Assistive driving system for a wheelchair and method for controlling assistive driving system

• US 10,167,051 B1
• Filed: 12/12/2017
• Issued: 01/01/2019
• Est. Priority Date: 12/12/2017
• Status: Active Grant

• Current Assignee: Max Mobility, LLC (Permobil Holding AB)
• Original Assignee: Max Mobility, LLC (Permobil Holding AB)
• Inventors: Richter, Mark, Hemkens, Benjamin Phillip, Emfinger, William Alexander, Guo, Liyun
• Primary Examiner(s): Hilgendorf, Dale W
• Application Number:
  US15/839,519
• Time in Patent Office: 385 Days
• CPC Class Codes: A61G 2203/12 Remote controls
• CPC Class Codes: A61G 2203/30 characterised by sensor means
• CPC Class Codes: A61G 2203/36 for motion
• CPC Class Codes: A61G 5/02 propelled by the patient or disabled person
• CPC Class Codes: A61G 5/027 by using auxiliary detachable mechanisms
• CPC Class Codes: A61G 5/028 Special adaptations or provisions on hand rim, e.g. for facilitating gripping
• CPC Class Codes: A61G 5/047 by a modular detachable drive system
• CPC Class Codes: A61G 5/048 Power-assistance activated by pushing on hand rim or on handlebar
• CPC Class Codes: B62M 6/50 characterised by detectors or sensors, or arrangement thereof
• CPC Class Codes: H02P 29/00 Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors arrangements for starting electric motors H02P1/00; arrangements for stopping or slowing electric motors H02P3/00; control of motors that can be connected to two or more different electric power supplies H02P4/00; regulating or controlling the speed or torque of two or more electric motors H02P5/00; vector control H02P21/00
• CPC Class Codes: H02P 31/00 Arrangements for regulating or controlling electric motors not provided for in groups H02P1/00 - H02P5/00, H02P7/00 or H02P21/00 - H02P29/00

Abstract

The present disclosure describes a system and method for a providing an assistive driving force to a wheelchair.

Claims

1. A method for activating an assistive drive force to a wheelchair, comprising:

providing a user with an element configured to be worn on the user'"'"'s hand or wrist and comprising a sensor configured to detect acceleration;

activating the assistive drive force in response to a detection of at least a first acceleration and a second acceleration, each of the first and second accelerations having

(i) an axis that is substantially normal to the user'"'"'s palm, and

(ii) a threshold magnitude,

and wherein

(iii) the second acceleration occurs within a predefined time interval after the first acceleration.

2. The method of claim 1, wherein the second acceleration occurs within 2 seconds after the first acceleration.

3. The method of claim 2, wherein the threshold magnitude is between about 2 g and about 4 g.

4. The method of claim 1, wherein the threshold magnitude is set by the user.

5. The method of claim 1, wherein each of the first and second accelerations is in a direction away from the user.

6. The method of claim 1, wherein the sensor is a three-axis accelerometer.

7. The method of claim 1, wherein the element comprises a wristband and a screen.

8. The method of claim 7, wherein the screen is a touchscreen and wherein the level of the assistive drive force is controlled through the touchscreen.

9. The method of claim 1, wherein, upon activation of the assistive drive force, the level of the assistive drive force gradually increases until a third acceleration is detected, the third acceleration having at least

(i) an axis that is substantially normal to the user'"'"'s palm, and

(ii) a threshold magnitude.

10. The method of claim 1, further comprising deactivating the assistive drive force in response to the detection of at least a first acceleration and a second acceleration, each of the first and second accelerations having

(i) a direction along an axis that is substantially normal to the user'"'"'s palm, and

(ii) a threshold magnitude,

and wherein

(iii) the second acceleration occurs within a predefined time interval after the first acceleration.

11. The method of claim 10, wherein the second acceleration occurs within 2 seconds after the first acceleration.

12. The method of claim 10, wherein each of the first and second accelerations is in a direction away from the user.

13. The method of claim 10, wherein after deactivating the assistive drive force, the assistive drive force cannot be activated in response to the detection of accelerations if those accelerations occur within 5 seconds of deactivation.

14. The method of claim 1, wherein the assistive drive force is provided by a power assist system.

15. The method of claim 14, wherein data from the sensor is wirelessly sent to the power assist system.

16. The method of claim 1, wherein the combination of the first and second accelerations indicate that the user has double-tapped a hand against a hand rim of the wheelchair.

17. A wheelchair configured to deliver an assistive drive force in response to the detection of at least a first acceleration and a second acceleration by a sensor provided on an element that is worn on a user'"'"'s hand or wrist

wherein each of the first and second accelerations have

(i) an axis that is substantially normal to the user'"'"'s palm, and

(ii) a threshold magnitude,

and wherein

(iii) the second acceleration occurs within a predefined time interval after the first acceleration.

18. A system for providing an assistive driving force to a wheelchair, comprising:

(a) a power assist drive system;

(b) an element configured to be worn on a user'"'"'s hand or wrist, the element comprising a sensor configured to detect acceleration;

(c) a processor configured to receive data from the sensor, process the data, and activate or deactivate the power assist drive system;

wherein the processor is configured to activate the power assist drive system in response to a detection of at least a first acceleration and a second acceleration, the first and second accelerations each having

(i) an axis that is substantially normal to the user'"'"'s palm, and

(ii) a threshold magnitude,

and wherein the second acceleration occurs within a defined time interval after the first acceleration.