System and method for stabilizing unintentional muscle movements

Patent metadata

Field	Value
Publication number	US-11944216-B2
Application number	US-201916581660-A
Country	US
Kind code	B2
Filing date	Sep 24, 2019
Priority date	Sep 30, 2011
Publication date	Apr 2, 2024
Grant date	Apr 2, 2024

Abstract

A handheld system includes a housing, a motion-generating mechanism disposed within the housing, an attachment arm extending from the housing and having a first end coupled to the motion-generating mechanism and a second end configured to receive a user assistive device, a first sensor mounted to measure a first motion of the handheld system and generate a first signal indicative of the first motion, and a control system coupled to the motion-generating mechanism and the first sensor. The control system is configured to use the first signal to stabilize the user-assistive device and compensate for human tremors imparted to the housing.

First claim

What is claimed is:

1. A handheld system, comprising:
a housing for holding by a hand;
a motion-generating mechanism at least partially disposed within the housing;
an attachment arm extending from the housing and having first and second ends, the first end coupled to the motion-generating mechanism and the second end configured to attach a user assistive device or attached to the user assistive device, wherein the attachment arm is movable relative to the housing;
a motion sensor adapted to sense a motion of the handheld system and generate a feedback signal in response to the motion; and
a control system disposed within the housing and coupled to the motion sensor to receive the feedback signal from the motion sensor, the control system further coupled to the motion-generating mechanism and configured to control movement of the attachment arm with commands generated based at least in part upon the feedback signal from the motion sensor, wherein the commands direct the motion-generating mechanism to move the attachment arm relative to the housing to stabilize human tremor movements of the housing.

2. The handheld system of claim 1 , wherein the motion-generating mechanism includes:
a first motor mounted to the housing and adapted to generate a first rotary motion about a first axis; and
a second motor mounted within the housing and coupled to a first output of the first motor such that the first rotary motion output from the first motor is imparted to the second motor and rotates the second motor, the second motor adapted to generate a second rotary motion about a second axis different from the first axis.

3. The handheld system of claim 2 , wherein the motion-generating mechanism further comprises:
a first bearing supporting a first connection between the second motor and the first output of the first motor; and
a second bearing supporting a second connection between the first end of the attachment arm and the second output of the second motor,
wherein the first and second bearings are substantially orthogonal to each other.

4. The handheld system of claim 2 , wherein the motion-generating mechanism further comprises:
a first gear reduction system coupled to the first output of the first motor; and
a second gear reduction system coupled to the second output of the second motor.

5. The handheld system of claim 1 , wherein the motion sensor is disposed within the housing.

6. The handheld system of claim 5 , wherein the motion sensor comprises a relative-motion sensor mounted within the housing to sense a relative motion between the housing and the attachment arm.

7. The handheld system of claim 6 , wherein the relative-motion sensor comprises a contactless magnetic sensor.

8. The handheld system of claim 1 , wherein the motion sensor is attached to the attachment arm to sense the motion as a motion of the attachment arm.

9. The handheld system of claim 8 , wherein the motion sensor comprises an inertial sensor.

10. The handheld system of claim 8 , wherein the motion sensor comprises a first motion sensor, the handheld system further comprising:
a second motion sensor positioned to sense a relative motion between the housing and the attachment arm, wherein the control system is configured to generate the commands for stabilizing the human tremor movements based upon feedback from the first sensor and the second sensor.

11. The handheld system of claim 1 , wherein the user-assistive device comprises any of a kitchen utensil or a grooming utensil.

12. The handheld system of claim 1 , wherein the attachment arm is configured to attach, or is attached to, the user assistive device via a friction mechanism or a snap mechanism.

13. A system comprising:
a housing;
a motor disposed within the housing;
an attachment arm extending from the housing and having a first end coupled to the motor and a second end configured to receive a user assistive device, wherein the attachment arm is movable relative to the housing;
a first sensor mounted to the attachment arm to measure a first motion of the attachment arm and generate a first signal indicative of the first motion; and
a control system coupled to the motor and the first sensor, wherein the control system is configured to use the first signal to stabilize the user-assistive device and compensate for human tremors imparted to the housing.

14. The system of claim 13 , further comprising:
a second sensor disposed to measure a relative position of the attachment arm relative to the housing and generate a second signal indicative of the relative position,
wherein the control system is further coupled to the second sensor and further configured to use the second signal and the first signal along with a control algorithm to stabilize the user-assistive device.

15. The system of claim 14 , wherein the second sensor comprises a magnetic sensor.

16. The system of claim 13 , wherein the first sensor comprises an inertial sensor.

17. The system of claim 13 , wherein the user-assistive device comprises any of a manufacturing tool, a surgical tool, a kitchen utensil, or a grooming utensil.

18. A method of stabilizing a user-assistive device extending from a handheld tool to compensate for human tremors imparted to a handle of the handheld tool by a user of the handheld tool, the method comprising:
measuring a first motion of the handheld tool with a first sensor;
generating a first feedback signal with the first sensor in response to the first motion;
analyzing the first feedback signal with a control system disposed on-board of the handheld tool; and
generating commands based upon the analyzing that direct an actuator coupled with the user-assistive device via an attachment arm extending from the handle to move the attachment arm and the user-assistive device relative to the handle to stabilize the user-assistive device from human tremors imparted to the handle by the user, wherein the actuator is disposed at least partially within the handle and the attachment arm connects the user-assistive device to the actuator.

19. The method of claim 18 , further comprising:
measuring a second motion of the handheld tool with a second sensor;
generating a second feedback signal with the second sensor in response to the second motion; and
analyzing the second feedback signal with the control system,
wherein the commands are generated based upon analyzing both the first feedback signal and the second feedback signal.

20. The method of claim 19 , wherein the first sensor measures a position of the attachment arm relative to the handle and the second sensor comprises an inertial sensor coupled to the attachment arm.

Assignees

• Verily Life Sciences Llc

Inventors

• Pathak Anupam

Classifications

• A47G21/08 Primary

  Serving devices for one-handed persons · CPC title

• A47G21/02

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

• A61B5/0022

  Monitoring a patient using a global network, e.g. telephone networks, internet · CPC title

• A61B5/1101 Primary

  Detecting tremor · CPC title

• A61B5/6887

  mounted on external non-worn devices, e.g. non-medical devices · CPC title