Physical assistive robotic systems

• US 10,478,365 B2
• Filed: 06/22/2016
• Issued: 11/19/2019
• Est. Priority Date: 07/30/2010
• Status: Active Grant

• Current Assignee: Illinois Institute of Technology, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Inventors: Ota, Yasuhiro, Ryumae, Masaru, Sato, Keiichi, Sano, Shin
• Primary Examiner(s): Conley, Fredrick C
• Application Number:
  US15/189,733
• Publication Number:
  US 20160296404A1
• Time in Patent Office: 1,245 Days
• Field of Search: 5 811 R, 5 831, 5 841, 5 861, 5 891
• CPC Class Codes: A61G 2200/34 sitting
• CPC Class Codes: A61G 2200/36 standing
• CPC Class Codes: A61G 2203/16 Touchpads
• CPC Class Codes: A61G 2203/20 Displays or monitors
• CPC Class Codes: A61G 2203/22 for automatically guiding movable devices, e.g. stretchers or wheelchairs in a hospital
• CPC Class Codes: A61G 2203/32 for force
• CPC Class Codes: A61G 7/1017 Pivoting arms, e.g. crane type mechanisms
• CPC Class Codes: A61G 7/1019 Vertical extending columns or mechanisms
• CPC Class Codes: A61G 7/1048 having auxiliary drive means
• CPC Class Codes: A61G 7/1086 Upper body
• CPC Class Codes: A61H 1/001 Apparatus for applying movements to the whole body

Abstract

A physical assistive robotic device may include a frame including an upright support member, a lateral member slidably engaged with the upright support member, a handle slidably engaged with the lateral member, an elevation actuator coupled to the upright support member and the lateral member, and a lateral actuator coupled to the lateral member and the handle. The elevation actuator translates the lateral member and the lateral actuator translates the handle to transition a user between a standing position and a non-standing position.

Claims

1. A physical assistive robotic device comprising:

a frame comprising an upright support member;

a lateral member slidably engaged with the upright support member;

a handle slidably engaged with the lateral member;

an elevation actuator coupled to the upright support member and the lateral member;

a lateral actuator coupled to the lateral member and the handle, wherein the elevation actuator translates the lateral member and the lateral actuator translates the handle to transition a user between a standing position and a non-standing position;

an additional lateral member slidably engaged with the upright support member and coupled to the elevation actuator;

an additional handle slidably engaged with the additional lateral member;

an additional lateral actuator coupled to the additional lateral member and the additional handle wherein, the elevation actuator translates the additional lateral member and the additional lateral actuator translates the additional handle to transition the user between the standing position and the non-standing position;

an electronic control unit comprising a processor for executing machine readable instructions and an electronic memory for storing the machine readable instructions; and

a posture detector coupled to the upright support member and communicatively coupled with the electronic control unit, wherein the posture detector is a camera,

wherein the posture detector captures image data of at least a portion of the user and outputs the image data to the electronic control unit; and

the electronic control unit executes the machine readable instructions to;

receive the image data;

determine whether a user posture is an improper posture based on the image data; and

provide an alert when the user posture is determined to be an improper posture.

2. The physical assistive robotic device of claim 1 further comprising a drive wheel rotatably coupled to the frame and a drive motor coupled to the drive wheel, wherein the drive motor rotates the drive wheel.

3. The physical assistive robotic system of claim 1, further comprising

a drive wheel rotatably coupled to the frame;

a drive motor coupled to the drive wheel; and

a force sensing device communicatively coupled with the electronic control unit for detecting a steering force, wherein the electronic control unit executes the machine readable instructions to cause the drive motor to rotate the drive wheel based at least in part upon a steering force detected by the force sensing device.

4. The physical assistive robotic system of claim 1, further comprising:

a base member slidably engaged with the frame; and

a base actuator coupled to the frame and the base member wherein the base actuator translates the base member.

5. A physical assistive robotic system comprising:

an electronic control unit comprising a processor for executing machine readable instructions and an electronic memory for storing the machine readable instructions;

a frame comprising an upright support member;

a drive wheel rotatably coupled to the frame;

a drive motor coupled to the drive wheel;

a lateral member slidably engaged with the upright support member;

a handle slidably engaged with the lateral member;

a lateral actuator coupled to the lateral member and the handle and communicatively coupled with the electronic control unit;

a posture detector coupled to the upright support member and communicatively coupled with the electronic control unit, wherein the posture detector is a camera, wherein the posture detector captures image data of at least a portion of the user and outputs the image data to the electronic control unit; and

an elevation actuator coupled to the upright support member and the lateral member and communicatively coupled with the electronic control unit, wherein the electronic control unit executes the machine readable instructions to;

retrieve at least one user parameter from a database stored in the electronic memory;

set an adjustable elevation rate based at least in part upon at least one user parameter;

cause the elevation actuator to translate the lateral member according to the adjustable elevation rate to transition a user between a standing position and a non-standing position;

receive the image data;

determine whether a user posture is an improper posture based on the image data; and

provide an alert when the user posture is determined.

6. The physical assistive robotic system of claim 5, further comprising

a force sensing device communicatively coupled with the electronic control unit for detecting a steering force, wherein the electronic control unit executes the machine readable instructions to cause the drive motor to rotate the drive wheel based at least in part upon a steering force detected by the force sensing device.

7. The physical assistive robotic system of claim 5 wherein the electronic control unit executes the machine readable instructions to:

set an adjustable stop elevation based at least in part upon the at least one user parameter; and

cause the elevation actuator to position the lateral member at the adjustable stop elevation.

8. The physical assistive robotic system of claim 5 wherein the at least one user parameter is one or more of a height, a weight, or a medical condition.

9. The physical assistive robotic system of claim 5 further comprising a user recognition module communicatively coupled with the electronic control unit, wherein:

an identification signal indicative of an identity of the user is transmitted to the electronic control unit; and

the electronic control unit executes the machine readable instructions to;

receive the identification signal; and

store the identity in the electronic memory.

10. The physical assistive robotic system of claim 5 further comprising a posture detector coupled to the upright support member and communicatively coupled with the electronic control unit, wherein:

the posture detector transmits a posture signal indicative of a posture of the user to the electronic control unit; and

the electronic control unit executes the machine readable instructions to;

receive the posture signal; and

provide an alert when an unsafe posture is detected.

11. The physical assistive robotic system of claim 5 wherein the electronic control unit executes the machine readable instructions to:

set an adjustable lateral rate based at least in part upon the at least one user parameter; and

cause the lateral actuator to translate the handle according to the adjustable lateral rate to transition the user between the standing position and the non-standing position.

12. The physical assistive robotic system of claim 5 further comprising:

a support wheel rotatably coupled to the frame;

a steering mechanism coupled to the frame and communicatively coupled with the electronic control unit; and

a navigation module coupled to the frame and communicatively coupled with the electronic control unit, wherein;

the navigation module communicates topographical information to the electronic control unit; and

the electronic control unit executes the machine readable instructions to;

cause the drive motor to rotate the drive wheel based at least in part upon the topographical information; and

cause the steering mechanism to steer the physical assistive robotic system based at least in part upon the topographical information.

13. The physical assistive robotic system of claim 12 further comprising a wireless communicator for transmitting a position signal indicative of a location of the physical assistive robotic system.

14. The physical assistive robotic system of claim 12 further comprising a human machine interface coupled to the upright support member and communicatively coupled with the electronic control unit wherein:

the human machine interface receives destination information and communicates the destination information to the electronic control unit; and

the electronic control unit executes the machine readable instructions to;

store the destination information in the electronic memory;

cause the drive motor to rotate the drive wheel based at least in part upon the destination information; and

cause the steering mechanism to steer the physical assistive robotic system based at least in part upon the destination information.