JP6240228B2 - ロボット型ステッキ装置 - Google Patents
ロボット型ステッキ装置 Download PDFInfo
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- JP6240228B2 JP6240228B2 JP2016000160A JP2016000160A JP6240228B2 JP 6240228 B2 JP6240228 B2 JP 6240228B2 JP 2016000160 A JP2016000160 A JP 2016000160A JP 2016000160 A JP2016000160 A JP 2016000160A JP 6240228 B2 JP6240228 B2 JP 6240228B2
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/52—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by DC-motors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/02—Crutches
- A61H3/0244—Arrangements for storing or keeping upright when not in use
- A61H2003/0272—Arrangements for storing or keeping upright when not in use on a single crutch allowing it to remain upright when not in use, e.g. retractable tripods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
- A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/02—Arm motion controller
- Y10S901/09—Closed loop, sensor feedback controls arm movement
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Public Health (AREA)
- Epidemiology (AREA)
- Physical Education & Sports Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Pain & Pain Management (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Walking Sticks, Umbrellas, And Fans (AREA)
Description
Claims (4)
- ロボット型ステッキであって、
グリップハンドルと、
ステッキ本体であって、前記ステッキ本体の第1端部における前記グリップハンドルから延在するステッキ本体と、
前記ステッキ本体の第2端部に結合された少なくとも1つのホイールを有する動力付きホイールアセンブリと、
近接検出器であって、前記ロボット型ステッキとの関係におけるユーザーの位置に対応した近接信号を供給する近接検出器と、
ユーザー追跡モードにおいて、前記近接検出器から前記近接信号を受信し、前記近接信号に少なくとも部分的に基づいて前記ユーザーからの前記ロボット型ステッキの距離を算出し、且つ、前記ロボット型ステッキが前記ユーザーに接触することなく所定の距離において前記ユーザーに追随するように、前記動力付きホイールアセンブリに駆動信号を供給するコントローラモジュールと、
を有するロボット型ステッキ。 - 力入力装置を更に有し、前記力入力装置は、援助モードにおいて前記グリップハンドルに印加される力の大きさ及び方向に対応した力信号を供給し、且つ、
前記コントローラモジュールは、
前記力信号を前記力入力装置から受信し、
前記力信号に少なくとも基づいてユーザー速度を算出し、且つ、
前記ロボット型ステッキが前記援助モードにおいて作動している際に、前記ロボット型ステッキが所望のユーザーの方向及び移動の速さにおいて移動するように、前記算出されたユーザー速度に従って、前記動力付きホイールアセンブリに前記駆動信号を供給する請求項1に記載のロボット型ステッキ。 - バランス制御センサを更に有し、
前記バランス制御センサは、前記ロボット型ステッキの向きに対応したバランス信号を供給し、
前記動力付きホイールアセンブリは、全方向式ホイールを有し、且つ、
前記コントローラモジュールは、援助モードにおいて、前記バランス制御センサから前記バランス信号を受信し、且つ、前記ロボット型ステッキが直立位置に留まるように、前記バランス信号及び倒立振り子制御アルゴリズムに従って、前記動力付きホイールアセンブリに前記駆動信号を供給する請求項1に記載のロボット型ステッキ。 - 前記グリップハンドルに印加された把持力値に従って前記コントローラモジュールに把持力信号を供給するべく前記グリップハンドルと関連付けられた把持力センサを更に有し、
前記動力付きホイールアセンブリは、動力付き全方向式ホイールを有し、且つ、
前記コントローラモジュールは、
前記把持力センサから前記把持力信号を受信し、
前記把持力値を把持力閾値と比較し、且つ、
前記把持力値が前記把持力閾値を超過している場合に、前記ロボット型ステッキが前記ユーザーを支持するように、前記動力付き全方向式ホイールに転倒防止駆動信号を供給する請求項1に記載のロボット型ステッキ。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/847,410 | 2010-07-30 | ||
US12/847,410 US8418705B2 (en) | 2010-07-30 | 2010-07-30 | Robotic cane devices |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014165504A Division JP2014239921A (ja) | 2010-07-30 | 2014-08-15 | ロボット型ステッキ装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016105770A JP2016105770A (ja) | 2016-06-16 |
JP6240228B2 true JP6240228B2 (ja) | 2017-11-29 |
Family
ID=45527541
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011167444A Active JP5897840B2 (ja) | 2010-07-30 | 2011-07-29 | ロボット型ステッキ装置 |
JP2014165504A Pending JP2014239921A (ja) | 2010-07-30 | 2014-08-15 | ロボット型ステッキ装置 |
JP2016000160A Active JP6240228B2 (ja) | 2010-07-30 | 2016-01-04 | ロボット型ステッキ装置 |
Family Applications Before (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011167444A Active JP5897840B2 (ja) | 2010-07-30 | 2011-07-29 | ロボット型ステッキ装置 |
JP2014165504A Pending JP2014239921A (ja) | 2010-07-30 | 2014-08-15 | ロボット型ステッキ装置 |
Country Status (2)
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US (2) | US8418705B2 (ja) |
JP (3) | JP5897840B2 (ja) |
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