Mobile human-friendly assistive robot

• US 10,265,227 B2
• Filed: 03/20/2015
• Issued: 04/23/2019
• Est. Priority Date: 03/21/2014
• Status: Active Grant

• Current Assignee: Rensselaer Polytechnic Institute
• Original Assignee: Rensselaer Polytechnic Institute
• Inventors: Wen, John T., Braasch, Jonas, Sinha, Utkarsh, Cunningham, Andrew, Keddy-Hector, William H., Kruse, Daniel C., Whalen, David, Lu, Lu
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US15/127,946
• Publication Number:
  US 20170095382A1
• Time in Patent Office: 1,495 Days
• Field of Search: 700245, 700253, 700258, 700264, 31856816, 318574, 901 15
• CPC Class Codes: A61G 2203/14 Joysticks
• CPC Class Codes: A61G 2203/18 by patient's head, eyes, facial muscles or voice
• CPC Class Codes: A61G 2203/38 for torque
• CPC Class Codes: A61G 2203/726 for automatic deactivation, e.g. deactivation of actuators or motors
• CPC Class Codes: A61G 5/04 motor-driven A61G5/06 takes precedence; motor-operated rests A61G5/12; for vehicles with handlebars, equipped with three or more wheels B62K5/003, B62K5/023
• CPC Class Codes: B25J 11/008 Manipulators for service tasks
• CPC Class Codes: B25J 11/009 Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
• CPC Class Codes: B25J 13/00 Controls for manipulators programme controls B25J9/16; control in general G05
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/0084 comprising a plurality of manipulators
• CPC Class Codes: B25J 9/0087 Dual arms double SCARA arms B25J9/043
• CPC Class Codes: G16H 40/67 for remote operation

Abstract

A robotic assistant, associated software and methodology for operating the same. The described robotic assistant includes: a motorized base having at least two motor driven wheels controlled by a first control platform; a dual arm robot mounted on the motorized base, the dual arm robot having a first arm and a second arm controlled by a second control platform; a remote sip and puff mouth controller having three degrees of operational freedom; and a computer system that receives command signals from the remote sip and puff mouth controller, and includes an algorithm that translates the command signals into a first type of control signal for directing the motorized base to move, and a second type of control signal for directing the dual arm robot to move.

Claims

1. A robotic assistant, comprising:

a motorized base having at least two motor driven wheels controlled by a first control platform;

a dual arm robot mounted on the motorized base, the dual arm robot having a first arm and a second arm controlled by a second control platform;

a remote sip and puff mouth controller having three degrees of operational input to allow a user to control an end effector of the dual arm robot within a three dimensional space; and

a computer system that receives command signals from the remote sip and puff mouth controller to move the end effector, and includes a control system that translates the command signals into a first type of control signal for directing the motorized base to move, and a second type of control signal for directing the dual arm robot to move, wherein movement of the motorized base is realized without direct control from the user.

2. The robotic assistant of claim 1, wherein the motorized base comprises a retrofitted power wheelchair that includes a horizontally oriented adapter plate mounted thereon that is adapted to secure the dual arm robot.

3. The robotic assistant of claim 1, wherein the dual arm robot includes 14 degrees of operational freedom.

4. The robotic assistant of claim 1, wherein the command signals from the remote sip and puff mouth controller are communicated wirelessly.

5. The robotic assistant of claim 1, wherein the computer system includes a further input system for receiving command signals from a second source via the Internet.

6. The robotic assistant of claim 1, wherein control system includes an algorithm that instructs the motorized base to move only when both the first arm and the second arm are outside a defined workspace.

7. The robotic assistant of claim 6, wherein algorithm only instructs the first arm or second arm to move when the motorized base is not moving.

8. A control platform for controlling the operation of a robotic assistant, comprising:

a control system that separately communicates with a motorized based and a dual arm robot mounted on the motorized base, wherein the control system implements a first type of control signal to control the motorized base, and a second type of control signal to control the dual arm robot;

an input for receiving command signals from a remotely located controller, wherein the command signals include a proposed movement in a three dimensional space of an end effector associated with a selected arm of the dual arm robot; and

a software algorithm that dictates the motion of the motorized base and dual arm robot based on the proposed movement, wherein the software algorithm only instructs the motorized base to move when the selected arm is outside a defined workspace, and only instructs the selected arm to move when the motorized base is stationary, and wherein movement of the motorized base is realized without direct control from the remotely located controller.

9. The control platform of claim 8, wherein the software algorithm limits movement of the selected arm based on existing constraints.

10. The control platform of claim 8, wherein the remotely located controller includes a device selected from a group consisting of:

a sip and puff device, a tongue command device, an eye/blink tracker, and a joystick.

11. The control platform of claim 8, further comprising a second input for receiving remote commands via the Internet.

12. The control platform of claim 8, further separately communicates with at least one sensor.

13. The control platform of claim 8, wherein each arm of the dual arm robot includes seven degrees of movement, and wherein the software algorithm maps three degrees of operational input from the remotely located controller to the seven degrees of movement.

14. The control platform of claim 8, wherein proposed movement includes a velocity.

15. A robotic assistant, comprising:

a motorized base having at least two motor driven wheels controlled by a first control platform;

a dual arm robot mounted on the motorized base, the dual arm robot having a first arm and a second arm controlled by a second control platform;

an input for receiving signals from a remotely located controller, the remotely located controller having three degrees of operational input for providing a proposed movement of an end effector of the robotic assistant; and

a control system that separately communicates with the motorized based and dual arm robot, wherein the control system implements a first type of control signal to control the motorized base, and a second type of control signal to control the dual arm robot, and wherein the control system includes a software algorithm that dictates the motion of the motorized base and dual arm robot based on the proposed movement, wherein the software algorithm only instructs the motorized base to move when a selected arm is outside a defined workspace, and only instructs the selected arm to move when the motorized base is stationary, and wherein movement of the motorized base is realized without direct control from the remotely located controller.

16. The robotic assistant of claim 15, wherein the software algorithm limits movement of the selected arm based on existing constraints.

17. The robotic assistant of claim 15, wherein the remotely located controller includes a device selected from a group consisting of:

a sip and puff device, a tongue command device, an eye/blink tracker, and a joystick.

18. The robotic assistant of claim 15, further comprising a second input for receiving remote commands via the Internet.

19. The robotic assistant of claim 15, wherein the control system separately communicates with at least one sensor.

20. The robotic assistant of claim 15, wherein each arm of the dual arm robot includes seven degrees of movement, and wherein the software algorithm maps three degrees of operational input from the remotely located controller to the seven degrees of movement.

21. The robotic assistant of claim 15, wherein proposed movement includes a velocity.