Handheld tool for leveling uncoordinated motion

Patent metadata

Field	Value
Publication number	US-9943430-B2
Application number	US-201514668516-A
Country	US
Kind code	B2
Filing date	Mar 25, 2015
Priority date	Mar 25, 2015
Publication date	Apr 17, 2018
Grant date	Apr 17, 2018

Abstract

A handheld tool includes a handle for holding by a user, an attachment arm extending from the handle that is configured to connect to a user-assistive device, a first inertial measurement unit (“IMU”) mounted to the attachment arm to acquire measurements of one or more of a motion or an orientation of the user-assistive device and to generate feedback data indicative of the measurements, an actuator assembly coupled to manipulate the user-assistive device via the attachment arm in at least two orthogonal dimensions, and a motion control system coupled to receive the feedback data from the first IMU and coupled to provide commands to the actuator assembly to provide auto-leveling of the user-assistive device to a frame of reference while the user manipulates the handheld tool.

First claim

What is claimed is:

1. A handheld tool, comprising:
a handle for holding the handheld tool;
an attachment arm extending from the handle, the attachment arm adapted to mechanically couple to a user-assistive device;
a first inertial measurement unit (“IMU”) mounted to the attachment arm to acquire measurements of one or more of a motion or an orientation of the user-assistive device and to generate feedback data indicative of the measurements;
an actuator assembly adapted to mechanically couple to the user-assistive device to manipulate the user-assistive device via the attachment arm in at least two spatial dimensions, wherein the actuator assembly includes:
a first actuator to control a first motion of the attachment arm, wherein the first motion is a rotation of the attachment arm about a first rotational axis; and
a second actuator to control a second motion of the attachment arm, wherein the first actuator is disposed within the handle and the second actuator is disposed external to the handle; and

a motion control system electrically coupled to the first IMU to receive the feedback data from the first IMU and to provide auto-leveling commands to the actuator assembly in response to the feedback data.

2. The handheld tool of claim 1 , wherein the actuator assembly is coupled to manipulate the user-assistive device about two rotational axes relative to the handle, wherein the two rotational axes include the first rotational axis.

3. The handheld tool of claim 2 , wherein the first motion is a rolling motion of the attachment arm, wherein the rolling motion is about the first rotational axis, and wherein the second motion is a pitching motion of the attachment arm.

4. The handheld tool of claim 3 , wherein the actuator assembly further comprises:
a first linkage that mechanically couples the rolling motion output from the first actuator to the second actuator, wherein the first actuator is coupled to roll the attachment arm by rolling the second actuator via the first linkage; and
a second linkage that mechanically couples the pitching motion output from the second actuator to the attachment arm, and wherein the second actuator and the second linkage are external to the handle.

5. The handheld tool of claim 4 , wherein the handle tapers such that a combined width of the second actuator and the second linkage is greater than a diameter of the handle.

6. The handheld tool of claim 3 , further comprising:
a first position sensor coupled to monitor a first relative position of a first output of the first actuator; and
a second position sensor coupled to monitor a second relative position of a second output of the second actuator,
wherein the first and second position sensors are coupled to feedback position information to the motion control system.

7. The handheld tool of claim 6 , further comprising:
a system controller disposed within the handle and coupled to collect position information during auto-leveling of the user-assistive device from the first and second position sensors and to record a history of the position information into a log; and
a communication interface coupled to the system controller to output the log from the handheld tool.

8. The handheld tool of claim 3 , wherein the second actuator is disposed between the first actuator and the attachment arm.

9. The handheld tool of claim 2 , wherein the motion control system is further coupled to the actuator assembly to manipulate the actuator assembly about the two rotational axes to provide human tremor stabilization to the user-assistive device.

10. The handheld tool of claim 1 , further comprising a power supply coupled to power the actuator assembly and the motion control system, wherein the power supply, the motion control system, and at least a portion of the actuator assembly are disposed within the handle.

11. The handheld tool of claim 1 , wherein the user-assistive device comprises either one of an eating utensil or a drinking utensil.

12. The handheld tool of claim 1 , wherein the user-assistive device comprises one of a pointer device, a grooming tool, a personal hygiene tool, or an occupational tool.

13. The handheld tool of claim 1 , further comprising a second IMU rigidly connected to the handle to measure human tremors.

14. The handheld tool of claim 1 , further comprising:
a system controller disposed within the handle and coupled to collect the auto-leveling commands provided by the motion control system to the actuator assembly and to record the auto-leveling commands into a log; and
a communication interface coupled to the system controller to output the log from the handheld tool.

15. The handheld tool of claim 1 , wherein the first IMU includes a gyroscope, an accelerometer, and a magnetometer.

16. The handheld tool of claim 1 , wherein the first IMU is mounted directly and rigidly to the attachment arm.

17. A handheld tool, comprising:
a handle for holding the handheld tool;
an attachment arm extending from the handle, the attachment arm adapted to mechanically couple to a user-assistive device;
a first inertial measurement unit (“IMU”) mounted to the attachment arm to acquire measurements of one or more of a motion or an orientation of the user-assistive device and to generate feedback data indicative of the measurements;
an actuator assembly adapted to mechanically couple to the user-assistive device to via the attachment arm to manipulate the user-assistive device, wherein the actuator assembly includes:
a first actuator to control a rolling motion of the attachment arm, wherein the rolling motion is about a first rotational axis aligned longitudinally from the handle to the attachment arm;
a second actuator to control a second motion of the attachment arm, wherein the first and second actuators are aligned along a central longitudinal axis of the handle; and
a first linkage that mechanically couples the rolling motion output from the first actuator to the second actuator, wherein the first actuator is coupled to roll the attachment arm by rolling the second actuator via the first linkage; and

a motion control system electrically coupled to the first IMU to receive the feedback data from the first IMU and to provide auto-leveling commands to the actuator assembly in response to the feedback data.

18. The handheld tool of claim 17 , wherein the second motion of the second actuator is a pitching motion, and wherein the pitching motion is about a second rotational axis orthogonal to the first rotational axis.

19. The handheld tool of claim 18 , wherein the actuator assembly further comprises a second linkage that mechanically couples the pitching motion output from the second actuator to the attachment arm.

20. The handheld tool of claim 17 , further comprising:
a first position sensor coupled to monitor a first relative position of a first output of the first actuator; and
a second position sensor coupled to monitor a second relative position of a second output of the second actuator, wherein the first and second position sensors are coupled to feedback position information to the motion control system.

21. The handheld tool of claim 20 , further comprising:
a system controller disposed within the handle and coupled to collect position information during auto-leveling of the user-assistive device from the first and second position sensors and to record a history of the position information into a log; and
a communication interface coupled to the system controller to output th

Assignees

• Verily Life Sciences Llc

Inventors

• Pathak Anupam J
• Allen Michael M

Classifications

• A47G2200/046

  of holding or grasping · CPC title

• G09B19/003

  Repetitive work cycles; Sequence of movements · CPC title

• A61J2200/70

  Device provided with specific sensor or indicating means · CPC title

• A61H3/00

  Appliances for aiding patients or disabled persons to walk about (apparatus for helping babies to walk A47D13/04 {; applying electrical currents by contact electrodes for stimulating motor muscles, e.g. walking assistance A61N1/36003}) · CPC title

• B25J11/0045 Primary

  Manipulators used in the food industry · CPC title