HAPTIC MANIPULATION SYSTEM FOR WHEELCHAIRS
First Claim
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1. A personal mobility device comprising:
- a robotic arm mechanically coupled to the personal mobility device;
a user input interface mechanically coupled to the personal mobility device and having a grip operable by a user to move in a plurality of orthogonal directions;
at least one sensor configured for measuring movement of the grip in a plurality of orthogonal directions;
a control unit responsive to a plurality of sensor signals produced by the at least one sensor for generating output control signals configured to control movement, the control unit operable to implement at least two states comprising;
a first state in which the output control signals are configured to exclusively control a motion of a motorized vehicle base portion of the personal mobility device; and
a second state in which the output control signals are configured to exclusively control a motion of a robotic arm attached to the personal mobility device.
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Abstract
A robotic arm is mounted on a personal mobility device, such as a wheelchair, scooter or the like, and is controlled with a user input interface, also mounted on the personal mobility device. The user input interface has a grip operable by the user to move in a plurality of orthogonal directions, both spatially and angularly, having articulating arms supporting a housing with a pivot member.
31 Citations
23 Claims
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1. A personal mobility device comprising:
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a robotic arm mechanically coupled to the personal mobility device; a user input interface mechanically coupled to the personal mobility device and having a grip operable by a user to move in a plurality of orthogonal directions; at least one sensor configured for measuring movement of the grip in a plurality of orthogonal directions; a control unit responsive to a plurality of sensor signals produced by the at least one sensor for generating output control signals configured to control movement, the control unit operable to implement at least two states comprising; a first state in which the output control signals are configured to exclusively control a motion of a motorized vehicle base portion of the personal mobility device; and a second state in which the output control signals are configured to exclusively control a motion of a robotic arm attached to the personal mobility device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for controlling a personal mobility system comprising a motorized vehicle base and a robotic arm, comprising:
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determining movement of an input device in a plurality of orthogonal directions to generate corresponding output control signals; selecting one of at least two states to control the personal mobility system, wherein when in a first state the output control signals are generated to control the motorized vehicle base of the personal mobility system and when in the second state the output control signals are generated to control the robotic arm of the personal mobility system; and sending the output control signals to the personal mobility system. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A personal mobility device comprising:
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a robotic arm mechanically coupled to the personal mobility device; a user input interface mechanically coupled to the personal mobility device and having a grip operable by a user to move in a plurality of orthogonal directions, including three orthogonal linear directions, and three orthogonal axes of rotation, for a total of six different directions; at least one sensor configured for measuring movement of the user input interface in said plurality of orthogonal directions; a control unit responsive to a plurality of sensor signals produced by the at least one sensor for generating output control signals configured to control movement of said robotic arm in said plurality of orthogonal directions. - View Dependent Claims (19, 20, 21, 22, 23)
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Specification