Physical assistive robotic systems

• US 9,381,131 B2
• Filed: 01/10/2013
• Issued: 07/05/2016
• Est. Priority Date: 07/30/2010
• Status: Active Grant

• Current Assignee: Illinois Institute of Technology, 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): Conley, Fredrick
• Application Number:
  US13/738,508
• Publication Number:
  US 20130110015A1
• Time in Patent Office: 1,272 Days
• Field of Search: 5 8/11.R, 5 8/31, 5 8/41, 5 8/61, 5 8/91
• US Class Current: 1/1
• 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 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 radial support member rotatably engaged with the frame;

a torso support member coupled to the radial support member;

a rotation actuator coupled to the frame and the radial support member, and communicatively coupled with the electronic control unit;

a lateral rotation housing rotatably engaged to the upright support member of the frame and coupled to the rotation actuator; and

a lateral rotation member slidably engaged with the lateral rotation housing such that the lateral rotation member is configured to slidably translate relative to the lateral rotation housing, wherein the lateral rotation member is coupled to the rotation actuator and the radial support member, wherein the electronic control unit executes the machine readable instructions to cause the rotation actuator to slidably translate the lateral rotation member relative to the lateral rotation housing, thereby rotating the radial support member to transition a user between a standing position and a non-standing position.

2. The physical assistive robotic system of claim 1, wherein the radial support member is rotatably engaged with the frame and projects vertically from the frame to the torso support member.

3. The physical assistive robotic system of claim 2, wherein the torso support member is padded.

4. The physical assistive robotic system of claim 1, wherein the torso support member is contoured to support a torso of the user.

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

a footstep movably engaged with the frame; and

a footstep actuator coupled to the frame and the footstep, and communicatively coupled with the electronic control unit, wherein the electronic control unit executes the machine readable instructions to cause the footstep actuator to stow or deploy the footstep.

6. 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, and communicatively coupled with the electronic control unit, wherein the base actuator translates the base member.

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

a drive wheel rotatably coupled to the frame; and

a drive motor coupled to the drive wheel, and communicatively coupled to the electronic control unit, wherein the drive motor rotates the drive wheel.

8. 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 radial support member rotatably engaged with the frame;

a torso support member coupled to the radial support member;

a rotation actuator coupled to the frame and the radial support member, and communicatively coupled with the electronic control unit;

a drive wheel rotatably coupled to the frame;

a drive motor coupled to the drive wheel, and communicatively coupled to the electronic control unit, wherein the drive motor rotates the drive wheel;

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;

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

cause the rotation actuator to rotate the radial support member to transition a user between a standing position and a non-standing position.

9. The physical assistive robotic system of claim 8, wherein the electronic control unit executes the machine readable instructions to:

set an autonomous mode; and

cause the drive motor to rotate the drive wheel to autonomously propel the physical assistive robotic system when the physical assistive robotic system is operated in the autonomous mode.

10. 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 support wheel rotatably coupled to the frame;

a drive motor coupled to the drive wheel and communicatively coupled with the electronic control unit; 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;

set a cooperative mode or an autonomous mode;

cause the drive motor to rotate the drive wheel based at least in part upon the steering force detected by the force sensing device when the physical assistive robotic system is operated in the cooperative mode; and

cause the drive motor to rotate the drive wheel to autonomously propel the physical assistive robotic system when the physical assistive robotic system is operated in the autonomous mode.

11. The physical assistive robotic system of claim 10, further comprising:

a base member slidably engaged with the frame; and

a base actuator coupled to the frame and the base member, and communicatively coupled with the electronic control unit, wherein the base actuator translates the base member.

12. The physical assistive robotic system of claim 10, further comprising:

a footstep movably engaged with the frame; and

a footstep actuator coupled to the frame and the footstep, and communicatively coupled with the electronic control unit, wherein the electronic control unit executes the machine readable instructions to cause the footstep actuator to stow or deploy the footstep.

13. The physical assistive robotic system of claim 10, further comprising a footstep, wherein the force sensing device is disposed on the footstep or within the footstep.

14. The physical assistive robotic system of claim 10, further comprising a steering mechanism coupled to the frame and communicatively coupled with the electronic control unit, wherein the electronic control unit executes the machine readable instructions to:

store destination information in the electronic memory;

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

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

15. The physical assistive robotic system of claim 14, further comprising a navigation module coupled to the frame and communicatively coupled with the electronic control unit, wherein the electronic control unit executes the machine readable instructions to:

receive topographical information from the navigation module;

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.

16. The physical assistive robotic system of claim 10, further comprising:

a radial support member rotatably engaged with the frame;

a torso support member coupled to the radial support member; and

a rotation actuator coupled to the frame and the radial support member, and communicatively coupled with the electronic control unit, wherein the electronic control unit executes the machine readable instructions to cause the rotation actuator to rotate the radial support member to transition a user between a standing position and a non-standing position.

17. The physical assistive robotic system of claim 10, further comprising:

a lateral member slidably engaged with the upright support member; and

a handle slidably engaged with the lateral member, wherein the force sensing device is disposed between the lateral member and the handle.

18. The physical assistive robotic system of claim 17, further comprising:

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, 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.

19. The physical assistive robotic system of claim 18, further comprising:

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; and

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.