Wheelchair systems and methods enabling fine manual motion control

Patent metadata

Field	Value
Publication number	US-2021378891-A1
Application number	US-202016894072-A
Country	US
Kind code	A1
Filing date	Jun 5, 2020
Priority date	Jun 5, 2020
Publication date	Dec 9, 2021
Grant date	—

Abstract

Systems and methods of wheelchair systems enabling fine manual motion control are disclosed. In one embodiment, a wheelchair system includes a wheelchair. The wheelchair includes one or more wheels, at least one actuator coupled to the one or more wheels, a processing device, and a non-transitory, processor-readable storage medium in communication with the processing device. The non-transitory, processor-readable storage medium includes one or more programming instructions that, when executed, cause the processing device to determine a wheel torque on the one or more wheels, determine a compensation value, and actuate the at least one actuator applying the compensation value to the one or more wheels to remove at least a portion of the wheel torque such that less external force is required to physically move the powered wheelchair than when the compensation value is not applied.

First claim

What is claimed is:

1 . A wheelchair system comprising:
a wheelchair comprising:
one or more wheels,
at least one actuator coupled to the one or more wheels
a processing device, and
a non-transitory, processor-readable storage medium in communication with the processing device, wherein the non-transitory, processor-readable storage medium comprising one or more programming instructions that, when executed, cause the processing device to:
determine a wheel torque on the one or more wheels,
determine a compensation value, and
actuate the at least one actuator applying the compensation value to the one or more wheels to remove at least a portion of the wheel torque such that less external force is required to physically move the wheelchair than when the compensation value is not applied.

2 . The wheelchair system of claim 1 , further comprising:
a wheelchair weight sensor in communication with the non-transitory, processor-readable storage medium and the processing device, wherein the compensation value is based at least in part on a weight of the wheelchair and a weight of a user.

3 . The wheelchair system of claim 1 , further comprising:
a surface sensor in communication with the non-transitory, processor-readable storage medium and the processing device, wherein the compensation value is based at least in part on a type of surface that the one or more wheels are in contact with.

4 . The wheelchair system of claim 1 , further comprising:
a plurality of sensors configured to detect an undesirable object.

5 . The wheelchair system of claim 4 , wherein the one or more programming instructions further cause the processing device to:
detect the undesirable object, and control the at least one actuator to remove the compensation value from the one or more wheels.

6 . The wheelchair system of claim 1 , further comprising:
a position sensor, wherein the one or more programming instructions further cause the processing device to determine a location of the wheelchair via the position sensor and a global positioning system.

7 . The wheelchair system of claim 6 , wherein the compensation value is selected based on the location of the wheelchair.

8 . The wheelchair system of claim 1 , wherein the compensation value is configured to substantially eliminate the wheel torque such that a user may physically move the wheelchair independent from the at least one actuator.

9 . The wheelchair system of claim 1 , further comprising an input device, wherein actuation of the at least one actuator applying the compensation value is performed in response to an input signal from the input device.

10 . A powered wheelchair system comprising:
a powered wheelchair comprising:
a frame;
one or more wheels coupled to the frame,
at least one actuator coupled to the one or more wheels;
a wheelchair weight sensor and a surface sensor coupled to the frame;
a processing device, and
a non-transitory, processor-readable storage medium in communication with the processing device, wherein the non-transitory, processor-readable storage medium comprising one or more programming instructions that, when executed, cause the processing device to:
determine a wheel torque on the one or more wheels based on a weight of the powered wheelchair, a weight of a user, and a type of surface in contact with the one or more wheels,
determine a compensation value based on the determined wheel torque, and
actuate the at least one actuator applying the compensation value to the one or more wheels to remove the determined wheel torque such that less external force is required to physically move the powered wheelchair than when the compensation value is not applied.

11 . The powered wheelchair system of claim 10 , further comprising:
a plurality of sensors configured to detect an undesirable object.

12 . The powered wheelchair system of claim 11 , wherein the one or more programming instructions further cause the processing device to:
detect the undesirable object, and control the at least one actuator to remove the compensation value from the one or more wheels.

13 . The powered wheelchair system of claim 10 , further comprising:
a position sensor, wherein the one or more programming instructions further cause the processing device to determine a location of the powered wheelchair via the position sensor and a global positioning system.

14 . The powered wheelchair system of claim 13 , wherein the compensation value is selected based on the location of the powered wheelchair.

15 . The powered wheelchair system of claim 10 , wherein the compensation value is determined to eliminate the wheel torque such that the user may physically move the powered wheelchair independent from the at least one actuator.

16 . The powered wheelchair system of claim 10 , further comprising an input device, wherein actuation of the at least one actuator applying the compensation value is performed in response to an input signal from the input device.

17 . A method of operating a powered wheelchair, the method comprising:
determining a wheel torque on one or more wheels of the powered wheelchair; determining a compensation value based on the determined wheel torque, and actuating at least one actuator applying the compensation value to the one or more wheels to at least partially remove the determined wheel torque.

18 . The method of claim 17 , the compensation value is configured to substantially eliminate the wheel torque such that a user may physically move the powered wheelchair independent from the at least one actuator.

19 . The method of claim 17 , wherein the determined wheel torque is based at least in part on a weight of the powered wheelchair, a weight of a user, and a type of surface in contact with the one or more wheels.

20 . The method of claim 17 , further comprising receiving an input from a user, the input corresponding to a request for physically moving the powered wheelchair by applying the compensation value.

Assignees

• Toyota Motor North America Inc

Inventors

• Villarreal Suarez Dario Jose
• Darrow Sarah

Classifications

• A61G5/04

  motor-driven (A61G5/06 takes precedence; motor-operated rests A61G5/12; for vehicles with handlebars, equipped with three or more wheels B62K5/003, B62K5/023) · CPC title

• A61G2203/30

  characterised by sensor means · CPC title

• A61G2203/44

  for weight · CPC title

• A61G2203/38

  for torque · CPC title

• A61G2203/726

  for automatic deactivation, e.g. deactivation of actuators or motors · CPC title