Motorized walker

• US 9,968,507 B2
• Filed: 11/12/2014
• Issued: 05/15/2018
• Est. Priority Date: 11/18/2013
• Status: Active Grant

• Current Assignee: New York Institute of Technology Incorporated
• Original Assignee: New York Institute of Technology Incorporated
• Inventors: Rabin, Ely, Dong, Ziqian
• Primary Examiner(s): Zanelli, Michael J
• Application Number:
  US15/036,985
• Publication Number:
  US 20160287465A1
• Time in Patent Office: 1,280 Days
• CPC Class Codes: A61H 2003/002 with attached or incorporated article carrying means
• CPC Class Codes: A61H 2003/007 secured to the patient, e.g. with belts
• CPC Class Codes: A61H 2003/043 with a drive mechanism
• CPC Class Codes: A61H 2003/046 with braking means
• CPC Class Codes: A61H 2201/0176 By stopping operation
• CPC Class Codes: A61H 2201/50 Control means thereof
• CPC Class Codes: A61H 2201/501 connected to external computer devices or networks
• CPC Class Codes: A61H 2201/5028 Contact activation, i.e. activated at contact with a surface of the user to be treated
• CPC Class Codes: A61H 2201/5064 Position sensors
• CPC Class Codes: A61H 2201/5097 wireless
• CPC Class Codes: A61H 3/04 Wheeled walking aids for disabled persons A61H3/06 takes precedence
• CPC Class Codes: B60L 15/2009 for braking
• CPC Class Codes: B60L 15/2036 Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 15/30 with means to change over to human control
• CPC Class Codes: B60L 2200/24 Personal mobility vehicles
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 3/0015 Prevention of collisions
• CPC Class Codes: B62D 51/04 the driver walking
• CPC Class Codes: G01S 15/93 for anti-collision purposes
• CPC Class Codes: G01S 17/93 : for anti-collision purposes
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility

Abstract

A motorized walker is provided that can enable users to walk without being slowed by the walker and without needing to exert themselves to push the walker forward. The motorized walker provides additional haptic speed cues to inform the user'"'"'s posture and locomotion control to prevent falling.

Claims

1. A motorized walker comprising:

a wheeled frame;

one or more electric motors;

a manual online controller;

at least one proximity sensor sensing a plurality of regions around the motorized walker, including sensing a wall adjacent to the motorized walker; and

an automated control system;

wherein the automated control system further comprises;

a non-volatile memory that stores data and a plurality of executable program modules;

a processor coupled to the non-volatile memory;

a first executable program module being a procession module that is stored within the non-volatile memory and that when executed by the processor supplies control signals to at least one of the one or more electric motors of the motorized walker such that the motorized walker moves in a forward direction;

a second executable program module being a reverse module that is stored within the non-volatile memory and that when executed by the processor supplies control signals to at least one of the one or more electric motors of the motorized walker such that the motorized walker moves in a reverse direction;

a third executable program module being a right turn module that is stored within the non-volatile memory and that when executed by the processor supplies control signals to at least one of the one or more electric motors of the motorized walker such that the motorized walker turns toward the right;

a fourth executable program module being a left turn module that is stored within the non-volatile memory and that when executed by the processor supplies control signals to at least one of the one or more electric motors of the motorized walker such that the motorized walker turns toward the left;

a fifth executable program module being a stop module that is stored within the non-volatile memory and that when executed by the processor supplies control signals to stop the one or more electric motors of the motorized walker;

a sixth executable program module being a speed control module that is stored within the non-volatile memory and that when executed by the processor determines the appropriate speed at which the motorized walker moves;

a seventh executable program module being an object avoidance module that is stored within the non-volatile memory and that when executed by the processor supplies control signals to at least one of the one or more electric motors of the motorized walker such that the motorized walker slows and turns to avoid frontal collision; and

an eighth executable program module being a tracking module that is stored within the non-volatile memory and that when executed by the processor supplies control signals to at least one of the one or more electric motors of the motorized walker such that the motorized walker travels parallel to and maintains a fixed distance from the adjacent wall.

2. The motorized walker of claim 1, further comprising an emergency stop device.

3. The motorized walker of claim 1, further comprising a clutch device to disengage the one or more electric motors and allow a user to operate the walker as one would operate a non-motorized walker.

4. The motorized walker of claim 1, further comprising a remote interface whereby a user can set the following parameters:

a maximum procession speed, being the speed at which the walker will proceed at full forward setting of the manual online controller;

the ratio of maximum procession speed to turning speed, being the fraction of the maximum procession speed divided by the turning speed of the walker;

a speed transition duration, the time for which direction-dependent speed changes will occur;

individual stop distances associated with each region being sensed by the at least one proximity sensor, defining the outer boundary of a zone around the walker within which an external object registered by any region being sensed by the at least one proximity sensor triggers the stop module;

a front search distance, defining the outer boundary of a zone in front of the walker within which an object registered by the at least one proximity sensor triggers the left or right turn modules to avoid collision;

left and right tracking search ranges, defining the outer boundaries within which the adjacent wall registered by the at least one proximity sensor engages the tracking module;

left and right tracking target distances, being the distances from the at least one proximity sensor to the adjacent wall toward which the tracking module automatically steers the walker;

whether the reverse module is enabled;

whether the manual online controller is enabled;

whether the object avoidance module is enabled;

whether automatic left-side tracking is enabled;

whether automatic right-side tracking is enabled;

the procession speed when automatic object avoidance by the avoidance module is engaged or when automatic tracking by the tracking module is engaged;

the ratio of tracking procession speed to turning speed, being the fraction of the maximum procession speed divided by the turning speed of the walker during tracking;

priority of left or right-side tracking when conditions to engage both are satisfied;

whether the tracking module can be interrupted by the manual online controller;

whether automatic object avoidance can be interrupted by the manual online controller;

whether the tracking module, upon being interrupted by a user, is automatically reengaged after a latency;

whether the object avoidance module, upon being interrupted by a user, is automatically reengaged after a latency;

latency of tracking module re-engagement; and

latency of object avoidance module re-engagement.

5. The motorized walker of claim 4, further comprising a clutch device to disengage the at least one of the one or more electric motors and allow a user to operate the walker as one would operate a non-motorized walker.

6. The motorized walker of claim 1, wherein the at least one proximity sensors comprise a left rear proximity sensor, a left front proximity sensor, an anterior left proximity sensor, an anterior right proximity sensor, a right front proximity sensor, and a right rear proximity sensor, each of which senses a single region around the motorized walker;

wherein the procession module supplies the control signals to at least one of the one or more electric motors of the motorized walker to move in a forward direction;

wherein the stop module supplies the control signals to stop the at least one of the one or more electric motors of the motorized walker;

wherein the reverse module supplies the control signals to the at least one of the one or more electric motors of the motorized walker to move in a reverse direction;

wherein the right turn module supplies control signals to the at least one of the one or more electric motors of the motorized walker such that the motorized walker turns toward the right;

wherein the left turn module supplies control signals to the at least one of the one or more electric motors of the motorized walker such that the motorized walker turns toward the left;

wherein a stop module supplies control signals to stop the at least one of the one or more electric motors of the motorized walker;

wherein a speed control module determines the appropriate speed at which the motorized walker moves;

wherein the object avoidance module supplies the control signals to the at least one of the one or more electric motors of the motorized walker to turn the walker away from the sensor closest to an object in front of the walker to avoid collision with that object;

wherein the tracking module monitors the right front proximity sensor, right rear proximity sensor, left front proximity sensor, and left rear proximity sensor for detection of an adjacent left or adjacent right continuous surface within a predetermined range, and upon detection of at least one adjacent continuous surface, the tracking module engages the appropriate control (procession, left or right turn) modules of the motorized walker such that it maintains a fixed distance from the adjacent wall where one wall is detected, and maintains a fixed distance from the wall with higher priority where both a left wall and right wall are detected.

7. The motorized walker of claim 6, further comprising an emergency stop device.

8. The motorized walker of claim 6, further comprising a remote interface.

9. The motorized walker of claim 6, further comprising a clutch device to disengage the at least one of the one or more electric motors and allow a user to operate the walker as one would operate a non-motorized walker.

10. The motorized walker of claim 1, wherein the at least one proximity sensors comprise a single proximity sensor sensing a plurality of regions around the motorized walker;

wherein the procession module supplies the control signals to the at least one of the one or more electric motors of the motorized walker to move in a forward direction;

wherein the stop module supplies the control signals to stop the at least one of the one or more electric motors of the motorized walker;

wherein the reverse module supplies the control signals to the at least one of the one or more electric motors of the motorized walker to move in a reverse direction;

wherein the right turn module supplies control signals to the at least one of the one or more electric motors of the motorized walker such that the motorized walker turns toward the right;

wherein the left turn module supplies control signals to the at least one of the one or more electric motors of the motorized walker such that the motorized walker turns toward the left;

wherein a stop module supplies control signals to stop the at least one of the one or more electric motors of the motorized walker;

wherein a speed control module determines the appropriate speed at which the motorized walker moves;

wherein the object avoidance module supplies the control signals to the at least one of the one or more electric motors of the motorized walker to turn the walker away from the sensor closest to an object in front of the walker to avoid collision with that object;

wherein the tracking module monitors a right front region sensed by the proximity sensor, a right rear region sensed by the proximity sensor, a left front region sensed by the proximity sensor, and a left rear region sensed by the proximity sensor for detection of an adjacent left or adjacent right continuous surface within a predetermined range, and upon detection of at least one adjacent continuous surface, the tracking module engages the appropriate control (procession, left or right turn) modules of the motorized walker such that it maintains a fixed distance from the adjacent wall where one wall is detected, and maintains a fixed distance from the wall with higher priority where both a left wall and right wall are detected.

11. The motorized walker of claim 10, further comprising an emergency stop device.

12. The motorized walker of claim 10, further comprising a remote interface.

13. The motorized walker of claim 10, further comprising a clutch device to disengage the at least one of the one or more electric motors and allow a user to operate the walker as one would operate a non-motorized walker.