Method and system for a feedback controller for a handheld tool

Patent metadata

Field	Value
Publication number	US-10851867-B2
Application number	US-201615249844-A
Country	US
Kind code	B2
Filing date	Aug 29, 2016
Priority date	Aug 29, 2016
Publication date	Dec 1, 2020
Grant date	Dec 1, 2020

Abstract

Systems and methods for tracking unintentional muscle movements of a user and stabilizing a handheld tool while it is being used are described. The method may include measuring, with a first inertial measuring unit (“IMU”), at least an orientation of a housing of the handheld tool, and measuring, with a second IMU, at least an orientation or an attachment arm extending from the housing of the handheld tool. The method may also include storing the orientation of the housing and the orientation of the attachment arm in a memory. Furthermore, the method may include controlling, with a processing logic, a first motion generating mechanism and a second motion generating mechanism to move the attachment arm relative to the housing based on the measured orientation of the housing and the measured orientation of the attachment arm to stabilize motion of a user-assistive device attached to a distal end of the attachment arm.

First claim

What is claimed is:

1. A handheld tool, comprising:
a housing having a first inertial measuring unit (“IMU”) that measures at least an orientation of the housing relative to a reference frame of Earth;
a first motion generating mechanism disposed within the housing;
an attachment arm having a second IMU disposed on the attachment arm and configured to measure at least an orientation of the attachment arm relative to the reference frame of Earth, wherein the attachment arm extends from the housing and is coupled with the first motion-generating mechanism;
a second motion generating mechanism coupled with the first motion-generating mechanism to collectively move a user-assistive device attached to a distal end of the attachment arm; and
a controller disposed within the housing and coupled to the first and second IMUs and the first and second motion-generating mechanisms, the controller including logic configured to:
based on the measured orientation of the housing and the measured orientation of the attachment arm, control the first motion generating mechanism and the second motion generating mechanism to move the attachment arm relative to the housing to stabilize motion of the user-assistive device;
when one or more shared orientation axes of the housing, the attachment arm, or the user assistive device are measured as misaligned, determine that a misalignment error has resulted from sensor drift, wherein the one or more shared orientation axes comprise axes of components, including the housing, the attachment arm, or the user assistive device, that are physically constant relative to each other despite the components moving relative to each other along other axes; and
correct the misalignment error prior to generating one or more motor commands for driving the first or second motion generating mechanisms.

2. The handheld tool of claim 1 , wherein the controller is further configured to:
read the measured orientation of the housing and the measured orientation of the attachment arm,
based on a desired orientation of the user-assistive device, generate first and second motor commands including at least a direction and a speed of movement of the first motion generating mechanism and the second motion generating mechanism, respectively, that will move the attachment arm from the measured orientation to the desired orientation; and
drive each of the first motion generating mechanism and the second motion generating mechanism with the first and second motor commands.

3. The handheld tool of claim 2 , wherein the first and second motor commands comprise voltages that are applied to the first motion generating mechanism and the second motion generating mechanism, respectively, to control one or more of an acceleration, a speed, and a direction of movement of the respective the first motion generating mechanism and the second motion generating mechanism.

4. The handheld tool of claim 2 , wherein the desired orientation comprises an expected orientation of the attachment arm relative to the housing.

5. The handheld tool of claim 2 , further comprising:
the first IMU to measure an angular velocity of the housing of the handheld tool, wherein the measured angular velocity is indicative of a disturbance motion of the user-assistive device; and
the controller further configured to:
determine third and fourth motor commands providing corresponding opposite angular velocities to the first motion generating mechanism and the second motion generating mechanism, respectively, that cancel the angular velocity of the housing,

add the first and third motor commands to obtain a fifth motor command for driving the first motion generating mechanism,
add the second and fourth motor commands to obtain an sixth motor command for driving the second motion generating mechanism, and
drive each of the first motion generating mechanism and the second motion generating mechanism with the fifth and sixth motor commands.

6. The handheld tool of claim 2 , wherein the orientation of the housing and the measured orientation of the attachment arm are periodically measured by their respective IMUs, and the first motion generating mechanism and the second motion generating mechanism are driven with motor commands for each corresponding periodic measurement.

7. The handheld tool of claim 1 , wherein the first motion generating mechanism moves the user-assistive device in a first degree of freedom relative to the housing, and the second motion generating mechanism moves the user-assistive device in a second degree of freedom relative to the housing.

8. The handheld tool of claim 1 , wherein the first IMU and the second IMU are each six degree of freedom IMUs having at least an accelerometer and a gyroscope.

9. The handheld tool of claim 1 , wherein the user-assistive device comprises any of a manufacturing tool, a surgical tool, a kitchen utensil, a sporting tool, a yard tool, a grooming utensil, or a dental hygiene tool.

10. The handheld tool of claim 1 , further comprising:
a memory unit coupled to the controller; and
logic executable by the controller that when executed by the controller causes the handheld tool to perform operations comprising:
generating a motion log within the memory unit based upon the detected motion while a user is holding the handheld tool; and
periodically communicating the motion log to a remote server.

11. A method performed by a handheld tool, the method comprising:
measuring, with a first inertial measuring unit (“IMU”), at least an orientation of a housing of a handheld tool relative to a reference frame of Earth;
measuring, with a second IMU, at least an orientation of an attachment arm relative to the reference frame of Earth, wherein the attachment arm extends from the housing of the handheld tool;
storing the orientation of the housing and the orientation of the attachment arm in a memory;
controlling, with a processing logic, a first motion generating mechanism and a second motion generating mechanism to move the attachment arm relative to the housing based on the measured orientation of the housing and the measured orientation of the attachment arm to stabilize motion of a user-assistive device attached to a distal end of the attachment arm;
when one or more shared orientation axes of the housing, the attachment arm, or a user assistive device attached to the attachment arm are measured as misaligned, determining that a misalignment error has resulted from sensor drift, wherein the one or more shared orientation axes comprise axes of components, including the housing, the attachment arm, or the user assistive device, that are physically constant relative to each other despite the components moving relative to each other along other axes; and
correcting the misalignment error prior to generating one or more motor commands for driving the first or second motion generating mechanisms.

12. The method of claim 11 , wherein the first IMU and the second IMU are each six degree of freedom IMUs having at least an accelerometer and a gyroscope.

13. The method of claim 11 , further comprising:
reading the measured orientation of the housing and the measured orientation of the attachment arm,
based on a desired orientation of the user-assistive device, generating first and second motor commands including at least a direction and a speed of movement of the first motion generating mechanism and the second motion generating mechanism, respectively, that will move the attachment arm from the measured orientation to the desired orientation; and
driving each of the first motion generating mechanism and the second motion generating mechanism w

Assignees

• Verily Life Sciences Llc

Inventors

• Pathak Anupam J
• Owens Dylan

Classifications

• A61B34/75

  Manipulators having means for prevention or compensation of hand tremors · CPC title

• A47G21/02

  Forks; Forks with ejectors; Combined forks and spoons; Salad servers · CPC title

• A61B5/4836 Primary

  Diagnosis combined with treatment in closed-loop systems or methods (A61B5/0036 takes precedence) · CPC title

• A47G2200/046

  of holding or grasping · CPC title

• G01C21/18

  Stabilised platforms, e.g. by gyroscope · CPC title