Robotic cane devices

• US 8,925,563 B2
• Filed: 10/04/2012
• Issued: 01/06/2015
• Est. Priority Date: 07/30/2010
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Illinois Institute of Technology, Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Inventors: Ota, Yasuhiro, Ryumae, Masaru, Sato, Keiichi, Sano, Shin
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): LIN, ABBY YEE
• Application Number:
  US13/644,392
• Publication Number:
  US 20130041507A1
• Time in Patent Office: 824 Days
• Field of Search: 700 12- 13, 700/245, 700/250, 700/258, 318/568.1, 318/568.25, 901/1, 901 9- 10, 901/46, 901/50, 135 65- 68, 135 71- 73, 135/77, 135/85
• US Class Current: 135/85
• CPC Class Codes: A61H 2003/0272 on a single crutch allowing it to remain upright when not in use, e.g. retractable tripods A61H2003/0205 takes precedence
• CPC Class Codes: A61H 2003/043 with a drive mechanism
• CPC Class Codes: A61H 2201/5061 Force sensors
• CPC Class Codes: A61H 2201/5069 Angle sensors
• CPC Class Codes: A61H 3/04 Wheeled walking aids for disabled persons A61H3/06 takes precedence
• CPC Class Codes: B60L 50/52 characterised by DC-motors
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement

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.

Claims

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 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; and

a controller module, wherein the controller module is programmed to;

receive the proximity signal from the proximity detector;

calculate a distance of the robotic cane from the user based at least in part on the proximity signal; and

provide a drive signal to the motorized wheel assembly such that the robotic cane follows the user without user contact at a predetermined distance, such that the grip handle is within a reach of the user.

2. The robotic cane of claim 1, wherein the proximity detector comprises an RFID tag reader operable to read an RFID tag associated with the user and indicate the position of the user with respect to the robotic cane.

3. The robotic cane of claim 1, further comprising a force input device, wherein the force input device provides a force signal corresponding to a magnitude and a direction of a force applied to the grip handle during an assist mode and the controller module:

receives the force signal from the force input device;

calculates a user velocity based at least in part on the force signal; and

provides a drive signal to the motorized wheel assembly in accordance with the calculated user velocity such that the robotic cane travels at substantially a desired user direction and a speed of travel while the robotic cane is operating in the assist mode.

4. The robotic cane of claim 1, further comprising a balance control sensor, wherein:

the balance control sensor provides a balance signal corresponding to an orientation of the robotic cane;

the motorized wheel assembly comprises an omni-directional wheel; and

the controller module receives the balance signal from the balance control sensor and provides a drive signal to the motorized wheel assembly in accordance with the balance signal and an inverted pendulum control algorithm such that the robotic cane remains in an upright position.

5. The robotic cane of claim 1, wherein the proximity detector comprises an infrared distance sensor positioned on the cane body and configured to detect a distance between the robotic cane and the user.

6. The robotic cane of claim 1, wherein the proximity detector comprises a wireless communications device operable to detect a wireless beacon signal that is broadcast from a wireless communications device associated with the user.

7. The robotic cane of claim 1, wherein a length of the cane body automatically adjusts to a proper height for the user.

8. The robotic cane of claim 1, further comprising a user identification device, wherein the user identification device is a fingerprint verification device or a face recognition device.

9. The robotic cane of claim 1, further comprising a plurality of retractable auxiliary supports, wherein the retractable auxiliary supports are in an engaged position when the robotic cane is operated in a supported mode such that the retractable auxiliary supports engage a supporting surface, and the retractable auxiliary supports are in an unengaged position when the robotic cane is operated in an unsupported mode such that the retractable auxiliary supports are disengaged from the supporting surface.

10. The robotic cane of claim 1, wherein the motorized wheel assembly comprises an omni-directional wheel.

11. 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 wheel assembly comprising at least one wheel coupled to a second end of the cane body;

a user identification device for registering a registered user of the robotic cane;

a proximity detector, wherein the proximity detector provides a proximity signal corresponding to a position of the registered user with respect to the robotic cane;

a controller module, wherein the controller module is programmed to;

receive the proximity signal from the proximity detector;

calculate a distance of the robotic cane from the registered user based at least in part on the proximity signal; and

provide a drive signal to the motorized wheel assembly such that the robotic cane autonomously follows the registered user without user contact at a predetermined distance, such that the grip handle is within a reach of the registered user.

12. The robotic cane of claim 11, wherein the proximity detector comprises an RFID tag reader operable to read an RFID tag associated with the registered user and indicate the position of the registered user with respect to the robotic cane.

13. The robotic cane of claim 12, further comprising a force input device, wherein the force input device provides a force signal corresponding to a magnitude and a direction of a force applied to the grip handle during an assist mode and the controller module:

receives the force signal from the force input device;

calculates a user velocity based at least in part on the force signal; and

provides a drive signal to the motorized wheel assembly in accordance with the calculated user velocity such that the robotic cane travels at substantially a desired user direction and a speed of travel while the robotic cane is operating in the assist mode.

14. The robotic cane of claim 11, further comprising a balance control sensor, wherein:

the balance control sensor provides a balance signal corresponding to an orientation of the robotic cane;

the motorized wheel assembly comprises an omni-directional wheel; and

the controller module receives the balance signal from the balance control sensor and provides a drive signal to the motorized wheel assembly in accordance with the balance signal and an inverted pendulum control algorithm such that the robotic cane remains in an upright position.

15. The robotic cane of claim 11, wherein the proximity detector comprises an infrared distance sensor positioned on the cane body and configured to detect a distance between the robotic cane and the registered user.

16. The robotic cane of claim 11, wherein the proximity detector comprises a wireless communications device operable to detect a wireless beacon signal that is broadcast from a wireless communications device associated with the registered user.

17. The robotic cane of claim 11, wherein a length of the cane body automatically adjusts to a proper height for the registered user.

18. The robotic cane of claim 11, wherein the user identification device is a numeric pad or an alpha-numeric pad.

19. The robotic cane of claim 11, further comprising a plurality of retractable auxiliary supports, wherein the retractable auxiliary supports are in an engaged position when the robotic cane is operated in a supported mode such that the retractable auxiliary supports engage a supporting surface, and the retractable auxiliary supports are in an unengaged position when the robotic cane is operated in an unsupported mode such that the retractable auxiliary supports are disengaged from the supporting surface.

20. The robotic cane of claim 11, wherein the motorized wheel assembly comprises an omni-directional wheel.