USRE45158E1 - Control system for a wheelchair having movable parts - Google Patents
Control system for a wheelchair having movable parts Download PDFInfo
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- USRE45158E1 USRE45158E1 US14/104,978 US200714104978A USRE45158E US RE45158 E1 USRE45158 E1 US RE45158E1 US 200714104978 A US200714104978 A US 200714104978A US RE45158 E USRE45158 E US RE45158E
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- United States
- Prior art keywords
- control system
- wheelchair
- actuators
- controller
- movable parts
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
- A61G5/045—Rear wheel drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
- A61G5/121—Rests specially adapted therefor, e.g. for the head or the feet for head or neck
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
- A61G5/125—Rests specially adapted therefor, e.g. for the head or the feet for arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
- A61G5/128—Rests specially adapted therefor, e.g. for the head or the feet for feet
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/14—Joysticks
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/44—General characteristics of devices characterised by sensor means for weight
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2210/00—Devices for specific treatment or diagnosis
- A61G2210/10—Devices for specific treatment or diagnosis for orthopedics
-
- 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
- Y10S180/00—Motor vehicles
- Y10S180/907—Motorized wheelchairs
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Otolaryngology (AREA)
- Seats For Vehicles (AREA)
- Chairs For Special Purposes, Such As Reclining Chairs (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Feedback Control In General (AREA)
Abstract
The invention relates to a control system for controlling a wheelchair having movable parts. The control system comprises a controller and a number of actuators for effectuating movements of the movable parts. The controller comprises a mathematical model of the kinematics of the movable parts and their respective at least one actuator, means for receiving an input signal from one or more of the actuators, and means for setting, based on the mathematical model, limiting positions of the actuators in response to the determined input signal. The invention also relates to a corresponding wheelchair and method of controlling a wheelchair.
Description
The present invention is related to the field of control systems and in particular to a control system for controlling a wheelchair as claimed in claim 1, and to a corresponding wheelchair and method as claimed in claims 15 and 18 respectively.
Many modern wheelchairs are electrically driven and it is desirable to provide them with as high maneuverability and comfort as possible. Convenient adjustment of the movable parts of a wheelchair provides a high degree of comfort for the user. The movable parts should be easy to adjust and in particular so as to suit a user's specific needs. However, as safety aspects are most important the safety of the user should not in any way be put at risk by the desire to obtain high maneuverability and comfort.
A typical prior art wheelchair comprises a number of actuators for setting the different movable parts of the wheelchair in such a way as to provide the most comfortable seating for that particular user. A number of electrical switches, such as micro switches, are typically arranged to restrict the movements of the movable parts of the wheelchair beyond an end point. The micro switches are actuated by the movable parts to thereby stop their movements.
An actuator in the seat of the wheelchair can normally be moved from one end position to another end position, i.e. between two restricting limiting positions. Likewise, an actuator of the backrest of the wheelchair moves the backrest between a first end position and a second end position. The end position of a first movable part of the wheelchair is determined and set disregarding the end positions of other movable parts of the wheelchair. For example, the limiting position of the seat is set without any consideration taken to the limiting position of the backrest. The end positions of the different parts are thus static.
However, a certain end position of the backrest may not be the most optimal one at all times and under all circumstances. For example, if the seat is moved forward then the optimal end position of the backrest could, for that particular user, be another than the provided end position. The optimal end position for that particular user could be a position that ensures a certain angle between the seat and backrest to be maintained at all times. The static end positions may not provide this angle for all possible settings. The optimal end position of the backrest could, during such conditions, therefore actually be a less reclined position than the end position provided by the micro switch.
Further, there are also safety issues to consider when setting the end positions of an actuator. For example, it may de dangerous for the user to allow the backrest to be reclined all the way to its end position when driving the wheelchair at a certain speed. The maximally allowed inclination, i.e. when the actuator reaches its end position, should then for that particular speed be arranged differently than the actually provided static end position.
In view of the above, it would be desirable to address the problems related to the settings of a wheelchair, as well as the safety issues thereof in particular, it would be desirable to provide a control system and method for controlling the settings of a wheelchair without compromising the safety of the user.
It is an object of the invention to provide an improved control system-for controlling the movement of various movable wheelchair parts, for overcoming or at least alleviating shortcomings of the prior art. In particular, it is an object of the invention to enable a dynamical change of the settings of a wheelchair in dependence on the current circumstances and in consideration of the limiting positions of other movable parts of the wheelchair.
It is another object of the invention to provide an improved control system in which the safety of the user is not put at risk and in which most comfortable settings are provided.
It is yet another object of the invention to provide an improved control system enabling a convenient customizing of the settings of the wheelchair so as to suit a user's specific needs. Further, the customizing is enabled in a simple manner and the movable parts are easily adjusted.
These objects, among others, are achieved by a control system as claimed in claim 1, by a wheelchair as claimed in claim 15 and by a method as claimed in claim 18.
In accordance with the invention a control system for controlling a wheelchair having movable parts is provided. The control system comprises a controller and a number of actuators for effectuating movements of the wheelchair's movable parts. The controller comprises a mathematical model of the kinematics of the movable parts and their respective at least one actuator, means for receiving an input signal from one or more of the actuators, and means for setting, based on the mathematical model, limiting positions of the actuators in response to the determined input signal. By means of the invention an arbitrary number of input signals can be combined with an arbitrary number of output signals in an arbitrary way. Further, the output signals may be associated with an arbitrary number of restrictions. A very flexible control system is thereby provided. The inventive control system thus comprises a controller that controls the movements of actuators of a wheelchair based on a mathematical model, whereby dynamical alteration of limiting positions of the actuators is enabled. The control system in accordance with the invention provides a control system, in which the settings are easily adapted for different users.
In accordance with an embodiment of the invention, the actuators of the control system are located at joints of the wheelchair. The actuators further comprise electronic circuitry for receiving commands from the controller, whereby setting of a dynamically alterable limiting position is enabled.
The invention also relates to a wheelchair comprising the control system and a method for controlling a wheelchair, whereby advantages similar to the above are achieved.
Further characteristics of the invention and advantages thereof will be evident from the detailed description of a preferred embodiment of the present invention given hereinafter and the accompanying figures, which are only given by way of illustration, and thus are not limitative of the present invention.
The control system 1 further comprises a number of actuators N1, N2, . . . , Nn for operating the wheelchair, and more specifically for manipulating movable elements of the wheelchair. The wheelchair comprising the control system 1 is preferably provided with an input means 3, and such input means 3 is then also connected to the controller 2.
A LIN-bus is illustrated schematically at 4, comprising a number of nodes N1, N2, N3, N4, Nx, . . . , Nn, where n may be any number up to 16. It is conceivable to add even further nodes, i.e. more than 16; the number of possible nodes is dependent on, among other things, how the impedance within the network changes when adding further nodes. Briefly, a LIN bus is a relatively slow communication bus comprising one master module and a number of slave modules, in the following denoted nodes. The LIN-bus may be used for integrating intelligent sensor devices and/or actuators of an electrically powered vehicle, such as a wheelchair, LIN thus enables a cost-effective communication for smart sensors and actuators, in particular where the bandwidth and versatility of CAN (Controller Area Network) is not required.
As mentioned earlier, the control system 1 comprises a number, of actuators N1, N2, N3, N4, Nx, . . . , Nn for manipulating the movable parts of the wheelchair. Examples of the movable parts comprise a seat, a backrest, a headrest, an armrest, a leg rest and a footrest. However, even further movable parts are conceivable. An exemplary wheelchair is shown in FIG. 3 .
The nodes N1, N2, N3, N4, Nx, . . . , Nn, may comprise any kind of actuator, i.e. any device imparting mechanical motion over restricted linear or rotary change. The actuators are located in connection with the movable parts of the wheelchair for effectuating desired movements of the movable parts. Another node may be a switchbox or a user interface. The LIN-bus 4 may, for example, be implemented with three wires: two wires for power distribution and one wire for effectuating communication between the nodes. However, other implementations are conceivable.
The control system 1 may further be adaptable for interconnection to any additional bus system, such as existing bus systems available on the market. For example, the inventive control system could be adapted for integration with the bus system ReBus manufactured by PG Drives Technology. Input devices provided by PG Drives Technology could then be used for controlling the actuators and also for presenting status information of the control system 1 as well as other information. An exemplary optional bus system. ReBus, is indicated at 5. Further, a power source such as a battery 6 is also included for powering drive wheel motors, actuators and other parts requiring electrical power.
The actuators of the wheelchair 30 comprising the innovative control system comprise electronic circuitry for enabling the dynamic setting of limiting positions. In contrast to prior art, in which micro switches are arranged to stop the movement of an actuator at a certain static end point, each actuator in accordance with the invention is itself provided with electronic circuitry that enables a dynamically alterable end position to be set. In accordance with the invention, the controller 2 calculates dynamically the desired end position for each actuator and controls so that it will not be exceeded.
The wheelchair 30 further comprises an input means 3 (also illustrated in FIG. 1 ). Such an input device 3 is then connected to the controller 2. A user may thereby, in a conventional manner, input commands by means of the input device. The input means 3 may be any conventional input device, such as a joystick, a keypad, touchpad or the like. The input means may further comprise a display for displaying information to the user.
A mathematical model was developed with the mechanical design and drawings of a wheelchair as the starting point, and this mathematical model is an important part in the development of the present invention. The structure of a wheelchair was defined by a number of points. The joint coupling points of the wheelchair, at which points actuators are usually placed, were located and defined. The mechanical relationships between and the kinematics of the different parts were then translated into mathematical functions. A complete mathematical model is given later in the description as an example.
The present invention further provides a control program for implementing the intelligent control system described above. FIG. 4 illustrates an exemplary software structure of the control program suitable for use in the control system in accordance with the invention. The upper left-hand square illustrates a first process P1 executed within the controller 2. This process P1 handles the communication between the controller 2 and the nodes N1, N2, . . . , Nn and updates input signals and output signals. The process P1 preferably runs periodically, wherein the period time depends on the number of input devices that needs to be updated. In process P1 values of all input devices are updated, for example by reading from the LIN. The input signals can be anything that is accessible for example from a LIN-node, an R-Net node, kinematics or timer value.
The process P1 further calculates signals for output units using the user interface definition.
In the process P1, restrictions from the mathematical model (as defined in process 2, shown in the upper right-hand square of the figure) are taken into account when output signals are calculated.
The process P1 further updates output units with new, updated values by sending messages. Typical output signals comprise actuator speed, LED (light emitting diode) activation, memory activation, memory save, sequence activation, switching user interface.
The process P1 further handles messages to and from serial ports, wherein the communication involves waiting for response from clients that forces this process P1 into an idle mode.
Whenever process P1 is idle, a second process P2, illustrated in the upper right-hand square of the figure, is activated. The second process P2 calculates the kinematics of the wheelchair based on the mathematical model and activates restrictions defined for that particular wheelchair model. The mathematical model may comprise restrictions so as to provide the most ergonomically correct posture and most comfortable seating for the user of the wheelchair. This second process P2 is running whenever the first process P1 is idle.
In the lower left-hand square first data storage means for the user interface is illustrated. In this first storage means the relations between input and output signals are stored. There can be several different user interfaces that the system switches between in dependence on the users interaction. The first storage means further comprises pointers to input and output signals.
In the lower right-hand square, second data storage means for storing data relating to different wheelchair models is illustrated. This second data storage means comprises physical relations between actuator movements defined as points in a 2-dimensional space. The second data storage means further comprises the actual position and status of the wheelchair actuators. Position information may for example be provided to the controller by means of sensors placed in connection with the actuators. The status information may disclose whether the actuator has restrictions associated with it. The second data storage means also provides information to the first process P1 for inhibiting a driving signal, for example informing the first process P1 about any restrictions on the driving speed of the wheelchair that may exist.
In the exemplary wheelchair shown in box 450 only one point P0 is shown, but as is evident there are a number of points for describing the structure of the wheelchair.
In table 1 below exemplary functions are listed for points P0 and P1:
TABLE 1 | ||||
Name | Function X | | ||
P0 | ||||
0 | add(4800, @LYFT) | |||
P1 | add(@P0: X, 1300) | add(@P0: Y, 2200) | ||
A complete mathematical model for an exemplary wheelchair is given in the following:
[actuators] |
TILT;10;562;1 |
LYFT;150;2450;2 |
BEN;2600;4050;3 |
RYGG;2600;4100;4 |
SITS;1950;2633;5 |
[virtual actuator] |
VSeatAngle;−400;0;2;57;0 |
[virtual functions] |
0;−1;60;0; |
−1;2;58;0; |
[virtual actuator] |
VBackAngle;1000;1500;3;56;0 |
[virtual functions] |
3;−1;59;0; |
0;−1;60;0; |
[virtual actuator] |
VSeatHeight;5000;10000;4;58;0 |
[virtual functions] |
1;−1;61;0; |
[points] |
P0;0;add(4800,@LYFT) |
P1P3V0;4307;0 |
P1P4V0;4695;0 |
P1P6V0;420;0 |
P3P2V0;3369;0 |
P3P5V0;0;0 |
P1P3L;2150;0 |
P1P4L;2776;0 |
P1P6L;2080;0 |
P3P2L;1745;0 |
P3P5L;2350;0 |
P6P7L;1220;0 |
OldBack;RsBack__New2Old(@RYGG);0 |
Sits;SQRT(SUB(4324186.0,MUL(- |
3947190.0,COS(MUL(0.001745329,SUB(1020.9,MUL(572.9578,ACOS(DIV(SUB(ADD(15523600.0 |
5522500.0),POW(SUB(@OldBack:X,1219.6),2)),18518000.0))))))))));0 |
P2P4;ADD(@Sits:X,0);0 |
A3V0;2129;0 |
A3;mul(1000,ACOS(DIV(SUB(4324186.0,MUL(@P2P4:X,@P2P4:X)),3947190.0)));0 |
A2;sub(@,A3V0:X,@A3:X);0 |
A1;MUL(@TILT,−1.745);0 |
P1;ADD(@P0:X,1300);ADD(@P0:Y,2200) |
P3;ADD(mul(@P1P3L:X,cos(DIV(add(@P1P3V0:X,@A1:X),1000)))),@P1:X);ADD(mul(@P1 |
P3L:X,sin(DIV(add@P1P3V0:X,@A1:X),1000)))),@P1:Y) |
P3P;mul(@P1P3L:X,cos(DIV(add(@P1P3V0:X,@A1:X),1000))));mul(@P1P3L:X,sin(DIV |
(add(@P1P3V0:X,@A1:X),1000)))) |
P4;ADD(mul(@P1P4L:X,cos(DIV(ADD(@P1P4V0:X,@A1:X),1000)))),@P1:X);ADD(mul(@P1 |
P4L:X,sin(DIV(ADD(@P1P4V0:X,@A1:X),1000)))),@P1:Y) |
P6;ADD(mul(@P1P6L:X,cos(DIV(ADD(@P1P6V0:X,@A1:X),1000)))),@P1:X);ADD(mul(@P1 |
P6 L:X,sin(DIV(ADD(@P1P6V0:X,@A1:X),1000)))),@P1:Y) |
P2P;ADD(@P3:X,SUB(MUL(mul(@P3P2L:X,cos(DIV(ADD(@P3P2V0:X,@A2:X),1000)))),COS |
(DIV(@A1:X,1000))),MUL(mul(@P3P2L:X,sin(DIV(ADD(@P3P2V0:X,@A2:X),1000)))), |
SIN(DIV(@A1:X,1000)))))ADD(@P3:Y,ADD(MUL(mul(@P3P2L:X,cos(DIV(ADD(@P3P2V0: |
X,@A2:X),1000)))),SIN(DIV(@A1:X,1000))),MUL(rnul(@P3P2L:X,sin(DIV(ADD(@P3P2V0: |
X,@A2:X),1000)))),COS(DIV(@A1:X,1000))))) |
P5P;ADD(@P3:X,SUB(MUL(mul(@P3P5L:X,cos(DIV(ADD(@P3P5V0:X,(@A2:X),1000)))),COS |
(DIV(@A1:X,1000))),MUL(mul(@P3P5L:X,sin(DIV(ADD(@P3P5V0:X,@A2:X),1000)))), |
SIN(DIV(@A1:X,1000)))));ADD(@P3:Y,ADD(MUL(mul(@P3P5L:X,cos(DIV(ADD(@P3P5V0: |
X,@A2:X),1000)))),SIN(DIV(@A1:X,1000))),MUL(mul(@P3P5L:X,sin(DIV(ADD(@P3P5V0: |
X,@A2:X),1000)))),COS(DIV(@A1:X,1000))))) |
P5P6DL;SUB(@P6:X,@P5P:X);SUB(@P6:Y,@P5P:Y) |
P7;ADD(@P6:X,MUL(DIV(@P5P6DL:X,SQRT(ADD(MUL(@P5P6DL:X,@P5P6DL:X),MUL(@P5P6DL: |
Y,@P5P6DL:Y)))),@P6P7L:X));ADD(@P6:Y,MUL(DIV(@P5P6DL:Y,SQRT(ADD(MUL(@P5P6 |
DL:X,@P5P6DL:X),MUL(@P5P6DL:Y,@P5P6DL:Y)))),@P6P7L:X)) |
RD;sqrt(ADD(pow(sub(@P7:X,@P5P:X),2),POW(SUB(@P7:Y,@P5P:Y),2)));−20 |
RY;SUB(ADD(0,@,OldBack:X),@RD:X);0 |
P2P4L;sqrt(add(pow(sub(@P2P:x,@P4:x),2),pow(sub(@P2P:y,@P4:y),2)));−10 |
ON;1;0 |
tilt;−500;sub(@P2P:Y,@P5P:Y) |
P3P2;1745;0 |
P3P10;1076;0 |
P2P10;2705;0 |
P3P8;2207;0 |
P3P5;2350;0 |
P5P8;4556;0 |
P8P10;3245;0 |
P8P11;1100;0 |
P8P9;2327;0 |
P9P11;1387;0 |
VP3HPP2;MUL(572.957,ASIN(DIV(SUB(@P3:Y,@P2P:Y),@P3P2:X)));0 |
VP3HPP5;MUL(572.957,ASIN(DIV(SUB(@P3:Y,@P5P:Y),@P3P5:X)));0 |
VP3P2 P10;MUL(572.957,ACOS(DIV(SUB(ADD(POW(@P3P2:X,2.0),POW(@P3P10:X,2.0)),POW |
(@P2P10:X,2.0)),MUL(MUL(2.0,@,P3P10:X),@P3P2:X))));0 |
VP3HPP8;MUL(572.957,ACOS(DIV(2205,2207)));0 |
VP3P5P8;MUL(572.957,3.099672063);0 |
P10;SUB(@P3:X,MUL(@P3P10:X,COS(MUL(0.001745329,ADD(@VP3P2P10:X,@VP3HPP2:X))))); |
SUB(@P3:Y,MUL(@P3P10:X,SIN(MUL(0.001745329,ADD(@VP3P2P10:X,@VP3HPP2:X))))) |
P8;ADD(@P3:X,MUL(@P3P8:X,COS(MUL(0.001745329,ADD(@VP3P5P8:X,@VP3HPP5:X))))) |
SUB(@P3:Y,MUL(@P3P8:X,SIN(MUL(0.001745329,ADD(@VP3P5P8:X,@VP3HPP5:X))))); |
VP8HPP10;MUL(572.957,ASIN(DIV(SUB(@P8:Y,@P10:Y),@P8P10:X)));0 |
VP8P10P11;MUL(572.957,ACOS(DIV(SUB(ADD(POW(@P8P10:X,2.0),POW(@P8P11:X,2.0)), |
POW(@BEN,2.0)),MUL(MUL(2.0,@P8P10:X),@P8P11:X))));0 |
P11;ADD(@P8:X,MUL(@P8P11:X,COS(MUL(0.001745329,ADD(@VP8P10P11:X,@VP8HPP10; |
X)))));SUB(@P8:Y,MUL(@P8P11:X,SIN(MUL(0.001745329,ADD(@VP8P10P11:X,@VP8HPP10; |
X))))) |
VP8HPP11;MUL(572.957,ATAN2(SUB(@P8:Y,@P11:Y),SUB(@P11:X,@P8:X)));0 |
VP8P11P9;MUL(572.957,ACOS(DIV(SUB(ADD(POW(@P8P9:X,2.0),POW(@P8P11:X,2.0)),POW |
(@P9P11:X,2,0)),MUL(MUL(2.0,@P8P9:X),P8P11:X))));0 |
P9;ADD(@P8:X,MUL(@P8P9:X,COS(MUL(0.001745329,ADD(@VP8P11P9:X,@VP8HPP11:X))))); |
SUB(@P8:Y,MUL(@P8P9:X,SIN(MUL(0.001745329,ADD(@VP8P11P9:X,@VP8HPP11:X))))) |
fBackAngle;SUB(1800,MUL(572.957,ACOS(DIV(SUB(9998736.0,POW(SUB(@OldBack:X,1219.6), |
2))),MUL(4700.0,SUB(@OldBack:X,1219.6))))));0 |
fSeatAngle;ADD(SUB(SUB(491.2,MUL(572.9578,ACOS(DIV(SUB(21043740.0.POW(SUB(@ |
OldBack:X,1219.6),2)),18516590.0)))),@TILT),−13);@OldBack:X |
fSeatHeight;ADD(ADD(@LYFT,4800),SUB(2220.0,MUL(2150.0,COS(MUL(0.001745329,ADD |
(@TILT,210.0))))));0 |
fBack;RsBack_Old2New(ADD(MUL(ADD(MUL(4700.0,COS(MUL(0.001745,@VBackAngle))), |
SQRT(ADD(POW(MUL(4700.0,COS(MUL(0.001745,@VBackAngle))),2),39994944.0))),0.5),1219.6));0 |
fTilt;ADD(SUB(SUB(491.2,MUL(572.9578,ACOS(DIV(SUB(21043740.0,POW(SUB(RsBack |
_New 2Old(@fBack:X),1219.6),2)),18516590.0)))),@VSeatAngle),−13);0 |
fSeatLift;SUB(SUB(@VSeatHeight,4800),SUB(2220.0,MUL(2150.0,COS(MUL(0.001745329, |
ADD(@fTilt:X,210.0))))));0 |
P12;SUB(@P0:X,828);ADD(@P0:Y,0) |
P12P3;SUB(@P3:X,@P12:X);SUB(@P3:Y,@P12:Y) |
VP12VPP3;MUL(572.957,ATAN(DIV(@P12P3:X,@P12P3:Y)));0 |
LP12SEAT;SUB(MUL(SQRT(ADD(POW(@P12P3:X,2),POW(@P12P3:X,2))),COS(MUL(0.001745329, |
ADD(@VP12VPP3:X,@fSeatAngle:X)))),150);0 |
P12b;SUB(@P12:X,MUL(SIN(MUL(0.001745329,@fSeatAngle:X)),@LP12SEAT:X));ADD(@ |
P12:Y,MUL(COS(MUL(0.001745329,(@fSeatAngle:X)),@LP12SEAT:X)) |
fSeat;SQRT(SUB(4324186.0,MUL(3947190.0,COS(ADD(1.328,ASIN(DIV(MUL(SIN(MUL(0.001745, |
@VBackAngle)),SUB(@fBack:X,1220.0)),3940.0)))))));0 |
VP5PHPP13;−118;0 |
P5PP13L;490;0 |
P3P13L;2842;0 |
VP3P5P13;10;0 |
P13;ADD(@P5P:X,MUL(@P5PP13L:X,COS(MUL(0.001745329,ADD(@VP5PHPP13:X,@fSeatAngle: |
X)))));ADD(@P5P:Y,MUL(@P5PP13L:X,SIN(MUL(0.001745329,ADD(@VP5PHPP13:X,@ |
fSeatAngle:X))))) |
[lines] |
P7;P5P |
P5P;P8 |
P8;P9 |
P11;P8 |
P0;P12 |
[delimiters] |
P0;6000;1;1;1 |
P0;6500;1;1;2 |
P0;7000;1;1;3 |
P9;−1800;0;1;1280 |
P9;−1800;0;1;256 |
LP12SEAT;150;0;0;256 |
LP12SEAT;150;0;0;1792 |
In the above program implementing the mathematical model, a number of points are defined, for example:
[actuators]
TILT;10;562;1
That is, an actuator named “TILT”, which provides the seat with a tilt-function, has the coordinates (10, 562, 1) in relation to a chosen system of coordinates having the origin of coordinates suitably chosen.
At “[points] P0;0;add(4800, @LYFT)” and onwards the mathematical functions of the model are given.
The defined lines (e.g. [lines] P7;P5P) are lines for providing a visualisation of the movements of the movable parts of the wheelchair. The user is thus provided with a means for visualising the movements in a convenient way.
The defined delimiters comprise safety restrictions and provide backup safety definitions.
In FIG. 7 , which is the screen shot shown below tab “Actuators” of FIG. 5b , a number of actuators are shown.
Examples of such actuators were described in connection with FIG. 5b . Such interface provides an easy way to add nodes, for example actuators, and to reuse actuator definitions of a previous wheelchair model. Actuator definitions, such as name, ID and desired settings, are easily entered into the shown fields. When the set restrictions or delimits of one node is altered, other nodes are generally affected. Should a user try to alter the settings of an actuator in an improper way, an error message may be displayed. If the user is trying to remove an actuator the mathematical functions for which depend on other actuators, an error message may be displayed; for example: “There are point(s)/delimiter(s) that depend on the actuator that you are trying to remove”.
The settings of the wheelchair may be set in dependence on the weight of the user. When the user seats oneself in the wheelchair, a sensor in the seat of the wheelchair conveys the weight of the user to the controller 2. The controller 2 then calculates the limiting positions of the actuators N1, N2, . . . , Nn applicable for the input weight. The movable parts of the wheelchair are then controlled in dependence thereon.
The controller comprises a computer program for controlling movable parts of a wheelchair. The computer program comprises computer readable program code elements which when run in the controller causes the controller to perform the above-described method 10. The computer program may be stored in any suitable memory device, such as ROM (Read Only Memory), PROM (Programmable ROM), EPROM (Erasable ROM), EEPROM (Electrically Erasable PROM), flash memory, SRAM (Static Random Access Memory) etc.
In summary, the present invention provides an intelligent control system for wheelchair control. In accordance with the invention, an arbitrary number of input signals can be combined with an arbitrary number of output signals in an arbitrary way. Further, the output signals may be associated with an arbitrary number of restrictions. A very flexible control system is hence provided. The inventive control system thus comprises a controller that controls the movements of actuators of a wheelchair based on a mathematical model, whereby dynamical alteration of limiting positions of the actuators is enabled.
While the present invention has been described in various embodiments it shall be appreciated that the invention is not limited to the specific features and details set forth, but is defined only by the appended patent claims.
Claims (42)
1. Control system for controlling a wheelchair having movable parts, said control system comprising a controller and a number of actuators for effectuating movements of said movable parts characterised in that
said controller (2) comprises a mathematical model of the kinematics of said movable parts (31, 32, 33, 34, 35, 36) and a respective at least one actuator (N1, N2, . . . , Nn), said mathematical model being based on defining a structure of said wheelchair by a number of points, said number of points comprising locations of joint coupling points of said wheelchair, wherein mechanical relationships between, and kinematics of, different parts are translated into mathematical functions,
said controller (2) comprises means for receiving an input signal from one or more of said actuators (N1, N2, . . . , Nn),
said controller (2) comprises means for setting, based on said mathematical model, limiting positions of said actuators (N1, N2, . . . , Nn) in response to said input signal, enabling dynamical alteration of limiting positions of said actuators.
2. The control system as claimed in claim 1 , wherein said actuators (N1, N2, . . . , Nn) are located at joins of said wheelchair.
3. The control system as claimed in claim 1 , wherein said controller (2) is able to handle an arbitrary number of input signals and an arbitrary number of output signals.
4. The control system as claimed in claim 3 , wherein said output signals are associated with an arbitrary number of constraints.
5. The control system as claimed in claim 1 , wherein said controller (2) is a master unit of a local interconnect network.
6. The control system as claimed in claim 1 , wherein said actuators (N1, N2, . . . , Nn) comprise electronic circuitry for receiving commands from said controller (2), thereby setting a dynamically alterable limiting position.
7. The control system as claimed in claim 1 , wherein said controller (2) comprises a memory.
8. The control system as claimed in claim 7 , wherein said memory comprises a configuration file.
9. The control system as claimed in claim 8 , wherein said configuration file comprises safety limits restricting a speed of said wheelchair when a criteria, as determined based on said input signal, is fulfilled.
10. The control system as claimed in claim 1 , wherein said control system comprises an additional communication network.
11. The control system as claimed in claim 1 , wherein one or more of said actuators (N1, N2, . . . , Nn) comprises a sensor.
12. The control system as claimed in claim 11 , wherein said sensor is arranged to provide a position of said actuator (N1, N2, . . . , Nn) in relation to a reference point.
13. The control system as claimed in claim 1 , wherein said controller (2) is arranged to receive input signals from at least one external sensor.
14. The control system as claimed in claim 13 , wherein said at least one external sensor comprises a sensor arranged to sense a weight of a user of said wheelchair.
15. The control system as claimed in claim 1 , comprising a wheelchair operatively coupled to the control system and wherein said wheelchair further comprises an input device (3) connected to said controller (2).
16. The control system as claimed in claim 15 , wherein said input device (3) is selected from a group of input devices consisting of a joystick, a keypad, or a touchpad.
17. The control system as claimed in claim 15 , wherein said movable parts (31, 32, 33, 34, 35, 36) comprise at least one of a backrest, a seat, a headrest, armrests, leg rests, and foot rests.
18. A method of controlling a wheelchair having a number of movable parts (31, 32, 33, 34, 35, 36), a number of actuators (N1, N2, . . . , Nn) located in connection with and enabling movement of said movable parts (31, 32, 33, 34, 35, 36), and a controller (2) for controlling movements of said actuators (N1, N2, . . . , Nn), said method comprising steps of:
programming said controller (2) with a mathematical model of the kinematics of said movable parts (31, 32, 33, 34, 35, 36) and their respective at least one actuator (N1, N2, . . . , Nn), said mathematical model being based on defining the structure of a wheelchair by a number of points, said points comprising locations of joint coupling points of said wheelchair, wherein mechanical relationships between, and kinematics of, different parts are translated into mathematical functions,
determining an input value of one or more of said actuators (N1, N2, . . . , Nn),
setting, based on said mathematical model, limiting positions of said actuators (N1, N2, . . . , Nn) in response to said determined input value.
19. The method as claimed in claim 18 , wherein said controller 5 (2) handles an arbitrary number of input signals and an arbitrary number of output signals.
20. The method as claimed in claim 19 , wherein said output signals are associated with an arbitrary number of constraints.
21. The method as claimed in claim 18 , wherein said mathematical model defines positions and angles of the joints of said wheelchair.
22. A control system for controlling a wheelchair having movable parts, said control system comprising:
one or more actuators for effectuating movements of said movable parts;
a controller comprising:
a mathematical model of the kinematics of said movable parts, said mathematical model being based on defining a structure of said wheelchair by a number of points, said number of points comprising locations of joint coupling points of said wheelchair,
wherein mechanical relationships between, and kinematics of, different parts are translated into mathematical functions,
wherein said controller receives an input signal from said one or more actuators,
and wherein said controller, based on said mathematical model, sets limiting positions of said actuators in response to said input signal, enabling dynamical alteration of a limiting position of at least one of said one or more actuators.
23. The control system of claim 22, wherein said actuators are located at joins of said wheelchair.
24. The control system of claim 22, wherein said controller is able to handle an arbitrary number of input signals and an arbitrary number of output signals.
25. The control system of claim 24, wherein said output signals are associated with an arbitrary number of constraints.
26. The control system of claim 22, wherein said controller is a master unit of a local interconnect network.
27. The control system of claim 22, wherein said actuators comprise electronic circuitry for receiving commands from said controller, thereby setting a dynamically alterable limiting position.
28. The control system of claim 22, wherein said controller comprises a memory.
29. The control system of claim 28, wherein said memory comprises a configuration file.
30. The control system of claim 29, wherein said configuration file comprises safety limits restricting a speed of said wheelchair when a criteria, as determined based on said input signal, is fulfilled.
31. The control system of claim 22, wherein said control system comprises an additional communication network.
32. The control system of claim 23, wherein one or more of said actuators comprises a sensor.
33. The control system of claim 32, wherein said sensor is arranged to provide a position of said actuator in relation to a reference point.
34. The control system of claim 22, wherein said controller is arranged to receive input signals from at least one external sensor.
35. The control system of claim 34, wherein said at least one external sensor comprises a sensor arranged to sense a weight of a user of said wheelchair.
36. The control system of claim 22, comprising a wheelchair operatively coupled to the control system and wherein said wheelchair further comprises an input device connected to said controller.
37. The control system of claim 36, wherein said input device is selected from a group of input devices consisting of: a joystick, a keypad, or a touchpad.
38. The control system of claim 36, wherein said movable parts comprise at least one of a backrest, a seat, a headrest, armrests, leg rests, and foot rests.
39. A method of controlling a wheelchair having a number of movable parts, a number of actuators located in connection with and enabling movement of said movable parts, and a controller for controlling movements of said actuators, said method comprising steps of:
programming said controller with a mathematical model of the kinematics of said movable parts and their respective at least one actuator, said mathematical model being based on defining the structure of a wheelchair by a number of points, said points comprising locations of joint coupling points of said wheelchair, wherein mechanical relationships between, and kinematics of, different parts are translated into mathematical functions,
determining an input value of one or more of said actuators,
dynamically setting, based on said mathematical model, limiting positions of said actuators in response to said determined input value.
40. The method of claim 39, wherein said controller handles an arbitrary number of input signals and an arbitrary number of output signals.
41. The method of claim 40, wherein said output signals are associated with an arbitrary number of constraints.
42. The method of claim 39, wherein said mathematical model defines positions and angles of the joints of said wheelchair.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/104,978 USRE45158E1 (en) | 2006-09-19 | 2007-09-18 | Control system for a wheelchair having movable parts |
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE0601930 | 2006-09-19 | ||
SE0601930A SE532937C2 (en) | 2006-09-19 | 2006-09-19 | Control system for a wheelchair |
US14/104,978 USRE45158E1 (en) | 2006-09-19 | 2007-09-18 | Control system for a wheelchair having movable parts |
PCT/SE2007/000816 WO2008036017A1 (en) | 2006-09-19 | 2007-09-18 | Control system for a wheelchair having movable parts |
US12/441,669 US8078365B2 (en) | 2006-09-19 | 2007-09-18 | Control system for a wheelchair having movable parts |
Publications (1)
Publication Number | Publication Date |
---|---|
USRE45158E1 true USRE45158E1 (en) | 2014-09-23 |
Family
ID=39200757
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
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US14/104,978 Active 2028-07-05 USRE45158E1 (en) | 2006-09-19 | 2007-09-18 | Control system for a wheelchair having movable parts |
US12/441,669 Active 2028-07-05 US8078365B2 (en) | 2006-09-19 | 2007-09-18 | Control system for a wheelchair having movable parts |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US12/441,669 Active 2028-07-05 US8078365B2 (en) | 2006-09-19 | 2007-09-18 | Control system for a wheelchair having movable parts |
Country Status (4)
Country | Link |
---|---|
US (2) | USRE45158E1 (en) |
EP (1) | EP2063845B1 (en) |
SE (1) | SE532937C2 (en) |
WO (1) | WO2008036017A1 (en) |
Families Citing this family (10)
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US8334758B2 (en) * | 2009-04-13 | 2012-12-18 | Flextronics Automotive, Inc. | LIN BUS remote control system |
US8594868B2 (en) * | 2009-07-31 | 2013-11-26 | Control Solutions LLC | Controller and methods of controlling a personal electric motorized vehicle based on a weight of an operator |
ITRM20120031A1 (en) * | 2012-01-26 | 2013-07-27 | Itop S P A Officine Ortopediche | ARTICULATED ACTIVE SEAT SYSTEM WITH ELECTRONIC CONTROL. |
CA2933851C (en) | 2013-12-16 | 2022-10-18 | James P. Mulhern | Elevated height wheelchair |
US11020295B2 (en) | 2015-12-22 | 2021-06-01 | Stryker Corporation | Patient support systems and methods for assisting caregivers with patient care |
EP3419579A4 (en) | 2016-02-27 | 2020-03-18 | Pride Mobility Products Corporation | Adjustable height wheelchair |
US10813806B2 (en) * | 2016-05-24 | 2020-10-27 | Stryker Corporation | Medical support apparatus with stand assistance |
DE102021103834A1 (en) * | 2020-03-04 | 2021-09-09 | Meyra Gmbh | Electric wheelchair |
US11648171B2 (en) * | 2020-09-08 | 2023-05-16 | Toyota Motor North America, Inc. | Mobility devices with transitional foot plates |
CA3168572A1 (en) | 2022-07-13 | 2024-01-13 | Invacare Corporation | Wheelchair and suspension systems |
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- 2007-09-18 US US14/104,978 patent/USRE45158E1/en active Active
- 2007-09-18 EP EP07808825.9A patent/EP2063845B1/en active Active
- 2007-09-18 US US12/441,669 patent/US8078365B2/en active Active
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Also Published As
Publication number | Publication date |
---|---|
SE532937C2 (en) | 2010-05-11 |
US8078365B2 (en) | 2011-12-13 |
EP2063845A4 (en) | 2014-04-09 |
EP2063845A1 (en) | 2009-06-03 |
EP2063845B1 (en) | 2015-08-12 |
WO2008036017A1 (en) | 2008-03-27 |
SE0601930L (en) | 2008-03-20 |
US20100017072A1 (en) | 2010-01-21 |
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