Robotic cane devices
First Claim
1. A robotic cane comprising:
- a grip handle;
a cane body extending from the grip handle at a first end of the cane body;
a motorized omni-directional wheel coupled to a second end of the cane body;
a balance control sensor, wherein the balance control sensor provides a balance signal corresponding to an orientation of the robotic cane; and
a controller module, wherein the controller module;
receives the balance signal from the balance control sensor;
calculates a balancing velocity of the motorized omni-directional wheel based at least in part on the balance signal and an inverted pendulum control algorithm; and
provides a drive signal to the motorized omni-directional wheel in accordance with the calculated balancing velocity, wherein the calculated balancing velocity relates to a speed and direction of the motorized omni-directional wheel to retain the robotic cane in a substantially upright position.
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Accused Products
Abstract
A robotic cane may include a grip handle, a cane body extending from the grip handle at a first end, a motorized omni-directional wheel coupled to a second end of the cane body, a balance control sensor, and a controller module. The balance control sensor provides a balance signal corresponding to an orientation of the robotic cane. The controller module may receive the balance signal from the balance control sensor and calculate a balancing velocity of the motorized omni-directional wheel based at least in part on the balance signal and an inverted pendulum control algorithm. The controller module may further provide a drive signal to the motorized omni-directional wheel in accordance with the calculated balancing velocity. The calculated balancing velocity is a speed and direction of the motorized omni-directional wheel to retain the robotic cane in an substantially upright position.
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Citations
19 Claims
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1. A robotic cane comprising:
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a grip handle; a cane body extending from the grip handle at a first end of the cane body; a motorized omni-directional wheel coupled to a second end of the cane body; a balance control sensor, wherein the balance control sensor provides a balance signal corresponding to an orientation of the robotic cane; and a controller module, wherein the controller module; receives the balance signal from the balance control sensor; calculates a balancing velocity of the motorized omni-directional wheel based at least in part on the balance signal and an inverted pendulum control algorithm; and provides a drive signal to the motorized omni-directional wheel in accordance with the calculated balancing velocity, wherein the calculated balancing velocity relates to a speed and direction of the motorized omni-directional wheel to retain the robotic cane in a substantially upright position. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A robotic cane comprising:
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a grip handle; a cane body extending from the grip handle at a first end of the cane body; a motorized wheel assembly comprising at least one wheel coupled to a second end of the cane body; a proximity detector, wherein the proximity detector provides a proximity signal corresponding to a position of a user with respect to the robotic cane; a controller module, wherein the controller module; receives the proximity signal from the proximity detector; calculates a distance of the robotic cane from the user based at least in part on the proximity signal; and provides a drive signal to the motorized wheel assembly such that the robotic cane follows the user at a predetermined distance; and a grip force sensor associated with the grip handle for providing a grip force signal to the controller module in accordance with a grip force value applied to the grip handle, wherein the motorized wheel assembly comprises a motorized omni-directional wheel; and the controller module; receives the grip force signal from the grip force sensor; compares the grip force value to a grip force threshold; and provides a fall prevention drive signal to the motorized omni-directional wheel if the grip force value exceeds the grip force threshold, wherein the fall prevention drive signal is determined at least in part on the grip force signal, a balance signal, and a feed-forward loop of an inverted pendulum control algorithm such that the motorized omni-directional wheel provides a counter force that is opposite from a user weight projection indicated by the balance control sensor. - View Dependent Claims (9, 10, 11, 12)
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13. A robotic cane comprising:
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a grip handle; a cane body extending from the grip handle at a first end of the cane body; a motorized omni-directional wheel coupled to a second end of the cane body; a balance control sensor, wherein the balance control sensor provides a balance signal corresponding to an orientation of the robotic cane; a grip force sensor associated with the grip handle for providing a grip force signal in accordance with a grip force value applied to the grip handle; and a controller module, wherein the controller module; receives the balance signal from the balance control sensor; monitors an orientation angle of the robotic cane based at least in part on the balance signal provided by the balance control sensor; receives the grip force signal from the grip force sensor; compares the grip force value to a grip force threshold; and provides a fall prevention drive signal to the motorized omni-directional wheel during a fall prevention mode in accordance with a feed-forward control loop of an inverted pendulum control algorithm if the grip force value exceeds the grip force threshold such that the motorized omni-directional wheel provides a counter force that is opposite from a user weight projection indicated by the balance control sensor. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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Specification