wheel 222), a pair of rear wheels 230 (a left rear wheel 231, a right rear wheel 232), a pair of handles 240, a horseshoe-shaped member 240b, a handlebar 241b, a brake unit 250, a seat member 251 b, a fall prevention member 260, a storage 270, a lever 280, a pair of rear- wheel frames 570 (a left rear wheel frame 571, a right rear wheel frame 571), an upper frame 540 (a left upper frame 541, a right upper frame 542), a lower frame 550 (a left lower frame 551, a right lower frame 552), a linkage mechanism 560 (a left linkage mechanism 561, a right linkage mechanism 562), and a flip-up mechanism 580.

[0014] The front wheels 220 may be respectively provided at the lower ends of the frames 210 and at one ends of the lower frames 550. The pair of handles 240, the brake unit 250, and the handle bar 241b may be provided on the upper ends of the frames 210 with the flip-up mechanism 580 interposed therebetween. The handle bar 241 b may be arranged so as to extend forward from the pair of handles 240. The horseshoe-shaped member 240b may be attached on the pair of handles 240. The horseshoe-shaped member 240b may have openings in which the pair of handles 240 are respectively inserted to be attached to the pair of handles 240.

[0015] Brake shoes 255, 256 (not shown in Figs. 1 and 2, but shown in Figs. 10 and 11) may be provided on the outer periphery of the wheels 231, 232 respectively of the rear wheels 230 such that they mechanically contact the wheels 231, 232. The brake shoes 255, 256 may be coupled to brake levers of the brake units 250 with wires. The brake shoes 255, 256 are activated in accordance with operation of the brake levers of the brake units 250. The mechanical brakes are not limited to this but any mechanical brakes can be used.

[0016] The fall prevention member 260 may be provided on the rear end of each of the pair of rear-wheel frames 570. The fall prevention member 260 is configured to prevent the electric rollator 100 from being toppled in the rear direction when the pair of front wheel 220 is lifted off the ground. Note that other mechanism or structures may be used to prevent the rollator from falling instead of the above-described fall prevention member 260. In this case, the fall prevention member 260 may be omitted.

[0017] On upper ends of the left frame 211 and the right frame 212, the pair of handles 240 may be provided. The pair of handles 240 may include poles 241, 242 (see Figs. 5 and 6). Grips 243, 244 may be provided on the poles 241, 242 respectively (see Figs. 5 and 6). Brake levers 251, 252 (see Figs. 5 and 6) may be provided on the poles 241, 242 respectively. The pair of handles 240 and the horseshoe-shaped member 240b will be hereunder described in detail.

[0018] One ends of the pair of rear-wheel frames 570 may be rotatably attached on one ends of the upper frames 540 respectively via a shaft 555. At the other ends of the pair of rear-wheel frames 570, the pair of rear wheels (the left rear wheel 231 and the right rear wheel 232) is provided respectively. At the other ends of the lower frames 550, the linkage mechanism 560 may be provided.

[0019] The storage 270 may be hung from the upper frames 540 (the left upper frame 541 and the right upper frame 542). The storage 270 may be formed as a bag made of resin, cloth, or the like. The seat member 251 b may be provided as a lid for the storage 270. The lever 280 that extends from the upper frame 540 to below the storage 270 may be provided.

[0020] Fig. 3 is a schematic view of the electric rollator 100 showing its major internal structural components.

[0021] Referring to Fig. 3, the electric rollator 100 may further include a battery 310, a motor 320, a display 330, a control unit 400, a main power supply 480, a speed detection sensor 610, a gyro sensor 620, a leg/foot detection sensor 630, a ground sensor 640, an operating force sensor 650. The control unit 400 is configured to perform an assist control in which an operating force of a user is detected by the operating force sensor 650 to calculate a deficiency of the operating force to operate the rollator and then the motor 320 is controlled to generate a force to offset the deficiency.

[0022] Among the components shown in Fig. 3, the motor 320 may be installed in the pair of rear wheels 230 (the left rear wheel 231, the right rear wheel 232) respectively. The operating force sensor 650 may be installed in the pair of handles 240. The ground sensors 640 may be installed in an axle of the pair of front wheels 220 and an axle of the pair of rear wheels 230 respectively.

[0023] The motor 320 may be any motor such as a servomotor, a stepper motor, an AC motor, and a DC motor. Moreover, a reducer can be integrated with the motor. Although the motor 320 is provided within the wheels 231, 232 of the rear wheels 230 in the embodiment, the motor 320 may be stored only within the wheels 221, 222 of the front wheels 220, or within all of the pair of front wheels 220 and the pair of rear wheels 230.

[0024] Alternatively the speed detection sensor 610 may be provided within each of the wheels 231, 232 of the rear wheels 230 of the electric rollator 100 although this embodiment does not adopt it. Alternatively, the speed detection sensor 610 may be provided within each of the wheels 221, 222 of the front wheels 220 in the same manner as the motor 320, or within all of the pair of front wheels 220 and the pair of rear wheels 230. In this case, when the motor 320 is a brushless motor, the speed detection sensor 610 may be configured to calculate the number of revolutions or a speed of the wheel or a speed of the electric rollator 100 using a hall element.

[0025] When the speed can be detected from a counter electromotive force of the motor 320, the number of revolutions or a speed of the wheel or a speed of the electric rollator 100 can be calculated from the counter electromotive force. When angular velocities of the wheels 231, 232 of the rear wheels 230 or the wheels 221, 222 of the front wheels 220 can be detected, the number of revolutions or a speed of the wheel or a speed of the electric rollator 100 can be calculated from the angular velocities.

[0026] The speed detection sensor 610 may be mounted to any of the components such as the frame 210 and the pair of handles 240, not limited to the pair of the front wheels 220 and the pair of the rear wheels 230. In this case, when the speed detection sensor is an acceleration detection sensor, the speed may be calculated by integrating acceleration components. When the speed detection sensor includes a global positioning system (GPS), the speed may be calculated by differentiating location information.

[0027] Although the embodiment does not adopt it, the gyro sensor 620 may be provided in the upper portion of the electric rollator 100. For instance, the gyro sensor 620 may be provided within the pair of handles 240. When the gyro sensor 620 is provided in the upper portion of the electric rollator 100, it is possible to detect the attitude of the electric rollator 100 more accurately compared to the case where the gyro sensor 620 is provided in the lower portion of the electric rollator 100. Note that the attitude of the electric rollator 100 may be detected by a two-or-more-axis acceleration detection sensor instead of the gyro sensor.

[0028] Note that the display 330, the gyro sensor 620, the leg/foot detection sensor 630, and the ground sensor 640 may be omitted as appropriate.

[0029] Devices and substrates of the battery 310, the main power supply 480, the speed detection sensor 610, the gyro sensor 620, and the leg/foot detection sensor 630 may be situated within a storage unit 271c (see Fig. 8) placed in a rear portion of the storage 270.

[0030] According to this configuration, the components are collected at one place, which is the storage unit 271 c, so that wiring and maintenance of the components are easier compared to the case where the components are separately placed in various places of the electric rollator 100.

[0031] Fig. 4 is a schematic view of an example of the leg detection sensor 630. Referring to Fig. 4, the leg detection sensor 630 may be placed at a position where the sensor can detect a rear side of the storage unit 271c. More specifically, the leg detection sensor 630 may be situated at a portion of the rollator such that the sensor 630 can detect an area extending from a position where the user's (operator's) knee is situated and to a position where the user's thigh is situated. If the leg detection sensor 630 is situated at a position where corresponds to feet of the user, a detection area of the leg detection sensor 630 tends to deviate further left or right from the feet. If the leg detection sensor 630 is situated at a position where corresponds to the waist of the user or higher, the distance between the sensor and the user gets too small when the user falls over.

[0032] Moreover if the detection of the user's leg is performed from the left/right side to the inner side of the electric rollator 100, the legs may go off the detection range of the leg detection sensor 630 due to the forward and back movement of the legs. Moreover if the leg detection sensor 630 is situated at the seat member 251 b in the embodiment, things stored in the storage 270 may interfere the detection range.

[0033] In view of the above facts, the leg detection sensor 630 is situated at an upper area of the storage 270 of the electric rollator in the embodiment. The leg detection sensor 630 may be an image sensor, an infrared sensor, or the like.

[0034] The leg detection sensor 630 can detect behaviors of a user's foot by measuring a distance from a leg of the user of the electric rollator 100. More specifically, the control unit 400 illustrated in Fig. 3 may determine, based on the signal from the leg detection sensor 630 illustrated in Fig. 4, whether the user's leg within an area 630AR is moving, stays still, or moving closer/away, or the user is turning his/her back and about to sit on the seat member 251 b.

[0035] The control unit 400 may determine whether each of the wheels 220, 230 touches the ground or not based on the signal from the ground sensor 640. When the front wheels 220 of the rollator are lifted up to climb over a step, the ground sensor 640 at the front wheels 220 are in an OFF state and an inclined state of the rollator are detected from the signal from the above-described gyro sensor 620. When the rollator moves on a slope, an inclined state is detected from a signal of the gyro sensor 620 and the ground sensors 640 in each of the wheels 220, 230 are also in an ON state. In this way, it is possible to detect that the rollator is moving on the slope.

[0036] The control unit 400 may stop the motor 320 in order to prevent the user from falling over when the ground sensor 640 in the front wheel 220 or the rear wheel 230 is an OFF state and the inclination angle of the above-described gyro sensor 620 exceeds 30 degrees.

[0037] Figs. 5 and 6 are schematic views for explaining the operating force sensor 650. The operating force sensor 650 may be provided on the grips 243, 244 of the pair of handles 240 installed in the horseshoe-shaped member 240b in order to detect a pushing/pulling force of the user who is pushing or pulling the electric rollator 100.

[0038] In the embodiment, the grips 243, 244 may be inserted in holes formed in the horseshoe-shaped member 240b to fix the gripes thereon. Displacement of the operating force sensor 650 in the pushing and/or pulling direction with respect to the poles 241, 242 may be restricted by an elastic member such as a spring (not shown). The operating force sensor 650 may further include a potentiometer to detect the displacement. The pair of handles 240 and the horseshoe-shaped member 240b may be disposed with an angle of θ1 in the downward direction with respect to the horizontal plane. Accordingly a user of the rollator can easily place his/her hands on the handles 240.

[0039] As described above, the grips 243, 244 can be moved in the front-rear direction along the poles 241, 242 so that the only the right end, only the left end, or the both ends of the horseshoe-shaped member 240b are moved in accordance with the displacement of the grips. When the grips 243, 244 are moved in the forward direction indicated by the arrow in Fig. 6, it may be determined that the electric rollator 100 is pushed by a user. When the grips are moved in the backward direction, it may be determined the electric rollator 100 is pulled by the user. When the grips are not moved, it may be determined that the rollator is neither pushed nor pulled.

[0040] In this manner, it is possible to determine that the user tries to move the electric rollator 100 forward or backward, or the user does not have the intention to change the state of the electric rollator 100. Moreover it is possible to confirm the user's intention to move the electric rollator 100 to the right or left.
With this configuration, the user can easily operate the electric rollator 100 since the user can operate the electric rollator 100 in the same manner as a manual rollator.

[0041] Referring again to Fig. 6, strain sensors 651, 652 (for example, strain gauges) may be provided in the horseshoe-shaped member 240b or the grips 243, 244 to detect moments on the horseshoe-shaped member 240b or the pair of frames 211, 212, and the strain sensors may serve as the operating force sensor 650.

[0042] In this case, the horseshoe-shaped member 240b and the grips 243, 244 are fixed on the poles 241, 242 so that the structure becomes simple.

[0043] Alternatively, a joy stick or a push button may be provided on the grips 243, 244 and these may be used as the operating force sensor 650.

[0044] Note that the handle bar 241 b is provided in the embodiment so that a user can place his/her elbow on the horseshoe-shaped member 240b and can place his/her hands on the handle bar 241b. In this way, it is possible to effectively prevent the user from falling over. The present invention is not limited to the horseshoe-shaped member 240b of the embodiment. Alternatively the horseshoe-shaped member 240b and the pair of handles 240 may be separately provided.

[0045] The handle bar 241 b in the embodiment is formed of a single pipe but the invention is not limited to this. Alternatively, left and right handle bars 241 b may be respectively provided. Moreover, the operating force sensor 650 may be provided on each of the left and right handle bars 241 b.

[0046] The horseshoe-shaped member 240b is inserted and fixed in the grips 243, 244 in the embodiment. Alternatively a member on which a user can place his/her elbow may be provided respectively on the grips 243, 244.

[0047] Moreover, the same operating force sensor 650 is used for the horseshoe-shaped member 240b and the pair of handles 240 in the embodiment. Alternatively sensors may be individually provided to the top board of the horseshoe-shaped member 240b and the pair of handles 240. When the identical sensor is used for the horseshoe-shaped member 240b and the pair of handles 240 in the embodiment, the sensor less affects the posture of the user or the way the user holds the handles. Therefore the user is allowed to securely operate the rollator.

Flip-Up Mechanism and Fold-Up Mechanism

[0048] Fig. 7 is a schematic perspective view of the electric rollator 100 according to the first embodiment, showing its appearance. Fig. 8 is a side view of the electric rollator 100 of Fig. 1, and Fig. 9 is a schematic view of the electric rollator 100 showing its major internal structural components.

[0049] Referring to Figs. 7 and 8, in the electric rollator 100 according to the embodiment, the horseshoe-shaped member 240b, the pair of handles 240, the brake unit 250, and the handle bar 241 b are rotated in the direction indicated by the arrow R. Here, a fixed state of the flip-up mechanism 580 may be released by operating a locking mechanism (not shown). Alternatively, the fixed state may be released by operating a switch of the control unit 400.

[0050] The control unit 400 may stop rotations of the wheels 220, 230 in response to unlock of the lock mechanism or a signal from a switch of the control unit 400. Here, the rotations of the wheels 220, 230 may be stopped through an excitation stop of the motor 320 or the wheels 220, 230 may be mechanically forced to be stopped.

[0051] When the rollator is flipped up, a user who sits on the seat member 251 b can use the back side of the horseshoe-shaped member 240b as a backrest. Moreover the user who sits on the seat member 251 b is not bothered by the pair of handles 240 and the horseshoe-shaped member 240b and a prescribed space BR is formed to allow the user to sits on the seat member 251 b. In other words, it is possible to prevent the pair of handles 240 and the horse-shaped member 240b from hampering a person who is sitting the seat member 251 b.

[0052] Referring to Figs. 8 and 9, the left linkage mechanism 561 and the right linkage mechanism 562 may be folded up by moving the lever 280 downward. More specifically, the lever 280 is provided at a position where a user can press down the lever 280 with his/her foot. When the user pressed down the lever, the pair of rear-wheel frames 570 and the pair of rear wheels 230 are brought close to the pair of front wheels 220. In this manner, the electric rollator are folded up. Consequently, the electric rollator takes up a small space when it is stored.

Second Embodiment

[0053] A second embodiment of an electric rollator 100a will be now described. Here, only different features of the electric rollator 100a according to the second embodiment from the electric rollator 100 according to the first embodiment will be mainly discussed.

[0054] Fig. 10 is a schematic perspective view of the electric rollator according to the second embodiment. Fig. 11 is a side view of the electric rollator 100a according to the second embodiment. Fig. 12 is a schematic side view for explaining details of a back belt 272.

[0055] Fig. 13 is a flowchart for explaining one example of control performed by the control unit 400. Fig. 14 is a flowchart for explaining another example of the control unit 400 according to the second embodiment. Fig. 15 is a flowchart for explaining another example of the control unit 400 according to the second embodiment.

[0056] Referring to Figs. 10 and 11, unlike the electric rollator 100, the electric rollator 100a may not include the handle bar 241 b, and the horse-shaped member 240b, and the upper frames 540 (the left upper frame 541, the right upper frame 542).

[0057] Referring to Figs. 10 and 11, the electric rollator 100a may include the back belt 272, an unlocking switch 253, and the speed detection sensor 610. In the electric rollator 100a, one end of the back belt 272 is rotatably fixed on the frame 211 and the other end of the back belt 272 is rotatably fixed on the frame 212 above the seat member 251 b. Moreover, a rotation angle detection sensor 611b may be provided at the fixed position of the frame 211. Moreover, the rotation angle detection sensor 6110b may also be provided at the fixed position of the frame 212.

[0058] The electric rollator 100a may further include the unlocking switch 253 for adjusting the height of the handle. In this embodiment, the unlocking switch 253 is a slide switch but it is not limited. Any other switches may be used as the unlocking switch 253.

On and Off Of Assist Control Mode

[0059] Referring to Fig. 13, the control unit 400 performs an assist control mode (step S51). In this case, the control unit 400 determines whether a predetermined event (a state where the electric rollator 100a should be stopped) has occurred (step S52). When the control unit determines that the predetermined event has occurred (Yes in the step S52), the control unit 400 stops the assist control (step S53). The control unit 400 then returns to the step S52. When the control unit 400 determines that the predetermined event has not occurred (No in the step S52), it goes back to the step S51 and repeats the above-described process.

[0060] Another example of the control unit 400 will be now described with reference to Fig. 14. The operations of the control unit 400 shown in Fig. 14 are different than those of the control unit 400 shown in Fig. 13 in that step S53a is performed instead of the step S53.

[0061] Referring to Fig. 14, when the control unit 400 determines that the predetermined event has occurred (Yes in the step S52), the control unit stops the assist control and operates the brake shoes 255, 256 (step S53a) instead of only stopping the assist control (the step S53). The control unit 400 then returns to the step S52. When the control unit 400 determines that the predetermined event has not occurred (No in the step S52), it goes back to the step S51 and repeats the above-described process.

[0062] Another example of the control unit 400 will be now described with reference to Fig. 15. The operations of the control unit 400 shown in Fig. 15 are different than those of the control unit 400 shown in Fig. 13 in that step S53b is performed instead of the step S53.

[0063] Referring to Fig. 15, when the control unit 400 determines that the predetermined event has occurred (Yes in the step S52), the control unit stops the assist control and performs a rheostatic braking (step S53b) instead of only stopping the assist control (the step S53). Here, the rheostatic braking means that the pair of rear wheels 230 are stopped by short-circuit the motor 320 through a predetermined resistor. The control unit 400 then returns to the step S52. When the control unit 400 determines that the predetermined event has not occurred (No in the step S52), it goes back to the step S51 and repeats the above-described process.

[0064] Another example of the control unit 400 will be now described with reference to Fig. 16. The operations of the control unit 400 shown in Fig. 16 are different than those of the control unit 400 shown in Fig. 13 in that step S53c is performed instead of the step S53.

[0065] Referring to Fig. 16, when the control unit 400 determines that the predetermined event has occurred (Yes in the step S52), the control unit stops the assist control and operates the rheostatic braking (step S53c) instead of only stopping the assist control (the step S53). Here, the rheostatic braking means that the pair of rear wheels 230 are stopped by stopping short-circuit of the motor 320. The control unit 400 then returns to the step S52. When the control unit 400 determines that the predetermined event has not occurred (No in the step S52), it goes back to the step S51 and repeats the above-described process.

[0066] The control unit 400 may perform any one of the controls shown in Figs. 13 to 16. In the embodiment, the brake shoes 255, 256, which are mechanical brakes, are used. Alternatively any other mechanical brakes may be used.

[0067] The above-mentioned predetermined event (the state where the electric rollator 100a should be stopped) will be now described in detail. In the embodiment, the predetermined event means an event in which the electric walking assistance device should not be moved. For example, there may be the following:

A) A user performs a preliminary action in which the user is about to sitting on the seat member 251 b.

B) A user adjusts the height of the pair of handles 240 of the electric rollator 100a.

C) A user folds up the electric rollator 100a for storage.

D) A user puts a brake on the electric rollator 100a.

E) A user takes things in/out from the storage 270 of the electric rollator 100a.

F) The leg detection sensor 630 of the electric rollator 100a does not detect a leg(s) of a user (when the leg(s) of the user is situated at a predetermined distance or further from the rollator).

G) A user closes the seat member 251 b of the electric rollator 100a.

[0068] The above-examples A) to G) of the predetermined event will be now specifically described. Here, any of one of the step S53 to S53c in Figs. 13 to 16 may be used but in the interest of brevity of description, the step is represented by the step S53 and described as "the assist control is stopped" in the following description of the predetermined event.

[0069] Note that one of the predetermined event is the preliminary action in which the user is about to sit on the seat member 251 b instead of an action in which the user sits on the seat member 251 b. The action in which the user actually sits on the seat member 251 b can be detected by a load sensor that is provided on the seat member 251 b to detect a load worked on the seat member 251b. However, in this case, it is difficult to distinguish between a case where something is placed on the seat member 251 b and a case where the user sits on the seat member 251 b.

[0070] Moreover, there is a possibility that the assist control of the electric rollator 100a is activated just before the user sits on the seat member 251 b and the electric rollator 100a may move in the manner in which the user does not intend.

[0071] Therefore, in the embodiment, an action performed by the user before he/she sits on the seat member 251 b (hereunder referred to as the "preliminary action") is adopted as the predetermined event. For example, the predetermined event may include A-1) a user rotates a back belt 272 placed on the seat member 251 b, and A-2) a user flips up the pair of handles 240 to create the space above the seat member 251 b.

A-1: The predetermined event is the rotation of the back belt 272.

[0072] As described above, the back belt 272 illustrated in Figs. 11 and 12 are rotatably provided on the frame 211, 212 and can be rotated in the direction indicated by the arrow R25. Moreover, the rotation angle detection sensor 611b may be provided on the frame 211.

[0073] The control unit 400 activates the assist control when the rotation angle detection sensor 610b detects the back belt 272 at the position illustrated in Fig. 12. In other words, the control unit 400 determines that the predetermined event has not occurred yet.

[0074] When a user tries to sit on the seat member 251 b, the user subsequently rotates the back belt 272 toward the direction indicated by the arrow R25 as illustrated in Figs. 12 to 11. The control unit 400 stops the assist control when the rotation angle detection sensor 610b detects the back belt 272 is moved from the state illustrated in Fig. 12 to the state illustrated in Fig. 11. In other words, in this case, the control unit 400 determines that the predetermined event has occurred.

[0075] As a result, when the back belt 272 is situated at the position illustrated in Fig. 12, the assist control of the electric rollator 100a can be activated to assist the user in walking. Whereas when the user tries to sit on the seat member 251 b, the back belt 272 is moved to the position illustrated in Fig. 11 so that the assist control can be stopped.

[0076] According to the embodiment, since the user rotates the back belt 272 as the preliminary action performed before the user tries to sits on the seat member, it is possible to secure the safety of the user. In the above embodiment, it is determined that the predetermined event has occurred when the back belt 272 is rotated more than 90 degrees. Alternatively, the predetermined event may be determined when the back belt 272 is rotated 10 degrees or more from the state illustrated in Fig. 12 or rotated any prescribed degrees.

A-2: The predetermined event is flip-up of the pair of handles 240

[0077] Fig. 17 is a schematic side view for explaining a flip-up state of the pair of handles 240.

[0078] The pair of handles 240 of the electric rollator 100a may be flipped from the state illustrated in Fig. 11 to the state illustrated in Fig. 17 by using the flip-up mechanism 580. More specifically, when the flip-up mechanism 580 is locked and the pair of the handles is in the state illustrated in Fig. 11, the control unit 400 may initiate the assist control. In other words, the control unit 400 determines that the predetermined event has not occurred yet.

[0079] When a user wish to flip up the pair of handles 240 through the flip-up mechanism 580, the flip-up mechanism 580 is unlocked and the pair of handles 240 is flipped up as illustrated in Fig. 17 from the state illustrated in Fig. 11. When the flip-up mechanism 580 is unlocked, the control unit 400 determines that the predetermined event has occurred and stops the assist control.

[0080] In this case, the user unlock the flip-up mechanism to flip up the pair of handles 240 before he/she sits on the seat member 251b. Therefore it is possible to secure the safety of the user.

B: The predetermined event is adjustment of the height of the pair of handles 240

[0081] Fig. 18 is a schematic side view for explaining a height adjustment of the pair of handles 240. Referring to Fig. 18, when a user pressed the unlocking switch 253 in order to allow the pair of handles 240 to move up and down, the control unit 400 determines that the prescribed event has occurred and stops the assist control. In other words, when the unlocking switch 253 is unlocked, the control unit 400 determines that the predetermined event has occurred and stops the assist control.

[0082] In this way, the electric rollator 100a is completely stopped in response to the unlocking switch 253 so that the user can safely adjust the height of the pair of handles 240 by moving up or down the handles. When the user sets the unlocking switch 253 again, the control unit 400 determines that the predetermined event is now canceled and activates the assist control of the electric rollator 100a again.

C) A user folds up the electric rollator 100a

[0083] Fig. 19 is a schematic side view for explaining a folded state of the electric rollator 100a. Referring to Fig. 19, when the linkage mechanism 560 is unlocked, the control unit 400 determines that the predetermined event has occurred and stops the assist control.

[0084] In this way, the electric rollator 100a is completely stopped in response to the unlocking so that the user can safely operate the linkage mechanism 560 to fold up the electric rollator 100a. When the user locks the linkage mechanism 560 again, the control unit 400 determines that the predetermined event is now canceled and activates the assist control of the electric rollator 100a again.

[0085] Therefore when a user wishes to fold the electric rollator 100a itself for storage, the electric rollator 100a can surely stop the assist control.

[0086] In the case of the electric rollator 100 according to the first embodiment, it is determined that the prescribed event has occurred when the lever 280 is pushed down. Whereas when the left linkage mechanism 561 and the right linkage mechanism 562 of the linkage mechanism 560 are extended, the control unit 400 may determine that the setting up of the electric rollator 100a is completed and the predetermined event has been ended.

D-1: The predetermined event is gripping of the brake unit

[0087] Fig. 20 schematically illustrates an example of the brake unit 250. Fig. 21 schematically illustrates an example of a state where the brake unit 250 is operated.

[0088] A user may hold the brake unit 250 in the state illustrated in Fig. 20 and then move the brake unit 250 toward the grips 243, 244. At this point, referring to Fig. 21, the brake unit 250 is rotated in the direction indicated by the arrow R30. When the brake unit 250 is rotated in the direction indicated by the arrow R3, the control unit 400 determines that the prescribed event has occurred and stops the assist control.

[0089] Whereas when the user releases the brake unit 250, the brake unit 250 is then rotated in the reverse direction to the direction indicated by the arrow R30 and returns to the state illustrated in Fig. 20. In this case, the control unit 400 determines that the predetermined event is now canceled and resumes the assist control.

[0090] Note that the control unit 400 may determine that the predetermined event has occurred even when only the brake unit 250 on one side is moved in the direction R30.

[0091] When the brake unit 250 is in the state illustrated in Fig. 20, the assist control can be activated to assist the user in walking. Whereas when the user tries to stop walking, the user grips the brake unit 250 in the position illustrated in Fig. 21 so that the assist control can be stopped. In this manner, it is possible to securely stop the assist control of the electric rollator 100a when the user tries to stop the rollator.

D-1: The predetermined event is parking brake performed by a user using the brake unit

[0092] Fig. 22 schematically illustrates another example of the state where the brake unit 250 is operated.

[0093] A user may grip the brake unit 250 in the state illustrated in Fig. 20 and then move the brake unit 250 away from the grips 243, 244. At this point, referring to Fig. 22, the brake unit 250 is rotated in the direction indicated by the arrow R40. When the brake unit 250 is rotated in the direction indicated by the arrow R40, the control unit 400 determines that the prescribed event has occurred and stops the assist control.

[0094] Whereas when the user tries to return the brake unit 250 to the state illustrated in Fig. 20, the brake unit 250 is then rotated in the reverse direction to the direction indicated by the arrow R40 and returns to the state illustrated in Fig. 20. In this case, the control unit 400 determines that the predetermined event is now canceled and resumes the assist control.

[0095] Note that the control unit 400 may determine that the predetermined event has occurred even when only the brake unit 250 on one side is moved in the direction R40.

[0096] When the brake unit 250 is in the state illustrated in Fig. 20, the assist control can be activated to assist the user in walking. Whereas when the user tries to stop walking, the user holds the brake unit 250 in the position illustrated in Fig. 22 so that the assist control can be stopped. In this manner, it is possible to securely stop the assist control of the electric rollator 100a when the user tries to stop the rollator for a certain period of time, in other words, when the user tries to park the rollator.

E: The predetermined event is flip-up of a seating surface

[0097] Fig. 23 is a schematic view of an example in which the storage 270 is used.

[0098] Referring to Fig. 23, when the seat member 251b is rotated in the direction indicated by the arrow R50 in order to use the storage 270, the control unit 400 determines that the prescribed event has occurred and stops the assist control.

[0099] Whereas when the user rotates the seat member 251b in the reverse direction to the direction indicated by the arrow R50 to return the seat member to the state illustrated in Fig. 11, the control unit 400 determines that the predetermined event is now canceled and activates the assist control.

F: The leg detection sensor 630 of the electric rollator does not detect a leg(s) of a user (when the leg(s) of the user is situated at a predetermined distance or further from the rollator or the leg(s) of the user does not exist)

[0100] Referring to Fig. 4, when the leg detection sensor 630 determines that the leg(s) of the user does not exist in the area 630AR (or the leg(s) is situated at a predetermined distance or further), the control unit 400 determines that the predetermined event has occurred and stops the assist control. In other words, when the leg(s) of the user is not detected (or situated at a predetermined distance or further), it is determined that the user does not walk so that the assist control can be stopped.

[0101] Moreover, when the leg detection sensor 630 determines that the leg(s) of the user exists within the area 630AR, the control unit 400 determines that the predetermined event is canceled and activates the assist control.

G) The seat member 251b of the electric rollator 100a is closed

[0102] Figs. 24 and 25 schematically illustrate another example of the electric rollator 100a. Referring to Figs. 24 and 25, the seat member 251b is configured such that it can be flipped up and down.

[0103] Referring to Fig. 24, the seat member 251b of the electric rollator 100a is usually flipped up. More specifically, the seat member 251 b may be engaged with the back belt 272 when a user walks. When the user tries to sit on the electric rollator 100a, the user may rotate the seat member 251b in the direction indicated by the arrow R26 in Fig. 25. In this case, the control unit 400 determines that the predetermined has occurred and stops the assist control.

[0104] Whereas when the user flips up the seat member 251 b as illustrated in Fig. 24, the control unit 400 determines that the predetermined event is now canceled and activates the assist control.

[0105] In the electric rollator 100 according to the embodiments of the invention, when the pair of handles 240, the horse-shaped member 240b, the handle bar 241 b, and the brake unit 250 are flipped up by the flip-up mechanism 580, the control unit determines that the prescribed event has occurred and the assist control is stopped.

[0106] Therefore driving of the electric rollator 100 can be easily stopped. Moreover since the pair of handles 240, the horse-shaped member 240b, the handle bar 241 b, and the brake unit 250 are flipped up so that the user can easily sit on the seat member 251 b.

[0107] Furthermore, devices and substrates of the battery 310, the control unit 400, the main power supply 480, the speed detection sensor 610, the gyro sensor 620, and the leg detection sensor 630 can be collectively situated within the storage unit 271c. In this way, the amount of wiring can be reduced and it is possible to facilitate maintenance.

[0108] Moreover, in the electric rollator 100, 100a according to the embodiments, the control unit 400 can stop the assist control performed by the motor when the predetermined event has occurred. Therefore, when a user wishes to stop the rollator, in other words, when the predetermined event occurs, the electric rollator 100, 100a can be stopped.

[0109] In addition, when the back belt 272 is rotated, it is expected that a user tries to sit on the seat member 251 b. This is because the back belt 272 is used as a backrest when the user sits on the seat member. Therefore this action indicates that the user wishes to stop the rollator, and the electric rollator 100, 100a can be stopped.

[0110] In this case, the pair of handles 240 are flipped up so that it is possible for the user to have a sufficient space to sit on the seat member. Therefore flipping up of the pair of handles 240 may indicate the preliminary action performed before the user sits. Therefore this action indicates that the user wishes to stop the rollator, and the electric rollator 100, 100a can be stopped.

[0111] In the invention, the pair of front wheels 220 (the left front wheel 221, the right front wheel 222) and the pair of rear wheels 230 (the left rear wheel 231, the right rear wheel 232) correspond to "wheels or continuous track," the electric rollator 100, 100a corresponds to an "electric walking assistance device," the motor 320 corresponds to a "motor," the control unit 400 corresponds to a "control unit," the seat member 251b corresponds to a "seat member," the frame 221 (the left frame 211, the right frame 212), the pair of rear-wheel frames 570 (the left rear-wheel frame 571, the right rear-wheel frame 572), the upper frame 540 (the left upper frame 541, the right upper frame 542), and the lower frame 550 (the left lower frame 551, the right lower frame 552) correspond to a "frame(s)," the back belt 272 corresponds to a "back belt," the handle 240 corresponds to a "handle," the brake unit 250 corresponds to a "braking operation unit," a "parking braking operation unit," the storage 270 corresponds to a "storage," the storage unit 271c corresponds to a "substrate unit of the control unit," the unlocking switch 253, the rotation angle detection sensor 610b, the lock provided in the flip-up mechanism 580, and the lock provided in the linkage mechanism 560 correspond to "detection units," and the leg detection sensor 630 corresponds to a "leg motion detection unit."

[0112] The forgoing preferred embodiments of the invention are not intended to limit the invention to the disclosed examples. The disclosed embodiments can be modified as appropriate in various ways unless departing from the spirit of the present invention. It will be understood that are not limited to the aforementioned embodiments, but various changes or modifications may be made to the extent not to depart from the spirit of the invention. The disclosed operations and advantageous effects of the invention in accordance with the aforementioned embodiment are presented for an explanation purpose of the invention, but not intended to limit the scope of the present invention.

LIST OF REFERENCE NUMBERS

[0113] 

100, 100a

electric rollator

210

frame

211

left frame

212

right frame

220

a pair of front wheel

221

left front wheel

222

right front wheel

230

a pair of rear wheel

231

left rear wheel

232

right rear wheel

240

a pair of handles

240b

horse-shaped member

241b

handle bar

240b

horse-shaped member

250

brake unit

251b

seat member

253

unlocking switch

270

storage

271c

storage unit

272

back belt

320

motor

400

control unit

540

upper frame

541

upper left frame

542

upper right frame

550

lower frame

551

lower left frame

552

lower right frame

560

linkage mechanism

570

a pair of rear-wheel frames

571

left rear-wheel frames

572

right rear-wheel frames

580

flip-up mechanism

630

leg detection sensor

610b

rotation angle detection sensor

Claims

1. An electric walking assistance device (100, 100a) comprising:

wheels or continuous track (220, 230) driven by a motor (320); and

a control unit (400) performing an assist control in which the motor (320) is driven such that the motor (320) generates a force to offset a deficiency of an operating force to operate the walking assistance device by an operator,

wherein the control unit (400) stops the assist control when the control unit (400) determines that the electric walking assistance device (100, 100a) needs to be stopped.

2. The walking assistance device (100, 100a) of claim 1, further comprising:

a seat member (251b) for allowing the operator to sit thereon; and

a storage (270) to store things therein,

wherein the seat member (251 b) is configured such that a seating surface of the seat member (251 b) can be flipped up and serve as a lid for the storage (270), and

the control unit (400) determines that the electric walking assistance device (100, 100a) needs to be stopped when the seating surface of the seat member (251 b) is flipped up.

3. The walking assistance device (100, 100a) of claim 1 or 2, wherein
the seat member (251b) further includes a back belt (272),
the back belt (272) is rotatably supported, and
the control unit (400) determines that the electric walking assistance device (100, 100a) needs to be stopped when the back belt (272) is rotated to allow the operator to sit on the seat member (251 b).

4. The walking assistance device (100, 100a) of any one of claims 1 to 3, further comprising:

a handle (240) that the operator grips and is configured to be flipped up,

wherein the control unit (400) determines that the electric walking assistance device (100, 100a) needs to be stopped when the handle (240) is flipped up.

5. The walking assistance device (100, 100a) of any one of claims 1 to 4, further comprising:

a handle (240) that the operator grips and is configured to be extendable,

wherein the control unit (400) determines that the electric walking assistance device (100, 100a) needs to be stopped when the handle (240) is extended or contracted.

6. The walking assistance device (100, 100a) of any one of claims 1 to 5, further comprising:

a frame (210, 540, 550, 570) supporting the wheels or continuous track (220, 230),

wherein the frame (210, 540, 550, 570) is configured to be foldable, the control unit (400) determines that the electric walking assistance device (100, 100a) needs to be stopped when the frame (210, 540, 550, 570) is folded up.

7. The walking assistance device (100, 100a) of any one of claims 1 to 6, further comprising:

a braking operation unit (240, 240b, 241 b, 250) applying brakes on rotations of the wheels or continuous track (220, 230),

wherein the control unit (400) determines that the electric walking assistance device (100, 100a) needs to be stopped when the braking operation unit (240, 240b, 241 b, 250) is gripped by the operator.

8. The walking assistance device (100, 100a) of any one of claims 1 to 7, further comprising:

a parking braking operation unit (240, 240b, 241 b, 250) mechanically stopping rotations of the wheels or continuous track (220, 230),

wherein the control unit (400) determines that the electric walking assistance device (100, 100a) needs to be stopped when the parking braking operation unit (240, 240b, 241b, 250) is operated.

9. The walking assistance device (100, 100a) of any one of claims 1 to 8, further comprising:

a leg motion detection unit (630) detecting existence of the operator or a distance to the operator,

wherein the control unit (400) determines that the electric walking assistance device (100, 100a) needs to be stopped when the leg motion detection sensor (630) does not detect the operator or when the distance to the operator detected by the leg motion detection unit (630) is a predetermined value or larger.

10. The walking assistance device (100, 100a) of any one of claims 1 to 9, further comprising:

a seat member (251 b) for allowing the operator to sit thereon and configured to be flipped up and down,

wherein the control unit (400) determines that the electric walking assistance device (100, 100a) needs to be stopped when a seating surface of the seat member (251b) is flipped down.

11. The walking assistance device (100, 100a) of claim 2, wherein a substrate unit (271c) of the control unit (400) is collectively provided in the storage (270).

12. The walking assistance device (100, 100a) of any one of claims 1 to 11,
wherein the control unit (400) activates a rheostatic braking of the motor (320) when the control unit (400) determines that the electric walking assistance device (100, 100a) needs to be stopped.

13. The walking assistance device (100, 100a) of any one of claims 1 to 12, further comprising:

a mechanical brake (255, 256) mechanically applying a brake on rotations of the wheels or continuous track (220, 230),

wherein the control unit (400) activates the mechanical brake (255, 256) when the control unit (400) determines that the electric walking assistance device (100, 100a) needs to be stopped.

14. A program for an electric walking assistance device (100, 100a) having wheels or continuous track (220, 230) driven by a motor (320), and a control unit (400) that performs an assist control in which the motor (320) is driven such that the motor (320) generates a force to offset a deficiency of an operating force to operate the walking assistance device by an operator, the program comprising:

determining whether the electric walking assistance device (100, 100a) needs to be stopped or not; and

stopping the assist control when it is determined that the electric walking assistance device (100, 100a) needs to be stopped.

15. A method for controlling an electric walking assistance device (100, 100a) having wheels or continuous track (220, 230) driven by a motor (320), and a control unit (400) that performs an assist control in which the motor (320) is driven such that the motor (320) generates a force to offset a deficiency of an operating force to operate the walking assistance device by an operator, the method comprising:

determining whether the electric walking assistance device (100, 100a) needs to be stopped or not; and

stopping the assist control when it is determined that the electric walking assistance device (100, 100a) needs to be stopped.

Drawing