System and method for providing synchronized operation of powered wheelchairs and exoskeletons

Abstract

To provide a system that includes a powered wheelchair, a user-worn exoskeleton and a master controller.SOLUTION: A master controller monitors independent movement of the powered wheelchair and the user-worn exoskeleton. The master controller prioritizes the movement of the powered wheelchair and the user-worn exoskeleton such that only one of the powered wheelchair and the user-worn exoskeleton will have the priority in completing the intended movement. The master controller may coordinate movement between the powered wheelchair and the user-worn exoskeleton so as to perform a plurality of predetermined programs; e.g., assist a user in sitting in the powered wheelchair, assist a user in standing up from a seating position when outside the powered wheelchair, and / or use the powered wheelchair as a guide for walking.SELECTED DRAWING: Figure 1A

Description

Technical Field

[0001] This disclosure generally relates to control systems, and more particularly to a control system having a master controller that coordinates motor and / or actuator control between a powered wheelchair and an exoskeleton.

Background Art

[0002] A user of a powered wheelchair may be a user of an independent exoskeleton that facilitates the user's movements. Typically, the user can don the exoskeleton while on or near the powered wheelchair. However, since the powered wheelchair and the exoskeleton operate independently of each other, conflicts can occur when the powered wheelchair and the exoskeleton receive conflicting commands. Further, since the powered wheelchair and the exoskeleton operate independently, they may not be able to synchronize their operations.

Summary of the Invention

[0003] In one embodiment, a system includes a powered wheelchair, a user-worn exoskeleton operable independently of the powered wheelchair, and a master controller. The powered wheelchair and the user-worn exoskeleton are communicatively coupled to the master controller. The master controller coordinates a plurality of synchronized operations between the powered wheelchair and the user-worn exoskeleton.

[0004] In another embodiment, a method is provided for controlling a powered wheelchair and a user-mounted exoskeleton that can be operated independently of the powered wheelchair. This method includes the step of a master controller receiving input from a user corresponding to a specific function. The master controller acquires first data corresponding to at least one of the position, motion, and intended motion of the user-mounted exoskeleton. The master controller acquires second data corresponding to at least one of the position, motion, and intended motion acquired from the powered wheelchair. Based on the first and second data, the processing device operates the powered wheelchair and the user-mounted exoskeleton in a coordinated manner.

[0005] In yet another example, a system is provided having a master controller, at least one motor, and at least one actuator. The at least one actuator is independent of the at least one motor. The master controller controls the operation of at least one motor and at least one actuator such that one of the at least one motor and at least one actuator can move between a first position and a second position.

[0006] These and additional purposes and advantages provided by the embodiments described herein will be better understood in conjunction with the drawings, from the perspective of the following detailed description.

[0007] The embodiments shown in the drawings are illustrative and typical in nature and are not intended to limit the subject matter defined by the claims. The following detailed description of the exemplary embodiments can be understood in conjunction with the following drawings, which show similar structures with similar reference numerals. [Brief explanation of the drawing]

[0008] [Figure 1A] Figure 1A schematically illustrates an exemplary system having a communication system, a user-mounted exoskeleton, and a powered wheelchair, according to one or more embodiments shown or described herein. [Figure 1B] Figure 1B schematically illustrates the system of Figure 1A when a user-mounted exoskeleton and a powered wheelchair are controlled by a communication system, according to one or more embodiments shown or described herein. [Figure 2] Figure 2 schematically shows a block diagram of exemplary components of a communication system according to one or more embodiments shown or described herein. [Figure 3] Figure 3 shows a flowchart illustrating an exemplary method, according to one or more embodiments shown or described herein, of communicating with the user-mounted exoskeleton and powered wheelchair of Figure 1A and being performed by a master controller. [Figure 4] Figure 4 shows a flowchart illustrating an exemplary process completed during a first user startup program according to one or more embodiments shown or described herein. [Figure 5A] Figure 5A schematically illustrates an exemplary use of the system shown in Figure 1A according to one or more embodiments shown or described herein. [Figure 5B] Figure 5B shows a flowchart illustrating an exemplary process completed during a second user startup program according to one or more embodiments shown or described herein. [Figure 6A] Figure 6A schematically illustrates another exemplary use of the system of Figure 1A according to one or more embodiments shown or described herein. [Figure 6B] Figure 6B schematically illustrates yet another exemplary use of the system of Figure 1A according to one or more embodiments shown or described herein. [Figure 6C] Figure 6C shows a flowchart illustrating an exemplary process completed during a third-user startup program according to one or more embodiments shown or described herein. [Modes for carrying out the invention]

[0009] The systems and methods described herein generally relate to a powered wheelchair, a user-mounted exoskeleton that can be operated independently of the powered wheelchair, and a master controller capable of controlling the powered wheelchair and the user-mounted exoskeleton so that they can be operated together by the master controller. The systems described herein are configured such that the powered wheelchair and the user-mounted exoskeleton are communicably connected to the master controller. When parallel control of the powered wheelchair and the user-mounted exoskeleton is permitted, the master controller functions as a master controller that controls the operation of the powered wheelchair and the user-mounted exoskeleton so that the powered wheelchair and the user-mounted exoskeleton each function as slave devices. As a result, the master controller prevents operational conflicts between the powered wheelchair and the user-mounted exoskeleton and / or coordinates multiple synchronized operations between the powered wheelchair and the user-mounted exoskeleton.

[0010] As described in further detail herein, an example of synchronized motion may include adjusting the powered wheelchair and user-attached exoskeleton so that the powered wheelchair functions as a guide for a user who is walking and holding onto the rear of the powered wheelchair with the assistance of the user-attached exoskeleton 14. Another example of synchronized motion may include adjusting the user-attached exoskeleton and powered wheelchair so that the seat portion of the powered wheelchair rises to assist the exoskeleton when assisting the user to sit in the powered wheelchair. Yet another example of synchronized motion may include adjusting the user-attached exoskeleton and powered wheelchair so that the powered wheelchair and exoskeleton assist the user to stand up from the seat position in the powered wheelchair.

[0011] As used herein, the term “system longitudinal direction” refers to the front-to-back direction of the system (i.e., the + / -X direction of the coordinate axes shown in Figure 1A). The term “system lateral direction” refers to the intersecting direction (i.e., along the Y direction of the coordinate axes shown in Figure 1A) and is lateral to the longitudinal direction. The term “system vertical direction” refers to the top-to-bottom direction of the system (i.e., the + / -Z direction of the coordinate axes shown in Figure 1A). As used herein, “upper” or “top” is generally defined as pointing in the positive Z direction of the coordinate axes shown in the drawing. “Lower” or “bottom” is generally defined as pointing in the negative Z direction of the coordinate axes shown in the drawing.

[0012] As used herein, “conflict” generally refers to the operation and / or movement of a particular device or its components that adversely affects another particular device or its components, adversely impacts the operation of another particular device or its components, or causes excessive stress to the user. For example, a conflict may occur when the individual operations of two separate components (e.g., a wheelchair and an exoskeleton) cause a collision, causing one of the two components to operate outside of a certain parameter. In other examples, a conflict may occur when one or more components cause the user to move in a way that is physically impossible for the user to move, causes discomfort to the user, could potentially injure the user, or similarly. That is, a conflict may occur when a wheelchair and / or exoskeleton moves too fast for the user.

[0013] First, referring to Figure 1A-1B, a schematic diagram of the system, schematically designated 10, is provided. The system 10 generally includes a powered wheelchair 12, a user-mounted exoskeleton 14, and a master controller 16. As will be described in more detail herein, the system 10 generally provides the ability to coordinate the operation of the powered wheelchair 12 and the user-mounted exoskeleton 14 via the master controller 16.

[0014] The powered wheelchair 12 is a generally accepted wheelchair that includes motorized components that allow the user to electronically control the operation of the wheelchair. Therefore, the various components of the powered wheelchair 12 are to be understood and are not described in further detail herein. The components of the powered wheelchair 12 may be standard components attached to the wheelchair 12, or they may be modular components that can be added to the wheelchair 12 based on the needs of a particular user. For example, components such as leg rests, arms, wheels, backs, headrests, and adapters for certain components are modular and may be added to the wheelchair 12. Other modular components are to be understood in general and are included within the scope of this disclosure. In some embodiments, the powered wheelchair 12 may include a powered base 18 and a seat 20 supported by the powered base 18. Therefore, the powered base 18 is generally positioned below the seat 20 in the vertical direction of the system (i.e., positioned relative to the seat 20 in the -z direction of the coordinate axes in Figure 1A). Referring further to Figures 1A and 1B, in some embodiments, the powered base 18 can raise, tilt, or otherwise operate the seat 20. The seat 20 is generally configured to support the user 22 when the user 22 is seated in the powered wheelchair 12.

[0015] In some embodiments, the seat 20 may include at least one armrest 24 to which a controller 26 can be connected. However, it should be understood that in some embodiments, the powered wheelchair 12 may not have any armrests, and the controller 26 may be connected to other parts of the powered wheelchair 12. As described herein, the controller 26 can provide the user 22 with the ability to control the operation of the powered wheelchair 12. In some embodiments, the controller 26 may be a joystick type controller, and the user 22 directs the joystick according to the desired direction and / or speed of travel. Thus, the controller 26 can be communicatively connected to a powered base 18 which includes various components, and can transmit signals to the powered base 18, causing the powered wheelchair 12 to respond according to the input received by the controller 26. The joystick configuration is merely illustrative, and in some embodiments, the controller 26 can receive input from the user by utilizing other designs such as buttons, switches, voice control, or breathing control.

[0016] In some embodiments, the seat 20 may include one or more handles 28 integrated therein or connected thereto. One or more handles 28 may provide an area for a user 22 to grasp the powered wheelchair 12. For example, at least one of the one or more handles 28 may be positioned at the rear of the seat 20 so that the user 22 can grasp at least one handle when moving behind the powered wheelchair 12, as described in more detail herein.

[0017] The powered base 18 may include, but is not limited to, a plurality of wheels 30, an electronic control unit (ECU) 32, a motor 34, a battery 36, and a master controller 16. The ECU 32 may generally be a control device that controls the powered wheelchair 12 and / or one or more of its components. Therefore, the ECU 32 may be communicatively connected to various components of the powered wheelchair 12 so that one or more control signals can be transmitted from the ECU to the various components. In addition, the ECU 32 may be communicatively connected to the master controller 16 so that signals can be transmitted to and from the master controller 16, as will be described in more detail herein. The motor 34 may be connected to the wheels 30 to drive the wheels 30. The battery 36 may generally provide power to various components of the powered wheelchair 12. Other components of the powered base 18 should be understood in general terms and will not be described in further detail herein.

[0018] In some embodiments, the powered base 18 and / or seat 20 may have a plurality of cameras 38 mounted thereon. Each of the plurality of cameras 38 may be positioned to image a specific area around the powered wheelchair 12 so as to provide an observational view of a specific area on a display that is easily accessible to the user 22 when seated in the powered wheelchair 12.

[0019] In various embodiments, the powered wheelchair 12 may have multiple sensors, such as a power base position sensor 40, at least one power base location sensor 42, a seat position sensor 44, a handle sensor 46, and one or more gyroscopes 48. Various sensors may be collectively referred to herein as the first group of sensors 52. As described in more detail herein, various sensors may generally be used to detect the position, movement, etc., of the powered wheelchair 12 to provide feedback during operation. More specifically, the first group of sensors 52 may transmit multiple outputs to the master controller 16, both wired and wireless, as described in more detail herein. Each of the powered base position sensor 40, at least one powered base location sensor 42, seat position sensor 44, handle sensor 46, and one or more gyroscopes 48 may be a laser-based sensor, proximity sensor, level-detecting sensor, pressure sensor, any combination thereof, and / or any other type of sensor that can be understood by those skilled in the art.

[0020] In various embodiments, the powered base position sensor 40 can be configured to communicate the position of the powered base 18 relative to the floor surface 50 and / or the seat 20. For example, if the seat 20 is tilted and the powered base 18 is on uneven terrain, the information from the powered base position sensor 40 can be used by the powered base 18 to correct the tilt of the seat 20 in one direction. In various embodiments, at least one powered base location sensor 42 can communicate, for example, the location of the powered wheelchair 12 and / or other information regarding obstacles or the environment surrounding the powered wheelchair 12. For example, at least one powered base location sensor 42 can determine the location of the powered wheelchair 12 within a space such as the user 22's residence and compare that location to known obstacles such as stairs or walls. In various embodiments, the seat position sensor 44 can communicate the position of the seat 20, such as the tilt of the seat 20 relative to the powered base 18, whether that tilt is forward or backward, and / or the height of the seat 20. In various embodiments, the handle sensor 46 can detect and communicate whether the user 22 is in contact with (e.g., grasping) one or more handles 28.

[0021] The first group of sensors 52 collectively provides information used to maintain the balance of the powered wheelchair 12 during stair climbing, curb crossing, and traversing uneven terrain, provides tracking data regarding the powered wheelchair 12, and can provide data that can be used to monitor the position, angle, tilt, user position, speed, and / or location of the powered base 18 and the seat 20, which can be further used for purposes of controlling various operations of the powered wheelchair 12, such as the speed of the powered wheelchair 12.

[0022] The user-worn exoskeleton 14 can generally be any system, device, or collection of devices that assist with one or more movements of a user. For example, the user-worn exoskeleton can be a device that assists with the movement of one or more upper limbs and / or one or more lower limbs of the user. In some embodiments, the user-worn exoskeleton can be an orthopedic device that replaces missing joints or bones, or a device that supports damaged bones. While the present disclosure depicts the user-worn exoskeleton 14 as being disposed on the lower limbs of the user 22, it should be understood that this is merely illustrative. Therefore, the present disclosure is not limited to lower limb user-worn exoskeletons. Further, while only a single user-worn exoskeleton 14 is depicted, the present disclosure is not so limited. That is, multiple user-worn exoskeletons may be utilized in a similar manner without departing from the scope of the present disclosure. Various components, features, and uses of the user-worn exoskeleton are generally understood. Therefore, specific details of the user-worn exoskeleton 14 are not described further herein.

[0023] In some embodiments, the user-worn exoskeleton 14 can include at least one actuator 54. The at least one actuator 54 can assist the user 22 in completing a particular movement. In some embodiments, the at least one actuator 54 can be positioned at or near a particular location on the user's body, such as, for example, at joint 56. As particularly shown in FIGS. 1A and 1B, the actuator 54 is positioned at the user's knee joint. However, the actuator may be positioned at other locations on the user's body without departing from the scope of the present disclosure.

[0024] In various embodiments, at least one actuator 54 may be positioned and arranged such that at least one actuator 54 can move the first part 58 of the user-wearable exoskeleton 14 relative to the second part 60 of the user-wearable exoskeleton 14 so that the actuator 54 assists a specific movement or action (for example, assisting the user 22 in bending their knees) when the user-wearable exoskeleton 14 assists the user 22 in completing an action. Thus, in some embodiments, the user-wearable exoskeleton 14 may be specifically configured to assist the user 22 in walking, standing, and / or sitting movements. While Figures 1A and 1B depict only a single at least one actuator, it should be understood that this is a non-limiting example. That is, in some embodiments, the user-wearable exoskeleton 14 may include multiple actuators 54.

[0025] In some embodiments, at least one actuator 54 may be controllable by a control unit 55. The control unit 55 is not limited by this disclosure and can generally be any device that provides control signals to at least one actuator 54 to actuate at least one actuator 54. Thus, the control unit 55 may be communicatively coupled to each of the at least one actuator 54. In addition, the control unit 55 may be communicatively coupled to a master controller 16 so that the control unit 55 can send / receive signals to / from the master controller 16.

[0026] In various embodiments, the user-mounted exoskeleton 14 may include a second group of sensors 62 positioned at various locations relative to the user 22 and / or the user-mounted exoskeleton 14. For example, as shown in Figures 1A and 1B, the second group of sensors 62 may include at least one sensor positioned at or near the joint 56 and / or other locations of the movement, such that the movement can be detected by the second group of sensors 62 and corresponding data can be transmitted. Thus, the second group of sensors 62 can transmit data to the master controller 16. The data may include, for example, data on whether or not movement has occurred, data on whether or not the user-mounted exoskeleton 14 is moving, and / or data on the degree of movement. Each of the second group of sensors 62 may include a laser-based sensor, a proximity sensor, a level-detecting sensor, a pressure sensor, and / or any combination thereof.

[0027] In some embodiments, the user-worn exoskeleton 14 may further include one or more features for identifying the user-worn exoskeleton 14, so that the user-worn exoskeleton 14 is paired with the master controller 16 to receive one or more commands from the master controller 16, as described in more detail herein. In some embodiments, one or more features may include an identification code 64. Descriptive examples of the identification code 64 include, but are not limited to, short-range codes, barcodes, QR codes, and serial codes. The master controller 16 can use the identification code 64 to identify the user-worn exoskeleton 14 and initiate communication with the user-worn exoskeleton 14. For example, the master controller 16 can acquire image data corresponding to one or more features (e.g., an identification code 64), identify the user-worn exoskeleton 14 from one or more features, and connect with the user-worn exoskeleton 14. Thus, the pairing of the master controller 16 and the user-worn exoskeleton 14 can assist the master controller 16 in determining the type of user-worn exoskeleton, the number of exoskeletons, the control unit of the exoskeleton, etc.

[0028] The master controller 16 can generally be a standalone control device comprising one or more components for controlling the operation of the powered wheelchair 12 and / or the user-mounted exoskeleton 14. While the master controller 16 is shown as part of the powered wheelchair 12 in Figures 1A and 1B, it should be understood that this is a non-limiting example. That is, the master controller 16 can be a separate device from the powered wheelchair 12, such as a device connected to or integrated with the user-mounted exoskeleton 14. In some embodiments, the master controller 16 can be separate from both the powered wheelchair 12 and the user-mounted exoskeleton 14, for example, a computing device carried by the user, or a user's personal device.

[0029] Figure 2 illustrates various exemplary internal components of the master controller 16, the ECU 32, and the control unit 55, which are connected together in a communicative manner according to the embodiment. More specifically, the master controller 16 may be connected communicatively to the ECU 32 and the control unit 55 via a network 74. The network 74 may include wide area networks (WANs) such as the Internet, local area networks (LANs), mobile communication networks, public telephone networks (PSTNs), personal area networks (PANs), metropolitan area networks (MANs), virtual private networks (VANs), and / or other networks that can be electronically communicated together with the master controller 16, the ECU 32, and the control unit 55.

[0030] In various embodiments, the ECU32 may include, but is not limited to, memory components 66 and processing devices 68. The processing device 68, such as a computer processing unit (CPU), may be the central processing unit of the ECU32, performing calculations and logical operations for executing a program. The processing device 68, alone or in combination with other components, is an exemplary processing device, computing device, processor, or combination thereof. The processing device 68 may include any processing components configured to receive and execute instructions (such as from the memory components 66).

[0031] In some embodiments, the memory component 66 can be configured as a volatile and / or non-volatile computer-readable medium and therefore may include random access memory (including SRAM, DRAM, and / or other types of random access memory), read-only memory (ROM), flash memory, registers, compact discs (CDs), digital multipurpose discs (DVDs), and / or other types of storage components. Furthermore, the memory component 66 may be non-temporary processor-readable memory. When executed by the processing device 68, the memory component 66 may include one or more programming instructions that complete various processes, such as one or more processes described herein with respect to Figures 3, 4, 5B, and 6C.

[0032] Referring further to Figure 2, the programming instructions stored in the memory component 66 may be embodied as one or more software logic modules 66a. Each logic module 66a provides programming instructions for completing one or more tasks, as will be described in more detail herein with respect to Figures 3, 4, 5B, and 6C. Referring further to Figure 2, the logic module 66a includes several different logic parts, each of which may be embodied as a computer program, firmware, and / or software / hardware executable by the processing device 68.

[0033] In various embodiments, the control unit 55 may include, but is not limited to, a memory component 65 and a processing device 63. The processing device 63, such as a computer processing unit (CPU), may be the central processing unit of the control unit 55, performing calculations and logical operations for executing a program. The processing device 63, alone or in combination with other components, is an exemplary processing device, computing device, processor, or combination thereof. The processing device 63 may include any processing component configured to receive and execute instructions (such as from the memory component 65).

[0034] In some embodiments, the memory component 65 can be configured as a volatile and / or non-volatile computer-readable medium and therefore may include random access memory (including SRAM, DRAM, and / or other types of random access memory), read-only memory (ROM), flash memory, registers, compact discs (CDs), digital multipurpose discs (DVDs), and / or other types of storage components. Furthermore, the memory component 65 may be non-temporary processor-readable memory. When executed by the processing device 63, the memory component 65 may include one or more programming instructions that complete various processes, such as one or more processes described herein with respect to Figures 3, 4, 5B, and 6C.

[0035] Referring further to Figure 2, the programming instructions stored in the memory component 65 may be embodied as one or more software logic modules 65a. Each logic module 65a provides programming instructions for completing one or more tasks, as will be described in more detail herein with respect to Figures 3, 4, 5B, and 6C. Referring further to Figure 2, the logic module 65a includes several different logic parts, each of which may be embodied as a computer program, firmware, and / or software / hardware executable by the processing device 63.

[0036] In various embodiments, the master controller 16 includes a network interface 70, a processing device 71, a data storage device 72, and memory 73. The processing device 71, such as a computer processing unit (CPU), may be the central processing unit of the master controller 16, performing calculations and logical operations for executing a program. The processing device 71, alone or in combination with other components, is an exemplary processing device, computing device, processor, or combination thereof. The processing device 71 may include any processing components configured to receive and execute instructions (such as from the memory component 73).

[0037] In some embodiments, the memory component 73 can be configured as a volatile and / or non-volatile computer-readable medium and therefore may include random access memory (including SRAM, DRAM, and / or other types of random access memory), read-only memory (ROM), flash memory, registers, compact discs (CDs), digital multipurpose discs (DVDs), and / or other types of storage components. Furthermore, the memory component 73 may be non-temporary processor-readable memory. When executed by the processing device 71, the memory component 73 may include one or more programming instructions that complete various processes, such as one or more processes described herein with respect to Figures 3, 4, 5B, and 6C.

[0038] Referring further to Figure 2, the programming instructions stored in the memory component 73 may be embodied as one or more software logic modules 73a. Each logic module 73a provides programming instructions for completing one or more tasks, as will be described in more detail herein with respect to Figures 3, 4, 5B, and 6C. Referring further to Figure 2, the logic module 73a includes several different logic parts, each of which may be embodied as a computer program, firmware, and / or software / hardware executable by the processing device 71.

[0039] The network interface 70 of the master controller 16 may include any wired or wireless networking hardware, such as a modem, LAN port, Wireless Fidelity (Wi-Fi®) card, WiMAX® card, mobile communication hardware, and / or other hardware for communicating with other networks and / or devices. Therefore, communication between the master controller 16, the powered wheelchair 12, and / or the user-mounted exoskeleton 14 may be provided through the network interface 70. In one example, the master controller 16 can communicate wirelessly with the user-mounted exoskeleton 14 and the powered wheelchair.

[0040] As will be discussed in more detail herein, user controls and / or user-initiated programs may be transmitted to the master controller 16 via the network interface 70. Furthermore, it should be understood that the user 22 may select a user-initiated program by voice control, voice activation, push buttons, or from a program selection initiated by an external device such as a mobile computing device or smartphone from the master controller 16, or from the user-worn exoskeleton 14.

[0041] The data storage device 72 can generally be a storage medium and may include one or more data repositories for storing received and / or generated data. The data storage device 72 can be any physical storage medium, including, but not limited to, a hard disk drive (HDD), memory, or removable storage device. Although the data storage device 72 is depicted as a local device, it should be understood that the data storage device 72 may also be a remote storage device, such as a server computing device. Illustrative data that may be contained within the data storage device 72 is described below with respect to Figures 3, 4, 5B, and 6C and includes, but is not limited to, first data 76 from a second group of sensors 62 on the user-mounted exoskeleton 14 (Figures 1A-1B), second data 78 from a first group of sensors 52 on the powered wheelchair 12, third data 80 from multiple sensors located on the seat 20, and fourth data 82 generated by the user 22.

[0042] The data storage device 72 stores data such as that received from the first group of sensors 52, the second group of sensors 62, third data 80, and / or fourth data 82, as discussed herein. The master controller 16 uses the data in the data storage device 72, such as first data 76, second data 78, third data 80, and fourth data 82, to coordinate one or more movements, or to resolve conflicts between the powered wheelchair 12 and / or user-mounted exoskeleton 14 (Figures 1A and 1B), as discussed in more detail herein.

[0043] Referring again to Figures 1A and 1B, one or more proximity switches may be positioned to detect whether the user 22 is seated in the seat 20 of the powered wheelchair 12 and to generate corresponding data. A data storage device 72 may receive and store this data as first data 76, second data 78, and / or third data 80. The master controller 16 may analyze the first data 76, second data 78, and / or third data 80 to determine whether the data indicates a potential problem. If a conflict occurs between the powered wheelchair 12 and the user-mounted exoskeleton 14, the master controller 16 may determine from the received first data 76, second data 78, and third data 80 whether such a conflict exists and may send one or more commands to the ECU 32. The ECU 32 may sequentially allow and / or prohibit the operation of the powered wheelchair 12 and / or the user-mounted exoskeleton 14 to avoid such a conflict.

[0044] In some embodiments, under a single operation, the powered wheelchair 12 and the user-mounted exoskeleton 14 can operate independently of each other within specific parameters. These specific parameters can be a predetermined logical program stored in a logic module 66a and activated during the independent operation of the powered wheelchair 12 and the user-mounted exoskeleton 14. Under other operations, the program stored in the logic module 66a can be accessed and executed, thereby allowing the master controller 16 to adjust the operation of the powered wheelchair 12 and the user-mounted exoskeleton 14 to achieve specific functions, actions, etc., such as providing assistance to the user when getting on and / or off the powered wheelchair 12, using the powered wheelchair 12 as a walker or guide, and / or assisting the user in standing and / or sitting movements. In some embodiments, the operation can be completed on the fly (i.e., as the user actively attempts to complete various tasks) or as a pre-set program (to move the user through a set of pre-set steps as part of a rehabilitation program, training program, etc.).

[0045] In some embodiments, during coordinated operation, the master controller 16 may monitor and refer to the first data 76, second data 78, third data 80, and / or fourth data 82 to determine the position, orientation, etc., of the user-mounted exoskeleton 14 and the powered wheelchair 12, as described above. Subsequently, the master controller 16 may simultaneously provide command signals to the ECU 32 and / or control unit 55 to move individual components of the powered wheelchair 12 and / or the user-mounted exoskeleton 14 as needed.

[0046] While some components in Figure 2 are illustrated as being located within the master controller 16, others should be understood as being located within the ECU 32 and / or control unit 55; this is merely an example. In some embodiments, one or more components may be located solely within the master controller 16, or alternatively, one or more components may be located outside the ECU 32, control unit 55, and master controller 16.

[0047] It should also be understood that the master controller 16 may receive new and / or updated instructions or configurations as needed. It should also be understood that the logic module 66a, memory component 66 and / or processing device 68 may also receive updates and / or new user-activated programs from time to time. These updates may be based on the type of user 22 and / or the type of powered wheelchair 12 and / or the type of user-attached exoskeleton 14. Furthermore, the user 22 or a remote third party such as a physician may update and / or further program the master controller 16 using a smart device, tablet, wearable, or an application installed on a computer communicating with the master controller 16 to select a user-activated program to facilitate operation or to provide manual control of the powered wheelchair 12 and / or user-attached exoskeleton 14.

[0048] As discussed herein, in some embodiments, the master controller 16 can determine whether a conflict exists between the user-attached exoskeleton 14 and the powered wheelchair 12 during normal, independent operation of the user-attached exoskeleton 14 and the powered wheelchair 12. In this embodiment, the master controller 16 can automatically determine whether a conflict exists between the user-attached exoskeleton 14 and the powered wheelchair 12 without any input requested by the user 22. For example, if the user 22 has partial paralysis, the user 22 may have a musculoskeletal injury. Therefore, the user 22 may require assistance with movement both when in the powered wheelchair 12 and when outside of the powered wheelchair 12. Thus, the user-attached exoskeleton 14 can operate independently of the powered wheelchair 12. As a result, a conflict may occur between the powered wheelchair 12 and the user-attached exoskeleton 14 without the user 22 knowing or noticing the conflict. For example, user 22 may be using a user-attached exoskeleton 14 to sit in a powered wheelchair 12, and user 22 may bump into the controller 26 of the powered wheelchair. This may create a conflict between the operation of the user-attached exoskeleton 14 and the operation of the powered wheelchair 12. The master controller 16 may disable the independent operation of the user-attached exoskeleton 14 and the powered wheelchair 12, as will be discussed in more detail herein, and allow the operation of the user-attached exoskeleton 14 and / or the powered wheelchair 12 to operate in a manner that avoids the conflict.

[0049] In other embodiments, the master controller 16 can monitor inputs generated by a user-activated program, which may be requested by the user 22 and / or remotely by a third party. The user-activated program may correspond to one or more functions, thereby coordinating the operation of the powered wheelchair 12 and the user-mounted exoskeleton 14 by the master controller 16. Specific examples will be discussed in more detail herein.

[0050] In any embodiment, the master controller 16 may monitor a first group of sensors relating to predetermined parameters so that various characteristics (e.g., position) of the user-mounted exoskeleton 14, the powered wheelchair 12, and / or the user 22 can be used to determine whether or not a particular program or the like is used to execute it. Descriptive examples of various characteristics include, but are not limited to, the location of obstacles around the powered wheelchair 12 and / or the powered wheelchair 12, the tilt of the seat 20 and whether the tilt is forward or backward, the position of the powered base 18 relative to the floor 50, whether or not the user 22 is in contact with and / or grasping one or more handles 28, the location of the user-mounted exoskeleton 14 relative to the user 22 and / or the powered wheelchair 12, the location and / or operation of at least one actuator 54 (Figures 1A and 1B), the position or operation of the joint 56, and the position of the first part 58 relative to the second part 60.

[0051] Referring now to Figure 3, a flowchart is shown illustrating an exemplary method of communication between the master controller 16, the powered wheelchair 12, and the user-mounted exoskeleton 14 in Figure 1A. In some embodiments, the master controller 16 can communicate sequentially with the powered wheelchair 12 and the user-mounted exoskeleton 14 to perform various steps shown in Figure 3. In step 300, the master controller 16 can monitor the operation of the powered wheelchair 12 and / or the user-mounted exoskeleton 14 and detect such operation. Once operation is detected, in step 302, the master controller 16 can determine the position of the user-mounted exoskeleton 14 (or its components) by acquiring information from a second group of sensors 62 and store the information as first data 76. In step 304, the master controller 16 can also determine the position of the powered wheelchair 12 (or its components) by acquiring information from a first group of sensors 52 and store the information as second data 78. Once various positional information of the user-mounted exoskeleton 14 and the powered wheelchair 12 has been stored and an action has been detected, in step 306, the master controller 16 can determine whether or not a conflict exists with respect to a particular action of the powered wheelchair 12 and / or the user-mounted exoskeleton 14. If no conflict exists (i.e., the individual actions of the powered wheelchair 12 and the user-mounted exoskeleton 14 do not conflict with each other), in step 308, the master controller 16 can continue to monitor additional actions of the powered wheelchair 12 and the user-mounted exoskeleton 14, while the individual actions of the powered wheelchair 12 and the user-mounted exoskeleton 14 are not interfered with by the master controller 16. This process can then return to step 302 if a subsequent action is detected.

[0052] If the master controller 16 determines that a conflict exists between the powered wheelchair 12 and the exoskeleton 14 based on their individual actions (or intended actions), in step 310 the master controller 16 prioritizes the actions so that one of the following may occur: in step 312 the actions of the powered wheelchair 12 and the user-mounted exoskeleton 14 are coordinated together so as not to cause a conflict, or alternatively, in step 314 the master controller 16 prioritizes the actions of the powered wheelchair 12 and the user-mounted exoskeleton 14 so that only one of them has priority to complete the intended action. In such an example where only one of the powered wheelchair 12 and the user-mounted exoskeleton 14 has priority, the master controller 16 may further modify the actions of the non-priority component by either restricting all actions or modifying actions to avoid conflict.

[0053] Once the operation is complete, in step 316, the master controller 16 can again monitor for any operation requests between the powered wheelchair 12 and the user-mounted exoskeleton 14. If there are no further operations and / or no operation requests are detected, in step 317, the master controller 16 device can monitor for additional operations or operation requests, thereby returning the process to step 300.

[0054] On the other hand, if an action or action request is detected by the master controller 16, in step 318 the master controller 16 can determine whether or not a conflict exists. If there is no conflict in the action, in step 308 the master controller 16 can continue to monitor additional actions of the powered wheelchair 12 and user-mounted exoskeleton 14, while the individual actions of the powered wheelchair 12 and user-mounted exoskeleton 14 are not interfered with by the master controller 16. This process can then return to step 302 if a subsequent action is detected.

[0055] However, if in step 318 an action or action request is detected by the master controller 16 and it is determined that a conflict exists in the action, in step 320 the master controller 16 re-prioritizes the actions of the powered wheelchair 12 and the user-mounted exoskeleton 14 so that one of the following may occur: in step 322 the actions of the powered wheelchair 12 and the user-mounted exoskeleton 14 are coordinated together so as not to cause a conflict, or alternatively, in step 324 the master controller 16 prioritizes the actions of the powered wheelchair 12 and the user-mounted exoskeleton 14 so that only one of them has priority to complete the intended action. In such an example where only one of the powered wheelchair 12 and the user-mounted exoskeleton 14 has priority, the master controller 16 may further modify the action of the non-priority component by either restricting all actions or modifying actions to avoid conflict.

[0056] Once the operation is complete, in step 316, the master controller 16 can again monitor for any operation requests between the powered wheelchair 12 and the user-mounted exoskeleton 14. If no operation and / or operation requests are detected, in step 317, the master controller 16 device can monitor for additional operations or operation requests, thereby returning the process to step 300.

[0057] If an action or action request is detected by the master controller 16, in step 318 the master controller 16 can determine whether a conflict exists. If no conflict exists in the action, in step 308 the master controller 16 can continue to monitor additional actions of the powered wheelchair 12 and user-mounted exoskeleton 14, while the individual actions of the powered wheelchair 12 and user-mounted exoskeleton 14 are not interfered with by the master controller 16. This process can then return to step 302 if a subsequent action is detected.

[0058] Please understand that the process described in Figure 3 is provided as a loop that continues as long as an action or instruction for its intended action is detected.

[0059] As discussed herein, in some embodiments, the data storage device 72 can store one or more user activation inputs as fourth data 82. In such embodiments, when a user activation input is received, the master controller 16 can start a user activation program. The user activation program may be received from a user 22 or from a remote third party (i.e., an individual, a computing device, or an equivalent other than user 22). The user activation program may correspond to one or more specific functions, thereby allowing the master controller 16 to coordinate multiple operations of the powered wheelchair 12 and the user-mounted exoskeleton 14. Alternatively, the user activation program may correspond to one or more specific functions, thereby allowing the master controller 16 to permit independent operation of the powered wheelchair 12 and the user-mounted exoskeleton 14 within a specific set of parameters, as opposed to free and independent operation and conflict suppression, as discussed herein. Thus, a specific program addressing a particular example may be loaded into a logic module 66a and executed by the master controller 16, ECU 32, and / or control unit 55. Three descriptive examples will be discussed in more detail below.

[0060] Referring to Figure 4, a flowchart is shown illustrating an exemplary method of executing a first user activation program by the master controller 16, the user-mounted exoskeleton 14, and / or the powered wheelchair 12. The first user activation program 84 may be embodied in a logic module 66a, as discussed herein, and may be executable by the master controller 16. When an input corresponding to a request to activate the first user activation program 84 is received, the master controller 16 may coordinate a number of synchronized actions by the powered wheelchair 12 and the user-mounted exoskeleton 14 so that the powered wheelchair 12 raises the seat 20 in the vertical direction of the system (i.e., in the +z / -z direction of the coordinate axes in Figure 1A) to assist the user 22 in sitting in the powered wheelchair 12.

[0061] In step 400, once the first user startup program 84 is selected, in step 402, the master controller 16 uses the second group of sensors 62 and stores the data as first data 76 in the data storage device 72 to determine the position and / or orientation of the user-mounted exoskeleton 14. In step 404, the master controller 16 also uses the first group of sensors 52 to determine the position and / or orientation of the powered wheelchair 12 and stores the data as second data 78 in the data storage device 72. In step 406, based on the positions of the user-mounted exoskeleton 14 and the powered wheelchair 12, the master controller 16 can direct one or more actions of the powered wheelchair 12 and the user-mounted exoskeleton 14 so that they operate in a manner that assists the user 22 from a standing position to a sitting position in the powered wheelchair 12. Therefore, in step 408, the seat 20 may be moved to a position elevated in the vertical direction of the system (i.e., in the +z / -z direction of the coordinate axes in Figure 1A) and / or tilted in a manner that accommodates the user 22. In step 410, the seat 20 is lowered while the user-mounted exoskeleton 14 is operating in step 412 to move or rotate the first part 58 relative to the second part 60 at the joint 56 of the user-mounted exoskeleton 14. This process continues in step 414 until the user 22 is fully seated, the seat 20 is lowered, and the user-mounted exoskeleton 14 is placed in the powered wheelchair 12. In step 418, during these coordinated movements, the first group of sensors 52 and the second group of sensors 62 may continue to provide data to the data storage device 72 so that the master controller 16 can continue to monitor the data. In step 406, this process of data monitoring and movement adjustment may be repeated until the first user startup program 84 is completed.

[0062] It should be understood that the master controller 16 monitors first data 76 and second data 78 to ensure that the movements between the user-mounted exoskeleton 14 and the powered wheelchair 12 are coordinated or synchronized so that the user 22 can sit in the powered wheelchair 12 without using the controller 16 of the powered wheelchair 12. Therefore, as will be apparent to those skilled in the art, the master controller 16 continuously monitors the first group of sensors 52 of the powered wheelchair 12 for its location relative to the user 22 and surrounding obstacles. Furthermore, the location of the seat 20 is also monitored so that its height is determined relative to the user 22's position and the powered base 18. The user-mounted exoskeleton 14 is monitored for its movement and position relative to the seat 20 and the powered wheelchair 12.

[0063] During the process of sitting or boarding, in step 414, the seat 20 can be tilted to provide a better boarding experience for the user 22, and as the seat 20 is lowered, the seat 20 can return to a neutral position (for example, a seating position parallel to the floor 50).

[0064] Once seated, the master controller 16 can further adjust the movement of one or more user-attached exoskeletons 14 and / or guide the powered wheelchair 12 into multiple movements, while suppressing the user-attached exoskeletons 14 so as not to allow the user 22 to stand up or lower their limbs while the powered wheelchair 12 is moving.

[0065] Please understand that the process depicted in Figure 4 indicates that the process is unidirectional. However, this is for illustrative purposes only to illustrate a single iteration or loop of the program. Please understand that this process can function in reverse order to assist user 22 in disembarking from the powered wheelchair 12. Furthermore, please understand that this process can continuously monitor, communicate, change, and / or modify the position of the powered wheelchair 12 and / or the user-attached exoskeleton 14 as needed. Also, please understand that these are merely examples of the first user activation program 84, and there may be multiple actions between the powered wheelchair 12 and the user-attached exoskeleton 14 that may occur to assist in the transport of user 22 from one position to another.

[0066] Figure 5A schematically illustrates an exemplary use of the system in Figure 1A. Figure 5B shows a flowchart of an exemplary process completed during the second user activation program. The second user activation program 86 can be embodied in a logic module 66a, as discussed herein, and may be executable by the master controller 16. When input for the second user activation program 86 is received, the master controller 16 can coordinate a series of synchronized movements of the powered wheelchair 12 and the user-mounted exoskeleton 14 so that the powered wheelchair 12 assists the user 22 as a walker or guide in the longitudinal direction of the system (i.e., in the +X / -X directions of the coordinate axes in Figure 1A). In particular, the user 22 grasps one or more handles 28 of the powered wheelchair 12. While the user 22 is in contact with one or more handles 28, the master controller 16 adjusts the powered wheelchair 12 and the user-mounted exoskeleton 14 so that their movements are synchronized. Once the second user activation program 86 is selected in step 500, in step 502 the master controller 16 uses the second group of sensors 62 to determine the position and / or orientation of the user-mounted exoskeleton 14 and stores this data as first data 76 in the data storage device 72. In step 504 the master controller 16 also uses the first group of sensors 52 to determine the position and / or orientation of the powered wheelchair 12 and stores this data as second data 78 in the data storage device 72. In step 506, based on the positions of the powered wheelchair 12 and the user-mounted exoskeleton 14, the master controller 16 can operate one or more actions of the user-mounted exoskeleton 14 and the powered wheelchair 12 in a manner that assists the user in walking behind the powered wheelchair 12 in the longitudinal direction of the system (i.e., in the +X / -X directions of the coordinate axes in Figure 1A) from a standing position. Therefore, in step 508, the seat 20 may be raised, lowered (i.e., in the +z / -z direction of the coordinate axes in Figure 1A) and / or tilted (i.e., in the +X / -X direction of the coordinate axes in Figure 1A) to a position better for the user 22.

[0067] In step 510, the user-mounted exoskeleton 14 is operated to move or rotate the first part 58 relative to the second part 60 at the joint 56 of the user-mounted exoskeleton 14. In step 512, the powered wheelchair 12 is further driven either forward or backward in the longitudinal direction of the system (i.e., in the +x / -x directions of the coordinate axes in Figure 1A). It should be understood that the powered wheelchair 12 can be oriented in any longitudinal direction and / or horizontal direction of the system so that the user can travel in any direction. In step 514, this process continues to synchronize the movements of the powered wheelchair 12 and the user-mounted exoskeleton 14. In steps 516, 518, during these coordinated and synchronized movements, the first group of sensors 52 and the second group of sensors 62 can continuously provide data to the data storage device 72 so that the master controller 16 can continue to monitor the data. In step 520, the first group of sensors 52 can further continuously provide data about the environment surrounding the powered wheelchair 12 to the data storage device 72 so that the master controller 16 can continue to monitor the data. In step 506, this process of data monitoring and operation adjustment may be repeated until the second user activation program 86 is completed.

[0068] It should be understood that the master controller 16 monitors first data 76 and second data 78 to ensure that the movements between the user-mounted exoskeleton 14 and the powered wheelchair 12 are coordinated or synchronized so that the user 22 can walk using the powered wheelchair 12 without using the controller 16 of the powered wheelchair 12. Therefore, as will be apparent to those skilled in the art, the master controller 16 continuously monitors the first group of sensors 52 of the powered wheelchair 12 for its location relative to the user 22 and surrounding obstacles. Furthermore, the location of the seat 20 is also monitored so that its height is determined relative to the user 22's position and the powered base 18. The user-mounted exoskeleton 14 is monitored for its movement and position relative to the seat 20 and the powered wheelchair 12.

[0069] Therefore, it should be understood that the master controller 16 can change the distance the powered wheelchair 12 extends away from the user 22. For example, the user's walking speed, height, and leg length can be factors in determining the distance the powered wheelchair 12 extends from the user. The master controller 16 can monitor whether the user 22 is maintaining contact with one or more handles 28, the user 22's stepping speed, and the distance the powered wheelchair 12 and / or user 22 are traveling. Therefore, the master controller 16 can change the operation of the powered wheelchair 12 and / or the user-mounted exoskeleton 14 to assist the user 22. For example, the master controller 16 can slow down the movement of the powered wheelchair 12 or tilt the seat 20 so that at least one handle is in a better position for the user to maintain grip.

[0070] The master controller 16 can monitor the first group of sensors 52 for data about the environment surrounding the powered wheelchair 12, as discussed in step 518. For example, stairs, uneven paved roads, and other such hazards. In addition, the first group of sensors can transmit data related to the Global Positioning System (GPS) and / or data used in conjunction with it. Thus, in step 520, the first group of sensors 52 can be used to determine the current position, the destination position, and any hazards between them. Thus, in step 510, the master controller 16 can operate one or more actions of the powered wheelchair 12 and the user-mounted exoskeleton 14 based on the data received from the first group of sensors 52 related to position and / or obstacle avoidance.

[0071] Furthermore, it should be understood that the multiple cameras 38 mounted on the powered wheelchair 12 can provide an observation display of the area in front of the powered wheelchair 12 while the user is walking behind the powered wheelchair 12. Observation control may be initiated by the user 22 or remotely controlled by a third party. It should be understood that applications on smart devices or tablets may be used to operate the powered wheelchair 12.

[0072] Please understand that the process depicted in Figure 5B indicates that the process is unidirectional. However, this is for illustrative purposes only to illustrate a single iteration or loop of the program. Please understand that this process can function in reverse order to assist user 22. Furthermore, please understand that this process can continuously monitor, communicate, change, and / or modify the position of the powered wheelchair 12 and / or user-mounted exoskeleton 14 as needed. Also, please understand that these are merely examples of the second user activation program 86, and there may be multiple actions between the powered wheelchair 12 and the user-mounted exoskeleton 14 that may occur to assist in the transport of user 22 from one location to another.

[0073] Figures 6A and 6B illustrate exemplary use of the system 10 of Figure 1A. Figure 6C is a flowchart of an exemplary process completed during a third-user activation program according to one or more embodiments shown or described herein. The third-user activation program 88 may be embodied in a logic module 66a and executable by the master controller 16, as discussed herein. Upon receiving input for the third-user activation program 88, the master controller 16 can coordinate a number of synchronized actions by the powered wheelchair 12 and the user-mounted exoskeleton 14 so that the powered wheelchair 12 raises and / or lowers the seat 20. The raising and / or lowering of the seat 20 assists the user 22 in standing and / or sitting from an external position of the powered wheelchair 12 in the vertical direction of the system (i.e., in the +z / -z direction of the coordinate axes in Figure 1A). In particular, the user 22 grasps one or more handles 28 of the powered wheelchair 12. While the user 22 is in contact with one or more handles 28, the master controller 16 adjusts the powered wheelchair 12 and the user-mounted exoskeleton 14 so that their movements are synchronized.

[0074] In step 600, once the third user activation program 88 is selected, in step 602, the master controller 16 uses the second group of sensors 62 to determine the position and / or orientation of the user-mounted exoskeleton 14 and stores this data as first data 76 in the data storage device 72. In step 604, the master controller 16 also uses the first group of sensors 52 to determine the position of the powered wheelchair 12 and stores this data as second data 78 in the data storage device 72. In step 606, based on the current positions of the powered wheelchair 12 and the user-mounted exoskeleton 14, the master controller 16 can operate one or more actions of the user-mounted exoskeleton 14 and the powered wheelchair 12 in a manner that assists the user from a seated position to a standing position in the longitudinal direction of the system (i.e., in the +z / -z direction of the coordinate axes in Figure 1A). Therefore, in step 608, the seat 20 may be lowered in the vertical direction of the system (i.e., in the +z / -z direction of the coordinate axes in Figure 1A) and / or tilted in the longitudinal direction of the system (i.e., in the +x / -x direction of the coordinate axes in Figure 1A) to a position better for the user 22.

[0075] In step 610, the user-mounted exoskeleton 14 is operated to move or rotate the first part 58 relative to the second part 60 at the joint 56 of the user-mounted exoskeleton 14. In step 612, the seat 20 of the powered wheelchair 12 is further raised in the vertical direction of the system (i.e., in the +z / -z direction of the coordinate axes in Figure 1A). Thus, the user 22 rises from a seated position to a standing position using one or more handles 28 of the powered wheelchair 12 for support. In step 614, this process continues to synchronize the movements of the powered wheelchair 12 and the user-mounted exoskeleton 14. In steps 616, 618, during these coordinated and synchronized movements, the first group of sensors 52 and the second group of sensors 62 can continuously provide data to the data storage device 72 so that the master controller 16 can continue to monitor the data. In step 606, this process of data monitoring and motion coordination may be repeated until the second user activation program 86 is completed.

[0076] It should be understood that the master controller 16 monitors first data 76 and second data 78 to ensure that the movements between the user-mounted exoskeleton 14 and the powered wheelchair 12 are coordinated or synchronized so that the user 22 can raise and / or lower the powered wheelchair 12 using the powered wheelchair 12 controller 26. For this reason, the location of the seat 20 is also monitored, and its height is determined relative to the user 22's position and the powered base 18. The user-mounted exoskeleton 14 is monitored for its movement and position relative to the seat 20 and the powered wheelchair 12.

[0077] While the seat 20 is being raised or lowered by the powered wheelchair 12, the user 22 can maintain contact with one or more handles 28. It should be understood that the master controller 16 can change the distance the powered wheelchair 12 extends away from the user 22. For example, the user's height, the user's arm length, etc., can all be factors in determining the distance the powered wheelchair 12 extends from the user. Furthermore, the master controller 16 continuously monitors the height of the seat 20 and the user 22's grip on one or more handles 28. The master controller 16 can also monitor whether the user 22 is maintaining contact with one or more handles 28, the speed of the seat 20's raising and / or lowering, and several other variables. Therefore, the master controller 16 can modify its program to assist the user 22. For example, the master controller 16 can slow down the movement of the powered wheelchair 12 or tilt the seat 20 so that at least one handle is in a better position for the user 22 to maintain a grip. In step 614, during the ascent or descent, the seat 20 can return to a neutral position (for example, a seating arrangement parallel to the floor 50).

[0078] Once standing, the master controller 16 can further adjust the operation of one or more user-attached exoskeletons 14 and / or guide the powered wheelchair 12 into multiple movements while restraining the user-attached exoskeletons 14 to prevent the user 22 from descending while the powered wheelchair 12 is moving.

[0079] Furthermore, it should be understood that these are merely examples of the third user activation program 88, and there may be multiple actions between the powered wheelchair 12 and the user-mounted exoskeleton 14 that may occur to assist in the transportation of the user 22 from one location to another.

[0080] Please understand that the process depicted in Figure 6C indicates that the process is unidirectional. However, this is for illustrative purposes only to illustrate a single iteration or loop of the program. Please understand that this process can function in reverse order to assist user 22. Furthermore, please understand that this process can continuously monitor, communicate, change, and / or modify the position of the powered wheelchair 12 and / or the user-mounted exoskeleton 14 as needed. Also, please understand that these are merely examples of the third user activation program 88, and there are multiple actions between the powered wheelchair 12 and the user-mounted exoskeleton 14 to assist in raising user 22 from a seated position to a standing position and / or lowering user 22 from a standing position to a seated position while the user is not positioned within the powered wheelchair 12.

[0081] Furthermore, it should be understood that any movement, rotation, or swivel of the various components described herein (including, but not limited to, the user-mounted exoskeleton 14 and the powered wheelchair 12) may occur simultaneously or substantially simultaneously. However, for the purpose of simplification, the above system is described in terms of a single movement, rotation, or swivel occurring at one time.

[0082] It should be understood herein that the systems and methods described herein include a powered wheelchair, a user-mounted exoskeleton, and a master controller. The master controller can monitor the independent movements of the powered wheelchair and the user-mounted exoskeleton so that they operate in a coordinated manner to avoid conflicts between individual movements. The systems and methods described herein may also be configured so that the master controller takes priority over the movement of certain components in order to complete an intended movement. The systems and methods described herein may also be configured so that the movements of the powered wheelchair and the user-mounted exoskeleton can be coordinated for one or more programmed tasks, such as assisting a user in sitting in the powered wheelchair, rising and standing behind the powered wheelchair, and / or using the powered wheelchair as a guide for walking.

[0083] While specific embodiments have been illustrated and described herein, it should be understood that various other changes and modifications can be made without departing from the spirit and scope of the claimed subject matter. Furthermore, although various aspects of the claimed subject matter are described herein, such aspects do not need to be used in combination. Therefore, the attached claims are intended to cover all such changes and modifications that fall within the scope of the claimed subject matter.

[0084] [Example 1] It is a system, Powered wheelchairs and A user-worn exoskeleton that can operate independently of the aforementioned powered wheelchair, Master controller and Equipped with, The powered wheelchair and the user-mounted exoskeleton are connected to the master controller in a manner that allows them to communicate with each other. The master controller is a system that coordinates multiple synchronized movements of the powered wheelchair and the user-worn exoskeleton. [Example 2] The system according to claim 1, wherein the plurality of synchronized movements include causing the powered wheelchair to function as a guide for a user walking, while being assisted by the user-mounted exoskeleton. [Example 3] The aforementioned powered wheelchair further includes a seat portion, The system according to claim 1, wherein the plurality of synchronized actions include raising the seat portion vertically in the system to assist the user while seated in the powered wheelchair. [Example 4] The aforementioned powered wheelchair further includes a seat portion, The system according to claim 1, wherein the plurality of synchronized actions include moving the seat portion to assist the user in standing up from the seat position. [Example 5] The system according to claim 1, wherein the master controller receives input from a user, and the master controller coordinates the plurality of synchronized operations based on the input. [Example 6] The system according to claim 5, wherein the input is provided via one or more of the following: voice commands, button pushes, and user interface selections. [Example 7] The system according to claim 1, further comprising a first group of sensors for monitoring the position and location of the powered wheelchair. [Example 8] The system according to claim 7, wherein the first group of sensors includes one or more location sensors. [Example 9] The system according to claim 7, further comprising a second group of sensors for monitoring the position of the user-mounted exoskeleton. [Example 10] The system according to claim 1, further comprising a plurality of cameras connected to the powered wheelchair. [Example 11] The system according to claim 10, wherein the plurality of cameras provide images corresponding to the area around the powered wheelchair. [Example 12] The system according to claim 1, wherein the user-mounted exoskeleton further comprises one or more features for identifying the user-mounted exoskeleton. [Example 13] The system according to claim 12, wherein image data corresponding to one or more of the features is used by the master controller to identify the user-mounted exoskeleton and connect to the user-mounted exoskeleton. [Example 14] A method for controlling a powered wheelchair and a user-mounted exoskeleton that can operate independently of the powered wheelchair, wherein the method is: The master controller receives input from the user, and the input corresponds to a specific function. The master controller acquires first data corresponding to at least one of the position, movement, and intended movement of the user-worn exoskeleton, The master controller acquires first data corresponding to at least one of the position, movement, and intended movement of the powered wheelchair. The processing device operates the powered wheelchair and the user-mounted exoskeleton in a controlled manner based on the first data and the second data. A method that includes [a certain feature]. [Example 15] The method according to claim 14, wherein operating the powered wheelchair and the user-attached exoskeleton allows the powered wheelchair to function as a guide for a walking user while being assisted by the user-attached exoskeleton. [Example 16] The method according to claim 14, wherein operating the powered wheelchair and the user-mounted exoskeleton in the adjusted manner comprises raising the seat position of the powered wheelchair. [Example 17] The method according to claim 14, wherein the input from the user is provided via one or more of the following: voice commands, button pushes, and user interface selections. [Example 18] It is a system, Master controller and At least one motor and The system comprises at least one actuator, and the at least one motor is independent of the at least one actuator. A system in which the master controller controls the operation of the at least one motor and the at least one actuator such that one of the at least one motor and the at least one actuator operates between a first position and a second position. [Example 19] The system according to claim 18, wherein the master controller coordinates a plurality of synchronized operations between the at least one motor and the at least one actuator. [Example 20] The system according to claim 19, wherein the master controller receives input from a user, and the master controller coordinates the plurality of synchronized operations based on the input.

Claims

1. It is a system, A powered wheelchair having a seat, a motor, and an electronic control unit (ECU) communicatively connected to the motor for transmitting control signals to the motor, A user-mounted exoskeleton having an actuator that can be operated independently of the motor of the powered wheelchair, and a control unit that is communicatively connected to the actuator for transmitting control signals to the actuator, A master controller is connected to the ECU and the control unit in a manner that allows communication between them. Equipped with, The aforementioned master controller The position of the user-mounted exoskeleton is determined by acquiring information from the second group of sensors, and the information is stored as first data. The position of the powered wheelchair is determined by acquiring information from the first group of sensors, and the information is stored as second data. The system is configured to store various positional information of the user-mounted exoskeleton and the powered wheelchair, and when movement is detected, it determines whether or not a conflict exists with respect to a specific movement of the powered wheelchair and / or the user-mounted exoskeleton. If the master controller determines that a conflict exists between the powered wheelchair and the user-mounted exoskeleton, the master controller may adjust the operation of both the powered wheelchair and the user-mounted exoskeleton to prevent the conflict from occurring, or the master controller may determine the priority of the operation of the powered wheelchair and the user-mounted exoskeleton so that only one of them has priority to complete the intended operation. system.

2. The system according to claim 1, wherein the master controller receives input from a user, and the input is provided via one or more of voice commands and button pushes.

3. The system according to claim 1, wherein the user-mounted exoskeleton further comprises one or more features for identifying the user-mounted exoskeleton.

4. The system according to claim 3, wherein image data corresponding to one or more of the features is used by the master controller to identify and connect to the user-mounted exoskeleton.

5. A method for controlling a powered wheelchair and a user-mounted exoskeleton that can be operated independently of the powered wheelchair, wherein the method is: The master controller receives input from the user, and the input corresponds to a specific function. The master controller obtains first data corresponding to at least one of the position or movement of the user-worn exoskeleton from the control unit of the user-worn exoskeleton, which is communicably connected to the master controller. The master controller obtains second data corresponding to at least one of the position or movement of the powered wheelchair from the electronic control unit (ECU) of the powered wheelchair, which is communicably connected to the master controller. When various positional information of the user-mounted exoskeleton and the powered wheelchair is stored and movement is detected, the master controller determines whether or not a conflict exists with respect to a specific movement of the powered wheelchair and / or the user-mounted exoskeleton. If the master controller determines that a conflict exists between the powered wheelchair and the user-mounted exoskeleton, the master controller may either adjust the operation of both the powered wheelchair and the user-mounted exoskeleton to prevent a conflict, or determine the priority of the operation of the powered wheelchair and the user-mounted exoskeleton so that only one of them has priority to complete its intended operation. Methods that include...

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