Adaptive mobility system

• US 5,513,716 A
• Filed: 05/09/1994
• Issued: 05/07/1996
• Est. Priority Date: 05/09/1994
• Status: Expired due to Term

• Current Assignee: Trustees Of The University Of Pennsylvania (University of Pennsylvania)
• Original Assignee: Trustees Of The University Of Pennsylvania (University of Pennsylvania)
• Inventors: Kumar, Vijay, Wellman, Parris, Krovi, Venkat
• Primary Examiner(s): HURLEY, KEVIN
• Application Number:
  US08/239,951
• Time in Patent Office: 729 Days
• Field of Search: 180/8.1, 180/8.2, 180/8.3, 180/8.4, 180/8.5, 180/8.6, 180/907, 901/1, 901/14, 901/15, 280/250.1, 280/304.1, 280/1.181, 280/218, 280/219
• US Class Current: 180/8.3
• CPC Class Codes: A61G 5/045 Rear wheel drive
• CPC Class Codes: A61G 5/06 with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
• CPC Class Codes: A61G 5/068 with extensible supports pushing upwards, e.g. telescopic legs
• CPC Class Codes: B62D 57/00 Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track sledges B62B; motor sledges B62M

Abstract

A wheeled mobility system, such as a wheelchair, having articulated limbs for providing a tractive force between the mobility system and a surface. The articulated limbs provide tractive locomotive forces under abnormal operating conditions wherein wheeled locomotion is inhibited by an obstacle or the like. Controlled drive motors coupled to the articulated limbs and the wheels of the mobility system provide for redundant actuation of the limbs and wheels. The wheeled mobility system is inherently omni-directional, provides superior mobility in difficult terrain or soil conditions, such as sand, clay, gravel and rocks, and further provides for surmounting of obstacles, such as steps, ditches and rocks. The limbs also give the chair versatility and allow it to be re-configured to satisfy the comfort requirements of the user. The limbs can further be used as a manipulator in order to perform tasks such as reaching for objects or pushing open doors.

Claims

1. A wheelchair, comprising;

a frame having first and second side members and a seat supported therebetween;

a pair of front wheels mechanically connected to said frame and rotatable about a first axis and a pair of rear wheels mechanically connected to said frame and rotatable about a second axis, said front and rear wheels being supported upon a surface; and

first and second articulated limbs having a proximal end, said proximal end of the first articulated limb being rotatably connected to said first side member and said proximal end of the second articulated limb being rotatably connected to said second side member, the first and second articulated limbs being rotatable about a substantially vertical axis, each of the first and second articulated limbs having a distal end for contacting said surface to provide a tractive force between said wheelchair and said surface, each of the first and second articulated limbs being articulable to position the distal end at a location forward of the front wheels and a location rearward of the rear wheels.

2. The wheelchair of claim 1, further comprising an electric limb motor electromechanically coupled to each of said first and second articulated limbs for actuating said first and second articulated limbs.

3. The wheelchair of claim 2, further comprising a controller coupled to said electric limb motors for controlling the actuation of said first and second articulated limbs.

4. The wheelchair of claim 3, further comprising an electric wheel motor electromechanically coupled to each of either the front or rear wheels for actuating said wheels to provide a motive force between said wheelchair and said surface.

5. The wheelchair of claim 4, said controller coupled to said electric wheel motors for controlling the actuation of said wheels.

6. The wheelchair of claim 1, wherein each of said first and second articulated limbs comprises a first segment rotatably connected to a second segment by an articulated joint.

7. The wheelchair of claim 6, further comprising a first electric motor electromechanically coupled to said first segment of each of said first and second articulated limbs for actuating said first segment and a second electric motor electromechanically coupled to said second segment of each of said first and second articulated limbs for actuating said second segment.

8. The wheelchair of claim 7, further comprising a platform rotatably connected to each of said first and side members, each of said first and second articulated limbs and a corresponding one of said first and second electric motors mounted on a corresponding one of said platforms.

9. A mobility system for transporting a payload on a surface, comprising:

a frame for supporting the payload;

a plurality of locomotion members mechanically connected to said frame for supporting said frame upon said surface, said locomotion members actuated to provide a motive force between said frame and said surface; and

at least one articulated limb having a proximal end mechanically connected to said frame and a distal end for contacting said surface to provide a tractive force between said frame and said surface, the articulated limb being rotatable about a substantially vertical axis and articulable to position the distal end at a location forward and a location rearward of the locomotion members.

10. The mobility system of claim 9, wherein said locomotion members are wheels.

11. The mobility system of claim 9, further comprising at least one actuator platform rotatably connected to said frame, the proximal end of at least one of said articulated limbs rotatably connected to the platform.

12. The mobility system of claim 11, wherein said platform rotates about a first axis and said articulated limb rotates about a second axis.

13. The mobility system of claim 12, wherein said second axis is normal to said first axis.

14. The mobility system of claim 11, at least one of said articulated limbs comprising first and second limb segments joined by an articulated joint.

15. The mobility system of claim 14, said platform being rotatable about a first axis, said first limb segment being rotatable about a second axis and said second limb segment being rotatable about a third axis.

16. The mobility system of claim 15, wherein said second axis is normal to said first axis and parallel to said third axis.

17. The mobility system of claim 9, further comprising an electric limb motor electromechanically coupled to at least one of said articulated limbs for actuating said articulated limb.

18. The mobility system of claim 17, further comprising a controller coupled to said electric limb motor for controlling actuation of said articulated limb.

19. The mobility system of claim 18, wherein said locomotion members are wheels, said mobility system further comprising an electric wheel motor electromechanically coupled to each of a plurality of wheels for actuating said wheels to provide a motive force between said mobility system and said surface.

20. The mobility system of claim 19, said controller being coupled to said electric wheel motors for controlling the actuation of said wheels.

21. The mobility system of claim 9, further comprising an electromechanical actuator for moving said articulated limbs into contact with said surface.

22. The mobility system of claim 9, further comprising a controller for controlling the articulation of said articulated limbs and the placement of said distal end.

23. The mobility system of claim 9, wherein said system is adapted to provide for manual actuation of said articulated limbs by a human operator.

24. The mobility system of claim 9, wherein said articulated limb is adapted to contact a second surface for lifting at least one of said wheels off the surface supporting said mobility system.

25. The mobility system of claim 9, wherein said articulated limb articulates in three degrees of freedom.

26. A wheelchair, comprising;

a frame having first and second side members and a seat supported therebetween;

a pair of front wheels mechanically connected to said frame and rotatable about a first axis and a pair of rear wheels mechanically connected to said frame and rotatable about a second axis, said front and rear wheels being supported upon a surface;

first and second articulated limbs comprising a first segment rotatably connected to a second segment by an articulated joint and having a proximal end, said proximal end of the first articulated limb being rotatably connected to said first side member and said proximal end of the second articulated limb being rotatably connected to said second side member, each of the first and second articulated limbs having a distal end for contacting said surface to provide a tractive force between said wheelchair and said surface;

a first electric motor electromechanically coupled to said first segment of each of said first and second articulated limbs for actuating said first segment and a second electric motor electromechanically coupled to said second segment of each of said first and second articulated limbs for actuating said second segment; and

a platform rotatably connected to each of said first and side members, each of said first and second articulated limbs and a corresponding one of said first and second electric motors mounted on a corresponding one of said platforms.

27. A mobility system for transporting a payload on a surface, comprising:

a frame for supporting the payload;

a plurality of locomotion members mechanically connected to said frame for supporting said frame upon said surface, said locomotion members actuated to provide a motive force between said frame and said surface;

at least one articulated limb having a proximal end mechanically connected to said frame and a distal end for contacting said surface to provide a tractive force between said frame and said surface; and

at least one actuator platform rotatably connected to said frame, the proximal end of at least one of said articulated limbs rotatably connected to the platform.

28. The mobility system of claim 27, wherein said platform rotates about a first axis and said articulated limb rotates about a second axis.

29. The mobility system of claim 28, wherein said second axis is normal to said first axis.

30. The mobility system of claim 27, at least one of said articulated limbs comprising first and second limb segments joined by an articulated joint.

31. The mobility system of claim 30, said platform being rotatable about a first axis, said first limb segment being rotatable about a second axis and said second limb segment being rotatable about a third axis.

32. The mobility system of claim 31, wherein said second axis is normal to said first axis and parallel to said third axis.

33. A mobility system for transporting a payload on a surface, comprising:

a frame for supporting the payload;

a plurality of locomotion members mechanically connected to said frame for supporting said frame upon said surface, said locomotion members actuated to provide a motive force between said frame and said surface; and

at least one articulated limb having a proximal end mechanically connected to said frame and a distal end for contacting said surface to provide a tractive force between said frame and said surface, wherein said articulated limb articulates in three degrees of freedom.