Robotic systems and methods for assisting with user posture

Abstract

Systems for assisting with a user's posture are disclosed. In some embodiments, the techniques described herein relate to a robotic system including a first base, one or more robotic limbs operatively connected to the first base and configured to be engaged with a body of a user of the robotic system, one or more sensors configured to sense pose information of the user proximate to the base, and one or more processors configured to determine a posture of the user based at least in part on the sensed pose information. The one or more processors may be configured to control the one or more robotic limbs to be engaged with the user's body based at least in part on the determined posture of the user.

Description

MIT 25560ROBOTIC SYSTEMS AND METHODS FOR ASSISTING WITH USER POSTURE STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

[0001] This invention was made with government support under grant number IIS- 2133072 awarded by the National Science Foundation. The government has certain rights in this invention. RELATED APPLICATIONS

[0002] This Application claims the benefit of priority under 35 U.S.C. § 119(e) of U.S. Provisional Application Serial No. 63 / 607,061, filed December 6, 2023, the disclosure of which is incorporated herein by reference in its entirety. FIELD

[0003] Disclosed embodiments are related to robotic systems and methods for assisting with user posture. BACKGROUND

[0004] Falls in the elderly population are a major public health issue. Serious injuries may result from a fall that may lead to rapidly declining health. There have been some mobile robot solutions to aid balance while walking and prevent falls. These systems typically include a mobile platform that moves with the user with an upper frame that connects to the user via short tethers connected to a wearable harness. With these systems, the user must always be tethered to the device to prevent a potential fall. Other solutions require a U-shaped fork to surround a person at all times. Air bags may be attached to this fork that inflate when a fall is detected. These systems generally encumber a user and inhibit physical movement. SUMMARY

[0005] In some embodiments a robotic system may be comprising a first base, one or more robotic limbs operatively connected to the first base and configured to be engaged with 1326885a body of a user of the robotic system, one or more sensors configured to sense pose information of the user proximate to the first base, and one or more processors configured to determine a posture and / or a posture transition of the user based at least in part on the sensed pose information, and wherein the one or more processors are configured to control the one or more robotic limbs to be engaged with the user’s body based at least in part on the determined posture and / or posture transition of the user.

[0006] In some embodiments a method for assisting with a user’s posture may comprise obtaining pose information of the user, determining a posture and / or posture transition of the user based at least in part on the pose information, and engaging the user’s body with one or more robotic limbs based at least in part on the determined posture and / or posture transition of the user.

[0007] In some embodiments, a fall catching robot that autonomously follows a person and in the event of a fall, safely wraps around them and slowly and safely lowers the person to thefloor. As will be discussed further herein the robot base may include two units, so that a large load may be born in a vertical plane perpendicular to thefloor in any arbitrary direction. This may help prevent the robot from tipping over when trying to bear a large load. Thus, it may support a person falling in any direction. The robot may possess two arms that can rapidly wrap around a falling person and secure the person by pulling them toward the robot base. These arms could take many forms including rigid links wrapped in inflatable air bags or soft robot arms that rapidly inflate and wrap around a person.

[0008] In some embodiments, a system may include robot arms and a robot base, where the arms embrace a falling person and bring them close to the robot base. In one embodiment of the disclosed system, the robot arms are mounted on a dual mobile base that may include two mobile units, where the units are configured such that the load from a human falling in any arbitrary direction may be borne, and where the robot is prevented from tipping. In one embodiment of the disclosed system, the robot arms may include padded arm links that wrap around a falling person. In one embodiment of the disclosure system, the robot arms may include inflatable air tubes that are initially rolled and that rapidly expand and at least partially wrap around a falling person as the air tubes are inflated with high pressure air. In one embodiment of the disclosed system, the robot arms may be gradually lowered to the floor via an air spring mounted on the mobile base. 1326885

[0009] It should be appreciated that the foregoing concepts, and additional concepts discussed below, may be arranged in any suitable combination, as the present disclosure is not limited in this respect. Further, other advantages and novel features of the present disclosure will become apparent from the following detailed description of various non- limiting embodiments when considered in conjunction with the accompanying figures.

[0010] In cases where the present specification and a document incorporated by reference include conflicting and / or inconsistent disclosure, the present specification shall control. If two or more documents incorporated by reference include conflicting and / or inconsistent disclosure with respect to each other, then the document having the later effective date shall control. BRIEF DESCRIPTION OF DRAWINGS

[0011] The accompanying drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. In the drawings:

[0012] Fig. 1 is a schematic representation of a robotic system configured to assist a user during a fall or other posture change according to one embodiment;

[0013] Fig. 2A is a top view of a schematic representation of a first configuration of the robotic limbs of a robotic system configured to assist a user during a fall or other posture change according to some embodiments;

[0014] Fig. 2B is a top view of a schematic representation of a second configuration of the robotic limbs of the robotic system of Fig. 2A configured to assist a user during a fall or other posture change according to some embodiments;

[0015] Fig. 3A is a top view of a schematic representation of an undeployed configuration of the one or more robotic limbs of a robotic system configured to assist a user during a fall or other posture change according to another embodiment;

[0016] Fig. 3B is a top view of a schematic representation of a partially deployed configuration of the one or more robotic limbs of the robotic system of Fig. 3A configured to assist a user during a fall or other posture change according to some embodiments; 1326885

[0017] Fig. 3C is a top view of a schematic representation of a fully deployed configuration of the one or more robotic limbs of the robotic system of Fig. 3A configured to assist a user during a fall or other posture change according to some embodiments;

[0018] Fig. 4 is a schematic representation a cross section of a robotic limb according to some embodiments; and

[0019] Fig. 5 is a method flow diagram for controlling a robotic system for assisting a user during a fall or other posture change according to one embodiment. DETAILED DESCRIPTION

[0020] Many systems for preventing falls in users, such as elderly users during various activities, may include a stationary or mobile base that moves with the user with an associated rigid upper frame that connects to the user via short tethers and a wearable harness. Alternatively, wearable airbags in the form of vests may help prevent injuries to certain body parts. For example, belt air bags may help protect a user’s hips while vest airbags may help protect the user’s hips, torso, and / or head. However, the Inventors have recognized that systems requiring always being attached to a harness and rigid frame and / or wearing of safety structures such as the noted vests and belts are undesirable from a practical perspective for certain activities and / or personal preferences for users. Additionally, systems requiring a rigid frame to constantly surround a user would encumber them and limit their physical mobility. Separately, mobile assistance systems, such as walkers, often do not provide sufficient stability for the user to achieve postural changes or to prevent them from falling. Walkers are also bulky and challenging to maneuver for users with limited strength and dexterity. The Inventors have recognized that these limitations associated with the use of prior fall prevention systems may cause people to be less likely to adopt these systems as they are inconvenient to use and may restrict their ability to perform everyday tasks.

[0021] In view of the above, the Inventors have recognized the benefits of a robotic system that is configured to support a user using one or more reconfigurable robotic limbs when the predicted stability level or amount of effort for a user related to a determined posture indicates a fall is likely to occur and / or if supporting forces in a situation such as a posture change, high effort posture, or other appropriate type of posture are desired. Such a 1326885robotic system may be configured to detect certain postures and / or posture transitions where assistance may be desired as elaborated on below. Upon determining assistance is desired in a particular situation, the robotic system may be configured to provide one or more supporting forces to the user with one or more robotic limbs. For example, the one or more supporting forces may be configured to prevent or mitigate a fall, assist a user during high effort postures which may also be referred to as posture transitions, and / or during other appropriate detected postures and / or posture transitions. The Inventors have recognized the benefits of a system that can provide fall assistance and / or supporting forces to a user based on a detected posture or posture transition of a user may offer a number of benefits as elaborated on further below.

[0022] As noted above, the Inventors have recognized the benefit of providing appropriate assistance to a user based on a detected posture and / or transition between postures of a user with one or more robotic limbs in some embodiments. Specifically, in various applications, a robotic system may obtain pose information of a user with one or more sensors configured to sense pose information of a user proximate to a base of the system. The system may then determine a posture and / or a posture transition of the user based at least in part on the sensed pose information. Depending on the posture and / or a posture transition of the user that is detected by the robotic system, the robotic system may determine that it is desirable to apply an assistive force to the user to prevent a fall of the user, mitigate a fall of the user, improve a stability of the user, assist in a posture transition of the user, and / or other appropriate application of assistive forces to the user performing an activity while using the robotic system. In some embodiments, the robotic system is operated based on a determined posture of the user. In other embodiments, the robotic system is operated based on a determined posture transition of the user. In either case, upon determining that the application of assistive forces is desired, the robotic system may control one or more robotic limbs of the robotic system to engage with a user based on this determination to apply the desired assistive force to the user’s body.

[0023] Depending on the embodiment, the robotic systems disclosed herein may either be mobile or stationary robotic systems. For example, in some embodiments, a robotic system may include one or more mobile base configured to support one or more robotic limbs operatively connected thereto to assist a user while the use moves freely within an overall environment. Alternatively, any of the embodiments disclosed herein may include one or 1326885more robotic limbs mounted on a stationary base such as a frame, a wall mount, or other stationary structure to permit movement of a user within a predefined area adjacent to the base of the one or more robotic limbs. A stationary system may be useful for a user performing a number of high effort postures or unstable activities including, but not limited to stretching or physical therapy. Additionally, it should be understood that any appropriate type of rigid and / or flexible type of robotic limb capable of being operated to engage a user’s body to apply an assistive force may be used in the various embodiments disclosed herein as the disclosure is not so limited.

[0024] In some embodiments, a robotic system may be configured to assist a person in any appropriate posture and / or posture transition where a user may be expected to exert a large amount of effort to maintain the posture, may exert a large amount of effort to transition from one posture to another posture, and / or may be unstable and / or at risk of falling. For example, a high effort posture may involve moving the center of mass of the user away from a vertical axis of user’s feet. For example, a user may need assistance while bending over or reaching to a side or above a user. High effort postures and transition postures where it may be desirable to provide assistive forces to a user may include, but are not so limited to, crouching to standing, standing to crouching, sitting to standing, standing to sitting, kneeling to standing, reaching to a side of a user, reaching above a user, leaning, falling, and / or any other posture and / or posture transition where it may be desirable to assist a user. Upon determining a user is in a posture and / or a posture transition where higher effort may be exerted by the user and / or the user may be unstable, the robotic system may be operated such that the one or more robotic limbs apply an assistive force that may urge the user back towards a more stable posture (e.g., with a center of mass closer to a central location over their feet). Alternatively, depending on the type of transition posture, the assistive force may be applied to the user to urge the user’s body towards a goal posture (i.e., the assistive force is applied in the direction of motion) depending on the type of determined posture and / or posture transition. For example, a robotic system may apply an assistive force that urges a user from kneeling to standing.

[0025] Depending on the type of posture and / or posture transition that is detected by a robotic system, a number of different combinations of assistive forces may be applied to a user’s body. In some embodiments, the one or more robotic limbs may help to stabilize the 1326885user by pulling them toward a base of the robot or lowering them to the ground. For example, if a robotic system detects that a user is early in a fall such that the user may be retained in an upright posture, the one or more robotic limbs may be operated to engage the user’s body and apply an assistive force that pulls the user towards a vertical axis of a base of the robotic system. The vertical axis of the robot may be oriented in a direction that is at least partially parallel with a direction of gravity when the base is properly oriented relative to a supporting surface during use by a user. If a user is later in a fall such that the robotic system is unable to reasonably maintain a user’s upright posture, the one or more robotic limbs may be controlled to engage the user’s body and apply assistive forces that partially support the user’s weight as the one or more robotic limbs lower the user to the ground in a controlled manner to avoid an uncontrolled fall by the user. For example, the one or more robotic limbs may lower the user to the ground based at least in part on a predetermined trajectory.

[0026] If a user is engaged in a high effort posture such as a transition posture between two lower effort postures as detailed above, the one or more robotic limbs may be configured to apply assistive forces to the user to assist the intended movement of the user during the posture transition between a first posture and a second posture. In some embodiments, the robot may assist the user based, at least in part on a predetermined trajectory associated with each posture transition using a local level controller with feedback to permit variance from the trajectory. For example, for a user undergoing a posture transition from a kneeling to a standing posture, the one or more robotic limbs may provide an upward force to the torso and / or the underarms of the user as to guide the user to a standing posture. Thus, the user may be assisted to safely reach a stable posture. In some embodiments the one or more robotic limbs may fully wrap around a user to create a closed kinematic loop around the user. The one or more robotic limbs may apply forces to the user to stabilize a user at risk of falling by biasing the user to a more stable posture. In some embodiments, robotic system may slowly lower the user to the ground or to a desired posture (e.g., kneeling). In some embodiments, the one or more robotic limbs may at least partially wrap around the user and lock in position as to allow the user to utilize the one or more robotic limbs as a manual support.

[0027] As elaborated on further below, in some embodiments, a closed loop control may be used to direct the one or more robotic limbs on how to lower the user. For instance, 1326885the one or more processors may determine (from the pose information from the sensors in the one or more robotic limbs) where the center of mass of the user is and / or in what direction the center of mass of the user is accelerating. This information may be used to direct the one or more robotic limbs to apply assistive forces that at least partially oppose the falling trajectory of user’s center of mass while guiding the user to the floor.

[0028] As noted above, a robotic system may be configured to determine a posture and / or posture transition of a user that is occurring in order to control operation of one or more associated robotic limbs to provide a desirable assistive force to the user. The posture and / or posture transition of a user can be determined in several different ways using various pose information including but not limited to the acceleration of a user’s center of mass, the orientation of a user’s body parts (e.g., torso) relative to gravity, the relative vertical alignment of a user’s feet and center of mass, the relative orientation of various body parts of a user (e.g., torso relative to arms and / or legs, etc.), or any other parameter that may be indicative of a user’s posture and / or transition between postures. This pose information can be analyzed in a number of ways to make the desired determination of a specific posture and / or posture transition as will be elaborated on further below.

[0029] In some exemplary embodiments, the various types of pose information sensed for a user may be evaluated using thresholding relative to a threshold parameter to determine if a user is in a particular posture and / or posture transition. For example, in one embodiment, the sensors may detect the acceleration of the center of mass of the person. According to this embodiment, a fall catching operation system may be activated when the acceleration of the center of mass of the person exceeds a certain threshold vertical acceleration indicative of a fall. Alternatively, thresholding in a vertical and / or lateral direction relative to a threshold velocity and / or displacement of the center of mass may be used to determine other postures and / or posture transitions. In some embodiments, sensors in the shoes of a user may collect and send information to the robotic system about the pressure distributions in the sole of the shoe to gain pose information. In some embodiments, a robotic system may be configured to assist a person in a high effort posture which may also be referred to as a posture transition. A high effort posture involves transitioning from one posture to another posture may involve moving the center of mass of the user away from a vertical axis of user’s feet which may be detected based on thresholded weight distributions 1326885between the feet, a threshold movement of the center of mass away from the vertical axis of the subject, or other appropriate metric. Again, transitioning postures may include, but are not so limited to, crouching to standing, standing to crouching, sitting to standing, standing to sitting, kneeling to standing, or other appropriate transition. In some embodiments, different postures may be determined using multiple thresholds relative to the sensed pose information to distinguish between different related postures and / or posture transitions. For example, a risk of falling and / or a high effort posture may be determined by a series of thresholds where a value of a pose information parameter that is greater than a first threshold may be associated with a first posture and / or posture transition (e.g., sitting down) and a value of a pose information related to the sensed pose information parameter greater than a second threshold greater than the first threshold may be indicative of a second posture and / or posture transition (e.g., falling). In some embodiments, a fall and / or high effort posture may be detected via abnormal movement of the sensed joints and / or nodes of the user. For example, if the knee joints of the user reach a threshold acceleration in a non-forward direction, the robotic system may detect a fall or transition posture. Additionally, threshold orientations may be used to determine orientation of one or more portions relative to each other and / or gravity that may be indicative of a fall or other posture and / or posture transition.

[0030] In other embodiments, a robotic system may use any of the previously mentioned pose information of a user in combination with a trained statistical model to determine a posture and / or posture transition that the user is undergoing. For example, pose information may be input into the trained statistical model which may output a determined posture and / or posture transition of the user. The trained statistical model may be trained using ground truth data corresponding to any of the types of postures and posture transitions noted above in combination with the pose information sensed by the one or more sensors of the robotic system. Appropriate types of trained statistical models may include but are not limited to Bayesian inference or Bayesian networks. Appropriate training methods may also include but are not limited to neural networks with gradient descent or using machine learning where a model is trained with gradient descent on data from any of the aforementioned sensing modalities (cameras, inertial measurement units, foot sole sensors, radar, Wi-Fi signals, etc.). 1326885

[0031] While particular methods for determining a posture and / or posture transition of a user are discussed above, it should be understood that any method may be used to determine a posture and / or posture transition of a user as the disclosure is not so limited.

[0032] As noted above, the Inventors have recognized the benefits associated with a robotic system that can actively sense a posture and / or posture transition of a user based at least in part using detected pose information. This may help to provide a robotic system that can adapt to the needs of a user during performance of an activity without being constantly tethered to the robotic system. To provide the desired pose information, in some embodiments, a robotic system may include one or more sensors configured to sense one or more parameters related to a pose of a user (i.e., pose information). The one or more sensors may be configured to transmit one or more corresponding signals with the desired pose information to one or more associated processors in an associated local or remote controller to facilitate control of the one or more robotic limbs. It should be understood that any appropriate type of sensor may be used to sense the desired pose information related to a user’s body. In some embodiments the one or more sensors may include a 3-D vision system configured to collect 3D information about the pose of one or more portions of the user’s body. According to this embodiment, the vision system may track the position of a person’s joints and / or certain nodes on the user’s body to collect pose information. The vision system may also monitor certain angular orientations of the person’s joints and / or nodes to collect information about the changes in pose. In other embodiments the one or more sensors may include joint angle sensors, inertial measurement units, accelerometers, position encoders, potentiometers, displacement sensors, angular sensors, torque sensors, cameras, force sensors in a wearable article of a user (e.g., shoes) of a user, combinations of any of the above forgoing sensors, and / or any other appropriate sensors configured to sense information related to a posture and / or a transition between postures of the user’s body. Additionally, depending on the type of sensor, the one or more sensors may either detect the desired pose information through direct and / or indirect sensing of the pose information of the user’s body.

[0033] In some embodiments it may be desirable to control the one or more robotic limbs based on a sensed absolute configuration and / or change in configuration of the one or more robotic limbs due to interaction with a user’s body. Thus, in some embodiments, the one or more robotic limbs may rather include one or more position and / or force sensors 1326885configured to output corresponding signals to one or more associated processors configured to control operation of the one or more robotic limbs. For example, in some embodiments, one or more sensors may be configured to detect an absolute position or configuration and / or change in a position or configuration of the one or more robotic limbs due to contact with the user (e.g., encoders, accelerometers, inertial measurement units, angle sensors, and / or any other appropriate sensor). Alternatively, one or more force sensors may be configured to sense a force interaction between the one or more robotic limbs and a user’s body. For instance, one or more force sensors may be integrated with a contact surface of the one or more robotic limbs configured to engage with a user’s body. Alternatively, sensors configured to directly or indirectly sense torques and / or forces applied by one or more actuators of the one or more robotic limbs may be used (e.g., current sensor, torque sensors, force sensors, etc.). However, it should be understood that other appropriate types of sensors may also be used as the disclosure is not so limited.

[0034] A pose and / or overall configuration of the robotic system may be determined using any appropriate method. For example, a configuration of a robotic system, including the one or more robotic limbs during operation, may be determined using forward and / or inverse kinematics in combination with the associated robotic limb position and / or force sensors. Forward kinematics may use kinematic equations to determine the pose of the robotic system using known values for joint parameters (e.g., sensed angles of the joint, measured by potentiometers). Inverse kinematics may use kinematic equations to determine the joint parameters needed to achieve a corresponding assistance system pose. Alternatively, a pose of the robotic system may be determined using one or more sensors, such as one or more sensors and corresponding pose tracking algorithms which may be used to identify the robotic system within the image and determine a pose of the robotic system within the three- dimensional space observed by the one or more photosensitive detectors. The pose of the robotic system may include, but is not limited to, the pose of the one or more robotic limbs, the first and / or second mobile bases, the relative pose of the first and second mobile bases, and / or any other appropriate portion of the robotic system.

[0035] As used herein, a pose may refer to an orientation and position of a component, user, device, user, or other object. In some embodiments, the pose may be a position in three-dimensional space in combination with a particular angular orientation 1326885within three-dimensional space. For example, a relative pose of a device relative to a user may refer to the position and angular orientation of the device relative to the user. In reference to a person, a pose may entail the body position and / or orientation of one or more portions of a user’s body. Further, a posture may refer to a combination of poses of the various portions of a user’s body associated with the various poses noted above (e.g., sitting, standing, reaching, kneeling, etc.).

[0036] It should be appreciated that the robotic systems described herein may be employed for any number of different suitable uses in a number of different environments. In one example, the disclosed robotic systems may be employed in a home of a user with limited strength and / or mobility (e.g., an elderly user or a physically disabled user), a hospital for temporary or permanently low-strength users, an assisted living community, a physical rehabilitation facility, and / or any other suitable environment to where it may be desirable to assist with a user performing activities within an environment while assisting in maintaining a user’s stability, aiding the user during posture transitions, and / or for preventing and / or mitigating falls of the user. Thus, it should be understood that the disclosed robotic systems are not limited to any specific environment and / or application.

[0037] Turning to the figures, specific non-limiting embodiments are described in further detail. It should be understood that the various systems, components, features, and methods described relative to these embodiments may be used either individually and / or in any desired combination as the disclosure is not limited to only the specific embodiments described herein.

[0038] Fig. 1 illustrates a robotic system 100 according to one embodiment. The robotic system 100 may include one or more robotic limbs 106 operatively coupled to a first base 102. The one or more robotic limbs 106 may be attached to a vertically extending portion 126 of the first base 102 such as a shaft, rod, or other suitable structure configured to mount the one or more robotic limbs 106 on. In some embodiments, the first base 102 may be a mobile base including a drivetrain (not depicted) configured to control motion of the first base 102 over a supporting surface by driving associated wheels 118 or other suitable drive structure (e.g., tracks) operatively coupled to a bottom portion 124 of the mobile first base 102 and the drivetrain. In some embodiments, the wheels 118 may be omnidirectional wheels which may help to optimize the movement of the mobile first base 102 and avoid extensive 1326885turning and / or rotation of the robotic system 100. While a mobile robotic system is depicted in the figure, the first base 102 may also be configured to be a stationary mounted base in some embodiments as the disclosure is not so limited in this fashion.

[0039] During operation, the one or more robotic limbs 106 may be configured to engage one or more portions of the user when an appropriate posture and / or posture transition is detected. In some embodiments, the one or more robotic limbs 106 may be two robotic limbs as shown in the figure, though a single and / or any number of robotic limbs may be used. In some instances, as shown in the figure, the one or more robotic limbs 106 may include a plurality of interconnected rigid links 107. The robotic limbs 106 may include cushions 108 positioned on one or more surfaces configured to be engaged with the user’s body during use to help distribute and cushion loads applied to the user during operation. While any appropriate material and / or construction may be used, in some embodiments, the plurality of interconnected rigid links 107 may be made of a lightweight material such as metal or composite in a functional shape such as tubes, angle irons, elongated prismatic structures, etc. Of course, other types of rigid link materials and configurations other than those noted above are also contemplated. The cushions may include, but are not limited to, foams, fluid filled bladders, and / or any other appropriate compressible material and / or structure capable of applying the desired forces to a user’s body. Depending on the embodiment, the bladders may be pre-inflated or may be inflated upon detection that the one or more robotic limbs will come into contact with the user. The bladders may be inflated via a pressurized gas source such as compressed gas cylinder, a chemical reaction, house pressurized air, and / or any other appropriate source of pressurized gas. Alternatively, a bladder may be preinflated as the disclosure is not so limited.

[0040] As shown in the figure, a user is in an unstable configuration where they are about to or are in the process of falling. In response, in some embodiments the one or more robotic limbs may be configured to at least partially, or completely, wrap around the falling person and may apply an assistive force that biases the user towards the first base 102 of the robotic system 100. During a fall, the one or more robotic limbs 106 may create a closed kinematic loop around the user to help ensure the user is not accidentally released. While a fall has been illustrated, the one or more robotic limbs may be used to apply assistive forces during other postures and posture transitions as noted previously. For example, the one or 1326885more robotic limbs may be configured to at least partially wrap around a user, completely wrap around a user, engage end effectors or padded linkages with the user, or any other appropriate operation to apply a desired assistive force to the user’s body based on the type of posture and / or posture transition the user is determined to be in as discussed previously above.

[0041] In some embodiments, one or more sensors 132 may be connected to the first base 102 or other appropriate portion of the robotic system. The one or more sensors may be configured to sense one or more parameters related to a pose of a user which may be referred to as pose information. As was previously discussed, the one or more sensors 132 may be configured to transmit the pose information as one or more signals to an associated one or more processors 134 which may be associated with non-transitory computer readable memory 140. The non-transitory computer readable memory 140 may include processor executable instructions that when executed by the one or more processors cause the robotic system 100 to perform any of the methods disclosed herein. The robotic system 100 may also include a transmitter 138 configured to transmit information to a remotely located computing device and / or server. The one or more processors 134, robotic limbs 106, one or more sensors 132, transmitter 138, and other components of the robotic system may be connected to and communicate with each other using any appropriate wired or wireless communication protocol. This may include communication protocols such as Wi-Fi, cellular, Bluetooth, wired protocols, and / or any other suitable communication protocol as the disclosure is not so limited.

[0042] In the depicted embodiment, the one or more processors 134 and associated non-transitory computer readable memory 140 are located on the first mobile base 102. However, instances in which these one or more processors 134 and associated non-transitory computer readable memory 140 are located on another portion of the robotic system and / or are located off board on a remotely located computing device such as a computer, a tablet computer, a smart phone, or other appropriate computing device are also contemplated.

[0043] The one or more processors 134 may be configured to determine a posture and / or a transition in posture of the user based at least in part on the sensed pose information received from the one or more sensors 132 using any of the previously disclosed methods. As noted previously, the one or more sensors 132 may correspond to any number of different 1326885types of sensors configured to sense pose information of the user. The one or more processors 134 may determine the posture and / or posture transition of the user using any of the methods disclosed herein. For example, pose information sensed by the one or more sensors 132 may be analyzed using a trained statistical model, a series of thresholds, parameter matching, and / or any of the other methods disclosed herein to determine a posture and / or posture transition of a user. Upon determining a pose and / or pose transition of the user, the one or more processors may then control the one or more robotic limbs 106 based at least in part on the determined posture and / or transition in posture of the user. For example, the one or more robotic limbs 106 may be operated to engage with a portion of the user’s body to apply a desired assistive force based at least in part on the determined posture and / or posture transition of the user. This may include fall mitigation, pose assistance, stability assistance, and / or any other type or combination of types of assistive forces applied to a user disclosed herein.

[0044] In some embodiments, the one or more robotic limbs 106 may also include one or more limb sensors 130 located on a surface of the one or more robotic limbs 106 that are configured to contact the user configured to detect the updated pose information of the user upon contact with the one or more robotic limbs 106, see Figs. 2A-2B. The one or more limb sensors may include force sensors, torque sensors, position sensors or any other method of actively sensing the position of the user while engaging the user, as the disclosure is not so limited. In some embodiments the one or more limb sensors may be at least partially located within end effectors 202 (See Fig. 2A or 2B) of the one or more robotic limbs 106. The one or more limb sensors may be in communication with the one or more processors 134 and may configured to sense force and / or pose information which may be used to determine an updated posture of the user based at least in part on the sensed pose information and to be incorporated into the control scheme of the system in order to control how the one or more robotic limbs 106 based at least in part on the determined posture of the user. This may create a closed loop system in which the robotic system 100 may adjust the assistance provided based at least in part on the real-time needs of the user, as previously discussed.

[0045] As noted above, in some embodiments, it may be desirable to permit a user to conduct activities within an open area where the first mobile base 102 is located. To help permit free movement of the user within the desired environment, the first mobile base 102 1326885may be configured to autonomously follows a user. Thus, the first mobile base 102 may be configured to move the robotic system 100 along a support surface disposed vertically below the first mobile base 102 during operation relative to a direction of gravity (e.g., the ground) with the one or more robotic limbs 106 attached to the first mobile base 102. In some embodiments, the first mobile base 102 may be configured to drive across an underlying supporting surface using any appropriate motion system and autonomously follow a path of a user.

[0046] When autonomously following a path of a user, the first mobile base 102 may be configured to maintain a pose of the first mobile base relative to the user. Appropriate poses include, but are not limited to staying behind a user, staying next to a predetermined side of a user, or any other appropriate pose of the first mobile base relative to a user during use. When not engaging the user, the first mobile base 102 of the robotic system 100 may be configured to maintain a distance from the user between or equal to any of 10 cm, 50 cm, 100 cm, 150 cm, 200 cm, or any other appropriate distance for the one or more robotic limbs to be able to engage the user for various types of posture assistance as this disclosure is not so limited. Such a mobile robotic system may offer several benefits including permitting a user to change posture at any potential location within an environment regardless of proximity to a wall, floor, supporting base, a supporting frame, or other structure typically used to mount existing static support systems.

[0047] It should be understood that the disclosed first mobile base 102, and other mobile bases disclosed herein, may have any appropriate construction capable of traversing across a desired surface and may include wheel, track, or other appropriate type of drive systems. Additionally, the first mobile base may be configured to follow a user’s path of travel within an environment using any appropriate type of tracking and path planning control strategies. For example, the robot may employ vision based tracking (i.e. a depth camera may be used to determine the user’s position relative to the robot). Skeletal estimation or object segmentation methods may also be used to infer the direction of motion of the center of mass of the person being tracked. Visual or other signals may be placed on the person for easier tracking. This includes fiducial markers (April tags or Aruco markers), reflective markers, or a Bluetooth low energy field emitter. Given vision data of the person walking, machine learning may be used to train a model to estimate the walking direction. The robot may be 1326885controlled to maintain a fixed distance away from the estimated or measured position of the person being tracked. Simultaneous localization and mapping (SLAM) may be used to create a map of the environment and allow the robot to navigate it, so that the robot can take an appropriate position relative to the user in advance of upcoming obstacles in the environment, or narrow doorways etc. Such control methods may be implemented using pose information of the user sensed with the one or more sensors 132 and / or information from any other appropriate sensor or input that permits the first mobile base 102 to be controlled to maintain a desired pose relative to the user. However, it should be understood that other appropriate constructions and methods for controlling operation of a mobile base to follow a path of a user within an environment may also be used as the disclosure is not so limited.

[0048] The Inventors have recognized that it may be desirable to increase a stability of a mobile robotic system 100 with a first mobile base 102 when significant assistive forces are applied to a user during high force events such as a fall. Thus, in some embodiments, the robotic system may include a second mobile base 104 that is attached to and rotatably connected to the first mobile base 102 by a rotatable coupling 128. For example, the robotic system may include a linkage 116 rotatably connecting the second mobile base 104 to the first mobile base 102 such that the second mobile base 104 may be rotated about the first mobile base 102. Appropriate rotatable couplings 128 may include, but are not limited to, a journal bearing, a cylindrical roller bearing, a spherical roller bearing, a tapered roller bearing, a thrust roller bearing, or any other appropriate rotatable coupling. The axis of rotation may be around a vertical axis 144 extending vertically upwards from the first mobile base 102 relative to a direction of gravity when the mobile bases are disposed on level ground during use.

[0049] As noted above, the second mobile base 104 may be rotatably coupled to the mobile first base via the linkage 116 and rotatable coupling 128. The axis of rotation of the rotatable coupling 128 may be around a vertical axis 144. However, it should be understood that other types of rotatable connections and directions of movement other than those noted above are also contemplated. The second mobile base 104 may include a plurality of wheels 120 or other appropriate type of support as noted previously for the first mobile base 102. For example, depending on the embodiment, the second mobile base 104 may include omnidirectional wheels. In some embodiments, the first and second drive systems of the first 1326885and second mobile bases 102 and 104 may be controlled by the same one or more processors. However, embodiments in which the mobile bases are controlled separately with separate processors are also contemplated. In some embodiments, the drives of the first and / or second mobile bases 102 and 104 may also include brakes (not depicted) configured to prevent translation of the drive system and associated base across the support surface when in a parked configuration. The brakes may improve the stability of the system while engaging the user.

[0050] As noted above, a pose of the second mobile base 104 may be changed relative to the first mobile base 102 to maintain stability of the robotic system 100. In some embodiments the pose of the mobile second base 104 may be determined at least in part by the sensed posture of the user, a pose of the first mobile base 102 relative to the user, and / or a pose of the second mobile base 104 relative to the first mobile base 102 when the one or more robotic limbs 106 are engaged with the user as previously described. The type and direction of assistive forces applied to a user by the one or more robotic limbs 106 may be determined as noted above. The desired assistive forces to be applied and the relative pose of the first mobile base 102 relative to the user may then be used to determine a desired pose of the second mobile base 104 to improve stability of the robotic system 100. For example, the second mobile base 104 may be rotated to a pose relative to the first mobile base 102 to apply a torque and / or force to the first mobile base 102 that may help oppose and / or support a torque and / or force applied to the first mobile base 102 by the one or more robotic limbs 106 when the assistive forces are applied to a user. For example, precommanded poses of the second mobile base 104 relative to the first mobile base 102 may be used for particular commands of the one or more robotic limbs 106, real time sensing of applied forces and / or torques, and / or other appropriate control methods may be used to determine a desired orientation of the second mobile base 104 relative to the first mobile base 102. In either case, upon determining a desired orientation, the drive system and / or an actuator may then position the mobile second base 104 as to counter the load borne on the first mobile base 102 from the user which may improve a stability of the robotic system 100.

[0051] In some embodiments, a fist mobile base 102 may increase its stability in other ways as well. For example, the first mobile base 102 may alternatively or additionally include outrigger legs that extend out from the base above the supporting surface, not depicted. In 1326885this embodiment, as the base tips, the outriggers may contact the ground to increase the support area and stability of the robotic system. In some embodiments the mobile first base 102 may include deployable legs that are deployed from a contracted configuration to a deployed configuration using one or more associated actuators when the mobile first base begins to tip, not depicted. Such deployable legs may extend out from the first mobile base in the deployed configuration to increase a support area of the mobile base. The tipping of the first mobile base 102 may be detected via various sensors detecting the pose information of the robotic system. Of course, other methods of maintaining stability for the first mobile base 102 are contemplated as this disclosure is not so limited.

[0052] While not illustrated in the figure, the depicted robotic system 100 may also include one or more user inputs and outputs (e.g., user interfaces, displays, cameras, microphones, speakers, monitors, etc.) configured to permit a user communicate with a secondary party, such as a health care provider.

[0053] Figs. 2A and 2B illustrate a top view of the one or more robotic limbs 106 at least partially wrapping around a user and pulling the user towards the vertical axis 144 of the first base 102 of the robotic system 100. In some embodiments, the one or more robotic limbs 106 may include elbow joints 110 rotatably connecting the plurality of interconnected rigid links 107. The one or more robotic limbs 106 may also include shoulder joints 112 to operatively couple the one or more robotic limbs 106 to the first base 102. The shoulder joints 112 and the elbow joints 110 may have one degree of freedom or multiple degrees of freedom as the disclosure is not so limited. For example, the shoulder joints 112 and elbow joints 110 may move in a direction parallel to the ground and in a direction perpendicular to the ground as to adjust for different body positions of a user. The shoulder joints 112 and elbow joints 110 may be any appropriate type of joints including, but not limited to rotary, linear (e.g., prismatic), twisting, revolute, spherical, cylindrical, or an appropriate combination depending on the desired type of motion as the disclosure is not so limited. Additionally, while a particular arrangement and number of joints have been shown, any number of joints may be used as the disclosure is not so limited.

[0054] In some embodiments, the shoulder joints 112 and elbow joints 110 may include actuators (not depicted) to facilitate movement of the joints and control the pose of the one or more robotic limbs 106. In some embodiments the actuators may be located at the 1326885joints. For example, the actuators at the joint may include a rotary actuator (e.g., a servo motor, stepper motor, etc.) and / or a linear actuator (e.g., lead screw, rod, etc.). However, in some embodiments, the actuators may be located away from the joints. For example, the actuators may utilize a belt, chain, pulley, and / or other transmission that permits the actuator to be located away from the associated joint. It should be noted that any other appropriate type of actuator may be utilized to allow for movement of the joints, as the disclosure is not so limited. Additionally, the actuators may be powered using any appropriate power source including, but not limited to hydraulic, pneumatic, electric, and other appropriately power source for the actuators. In some embodiments, the various actuators may be controlled via encoder signals or joint position sensors, but other types of control systems are also contemplated. The joint actuators may be in communication with the one or more processors noted above.

[0055] As previously mentioned, in some embodiments the one or more robotic limbs 106 may include end effectors 202 configured to contact the user when the one or more robotic limbs 106 engage the user. For example, paddles attached to distally located wrist joints of the robotic limbs have been illustrated in the figures. However, the end effectors 202 may be any appropriate end effector configured to contact and apply a force to the user including, but not limited to, paddles, flat pads, curved pads, and / or other appropriate end effectors as the disclosure is not so limited. In some embodiments, the end effectors 202 may be curved to compliment a contour of a user’s body. A surface of the end effectors 202 oriented towards a user may also include an external layer or coating of a material with a coefficient of friction that is greater than a coefficient of friction of other portions of the robotic limbs to help provide a more secure grasp and / or manipulation of the user.

[0056] In Fig. 2A the one or more robotic limbs 106 are extended and wrapped at least partially around a user that has been determined to need an assistive force after determining they are at risk of falling and / or need assistance for any of the other reasons disclosed herein. The robotic limbs 106 have created a closed kinematic loop through the user’s body. However, embodiments in which different force arrangements and / or the user of different numbers of robotics limbs are also contemplated. In the depicted embodiment, the end effectors 202 are in direct contact with the user and are applying an assistive force that biases the user towards a vertical axis 144 associated with a base of the robotic system. In 1326885Fig. 2B, the one or more robotic limbs 106 have displaced the user inwards toward the vertical axis 144 of the base due to the assistive force applied to the user’s body via the end effectors 202. In some embodiments the one or more robotic limbs 106 may pull the user in by rotating the shoulder joints 112 outward and the elbow joints 110 inward around axes of rotation perpendicular to the ground, as depicted in Fig. 2B. However, different types of assistive forces in different directions and for different situations are also contemplated as discussed elsewhere herein.

[0057] Figs. 3A-3C shows another embodiment of a robotic system 100 where the one or more robotic limbs 106 are inflatable robotic limbs 302 made of soft flexible tubes that are configured to rapidly expand and wrap around the user as the flexible tubes are inflated with high pressure gas. In some embodiments, the inflatable robotic limbs 302 may initially be in a first deflated configuration and may transition to a second inflated configuration upon inflation. Fig 3A depicts the inflatable robotic limbs 302 in the first deflated configuration where the inflatable robotic limbs are initially spaced apart from the user adjacent to the associated portion of the first base 102. Fig. 3B depicts the inflatable robotic limbs 302 partially inflated and beginning to wrap around the user. Fig. 3B depicts the inflatable robotic limbs 302 in the fully inflated second configuration where the inflatable robotic limbs 302 have been inflated and have assumed a shape that is wrapped at least partially around the user to secure the user during a fall or high effort posture. The inflatable robotic limbs 302 may include a fixed physical geometry that causes the inflatable robotic limbs 302 to at least partially wrap around a person in the second inflated configuration. For example, the inflatable robotic limbs 302 may be made from flexible textile or membrane materials with a predetermined shape when fully inflated. In some embodiments, the inflatable robotic limbs 302 may also include a backbone 304 configured to bias the inflatable robotic limbs 302 towards the retracted position when deflated (as seen in Fig. 3A). For example, the inflatable robotic limbs 302 may include a spring, or some other backbone 304 configured to bias the inflatable robotic limbs 302 towards a rolled, loaded, or other appropriate deflated configuration that is retracted away from a user while deflated. In some other configurations, the inflatable robotic limbs 302 may not include a backbone 304 and may not be biased in any retracted position while deflated, in which case the inflatable robotic limbs 302 may simply droop towards the ground in the deflated configuration. In some embodiments the 1326885inflatable robotic limbs 302 may be inflated via a pressurized gas source (not depicted) such as a gas cylinder, a chemical explosive, or other source of gas in fluid communication with the inflatable robotic limbs 302.

[0058] Fig. 4 is an illustration of a cross section of the construction of one embodiment of an inflatable robotic limb 302. In some embodiments, it may be beneficial for the inflatable robotic limbs to be sturdy while also being flexible enough to inflate and deflate into the proper configurations. Thus, the inflatable robotic limbs 302 may include pockets 402 disposed on an interior of the inflatable robotic limbs 302. In some embodiments, the pockets 402 may be individual pockets 402 distributed along the length of the inflatable robotic limbs 302. In some embodiments, the pockets 402 may be one long pocket 402 extending along the length of the inflatable arms 302. The inflatable robotic limb 302 may also include vertical reinforcements 404 disposed within the pocket or pockets 402, or otherwise attached to the inflatable robotic limb 302 using any appropriate type of attachment, at spaced apart locations along its length and extending in a direction that is at least partially perpendicular to a longitudinal axis of the inflatable robotic limb 302. The vertical reinforcements 404 may be plastic or metal rods or other type of rigid structure with a greater stiffness than the flexible tube of the inflatable robotic limb 302. The vertical reinforcements 404 may provide the inflatable robotic limbs 302 with additional stiffness in the plane orthogonal to the extension direction of the inflatable robotic limbs 302. For example, the vertical reinforcements 404 may provide enhanced stiffness which may help reduce vertical displacement of the inflatable robotic limb 302 due to gravity or pressure from the user. While other types of reinforcements might be used, the use of vertical rods may allow the inflatable robotic limbs 302 to still be configured to retract into a rolled configuration when deflated. In some embodiments the inflatable robotic limbs 302 may include polyethylene or some other flexible polymer on the outer surface or a membrane. The material of the membrane may be configured to withstand high pressures without leaking or popping in the fully inflated configuration The inflatable robotic limbs may include a combination of any appropriate materials to create a flexible yet strong structure, as the disclosure is not so limited.

[0059] Fig. 5 shows a block diagram of one embodiment of a method for controlling a robotic system 100. As shown at 502, the method may include obtaining a user pose data. As 1326885previously mentioned, the user pose data may be obtained using the one or more sensors 132. Subsequently, the posture and / or a posture transition of the user may be determined based at least in part on the user pose data at block 504. This action may be accomplished with the one or processors 134 and any of the methods for determining a posture and / or posture transition of the user disclosed herein. Then, the robotic system 100 may determine if user assistance is needed at 506 based at least in part on the determined posture and / or posture transition of the user. If the robotic system 100 determines that no assistance is currently needed, the system returns to obtaining user pose information. If the robotic system 100 determines that assistance is needed, it may then control a pose of the mobile second base 104 relative to a first mobile base 102 of the system based at least in part on the determined posture and / or posture transition at block 508 to proactively improve a stability of the system. For example, the drive system may position the mobile second base 104 in a pose relative to the first mobile base 102 to be arranged to eventually counter a load borne by the first base 102 from the user. The robotic system 100 may then control actuation of the one or more robotic limbs 106 based at least in part on the determined posture and / or posture transition, as shown at 510. Thus, the robotic system 100 may be commanded to engage the user with the one or more robotic limbs 106 as shown at 512.

[0060] Subsequently, upon contact with the user, the robotic system 100 may optionally update the user pose information based at least in part on pose information collected from one or more limb sensors. In some embodiments, the one or more robotic limbs may include sensors configured to collected updated pose information of the user upon contact with the one or more robotic limbs. For example, the one or more robotic limbs may include at least one four-axis torque force sensor to sense the torque and / or weight applied by the user when being assisted, though other force and / or torque sensors may also be used. The one or more robotic limbs may include end effectors configured to accurately detect force applied to the one or more robotic limbs. The sensors may be in communication with the one or more processors to determine a posture of the user based at least in part on the sensed pose information. This updated pose information from the one or more limb sensors may then be used to update the determined posture and / or posture transition at block 514 as noted previously above using any of the methods disclosed for determining a posture of a user. Then, then robotic system 100 may apply an assistive force to the user’s body to improve a 1326885stability and / or aid a user transitioning between different postures at 516. The previously mentioned pose information may be used, at least in part, to direct the robot on how to assist the user. For example, in one embodiment, the one or more robotic limbs may be operated to apply an assistive force that biases the user’s body towards the first base 102 of the robotic system, as shown in block 516.

[0061] Finally, the robotic system 100 may determine if the user is stable at 518. Blocks 514 – 518 may optionally be repeated until the user is detected to be in a stable position. To provide this functionality, the robotic system may include closed loop control in which the robot may adjust the assistance provided based at least in part on the real-time needs of the user as sensed with real time pose information sensed from the user. For example, the pose information sent from the sensors to the one or more processors may indicate the updated location and / or acceleration of the center mass of the user. This information may be used to direct the one or more robotic limbs on how to continuously guide the user in a desired direction based on the type of sensed posture and / or posture transition. This closed loop system may also be useful for determining when to stop the assistance. The sensors in the one or more robotic limbs may determine when assistance is no longer needed for the user. For example, if a sensed force, torque, or change in position drops below a lower threshold value, the robotic system may disengage the robotic limbs from the user. In some embodiments the robotic system may disengage the user when the one or more processors determine from the posture information that the user is stable. Stability may be defined by a center of mass that is within a predetermined threshold distance from a vertical axis between the feet of the user in a standing configuration or the hips of the user in a sitting or kneeling configuration. This may help to ensure that the user will not fall and / or injure themselves when the robotic system disengages the user.

[0062] The above method is directed primarily towards an embodiment in which the robotic system 100 assists a user that is in the early stages of falling or is at risk of falling, so the one or more robotic limbs 106 stabilize the user by pulling the user towards the first base 102. As previously described, in some embodiments, the robotic system 100 may engage a user that is later in a fall or in a certain high effort posture. Therefore, in some embodiments, the one or more robotic limbs 106 may be able to apply various different assistive forces to the user such as lifting them up, lowering them to the floor, providing an arm rest, and / or any 1326885other action that a user may need for support. In other embodiments, if the robotic system 100 detects that a user is late in a fall, the robotic system 100 may determine that the best course of action is to lower the user to the ground. This may be accomplished via downward rotation of the shoulder joints 112 and / or decompression of an air spring 142 (See Fig. 1). Of course, other methods of lowering the user to the ground are also contemplated.

[0063] The above method may be implemented by one or more controllers including the one or more processors 134 operatively coupled to the various controllable portions of a robotic system as disclosed herein. The method may be embodied as computer readable instructions stored on non-transitory computer readable memory associated with the at least one processor 134 such that when executed by the one or more processors the robotic system may perform any of the actions related to the methods disclosed herein. Additionally, it should be understood that the disclosed order of the steps is exemplary and that the disclosed steps may be performed in a different order, simultaneously, and / or may include one or more additional intermediate steps not shown as the disclosure is not so limited.

[0064] The above-described embodiments of the technology described herein can be implemented in any of numerous ways. For example, the embodiments may be implemented using hardware, software, or a combination thereof. When implemented in software, the software code can be executed on any suitable processor or collection of processors, whether provided in a single computing device or distributed among multiple computing devices. Such processors may be implemented as integrated circuits, with one or more processors in an integrated circuit component, including commercially available integrated circuit components known in the art by names such as CPU chips, GPU chips, microprocessor, microcontroller, or co-processor. Alternatively, a processor may be implemented in custom circuitry, such as an ASIC, or semicustom circuitry resulting from configuring a programmable logic device. As yet a further alternative, a processor may be a portion of a larger circuit or semiconductor device, whether commercially available, semi-custom or custom. As a specific example, some commercially available microprocessors have multiple cores such that one or a subset of those cores may constitute a processor. Though, a processor may be implemented using circuitry in any suitable format.

[0065] Further, it should be appreciated that a computing device including one or more processors may be embodied in any of a number of forms, such as a rack-mounted 1326885computer, a desktop computer, a laptop computer, or a tablet computer. Additionally, a computing device may be embedded in a device not generally regarded as a computing device but with suitable processing capabilities, including a Personal Digital Assistant (PDA), a smart phone, tablet, or any other suitable portable or fixed electronic device.

[0066] Also, a computing device may have one or more input and output devices. These devices can be used, among other things, to present a user interface. Examples of output devices that can be used to provide a user interface include display screens for visual presentation of output and speakers or other sound generating devices for audible presentation of output. Examples of input devices that can be used for a user interface include keyboards, individual buttons, and pointing devices, such as mice, touch pads, and digitizing tablets. As another example, a computing device may receive input information through speech recognition or in other audible format.

[0067] Such computing devices may be interconnected by one or more networks in any suitable form, including as a local area network or a wide area network, such as an enterprise network or the Internet. Such networks may be based on any suitable technology and may operate according to any suitable protocol and may include wireless networks, wired networks or fiber optic networks.

[0068] Also, the various methods or processes outlined herein may be coded as software that is executable on one or more processors that employ any one of a variety of operating systems or platforms. Additionally, such software may be written using any of a number of suitable programming languages and / or programming or scripting tools, and also may be compiled as executable machine language code or intermediate code that is executed on a framework or virtual machine.

[0069] In this respect, the embodiments described herein may be embodied as a computer readable storage medium (or multiple computer readable media) (e.g., a computer memory, one or more floppy discs, compact discs (CD), optical discs, digital video disks (DVD), magnetic tapes, flash memories, RAM, ROM, EEPROM, circuit configurations in Field Programmable Gate Arrays or other semiconductor devices, or other tangible computer storage medium) encoded with one or more programs that, when executed on one or more computers or other processors, perform methods that implement the various embodiments discussed above. As is apparent from the foregoing examples, a computer readable storage 1326885medium may retain information for a sufficient time to provide computer-executable instructions in a non-transitory form. Such a computer readable storage medium or media can be transportable, such that the program or programs stored thereon can be loaded onto one or more different computing devices or other processors to implement various aspects of the present disclosure as discussed above. As used herein, the term "computer-readable storage medium" encompasses only a non-transitory computer-readable medium that can be considered to be a manufacture (i.e., article of manufacture) or a machine. Alternatively or additionally, the disclosure may be embodied as a computer readable medium other than a computer-readable storage medium, such as a propagating signal.

[0070] The terms “program” or “software” are used herein in a generic sense to refer to any type of computer code or set of computer-executable instructions that can be employed to program a computing device or other processor to implement various aspects of the present disclosure as discussed above. Additionally, it should be appreciated that according to one aspect of this embodiment, one or more computer programs that when executed perform methods of the present disclosure need not reside on a single computing device or processor, but may be distributed in a modular fashion amongst a number of different computers or processors to implement various aspects of the present disclosure .

[0071] Computer-executable instructions may be in many forms, such as program modules, executed by one or more computers or other devices. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. Typically the functionality of the program modules may be combined or distributed as desired in various embodiments.

[0072] The embodiments described herein may be embodied as a method, of which an example has been provided. The acts performed as part of the method may be ordered in any suitable way. Accordingly, embodiments may be constructed in which acts are performed in an order different than illustrated, which may include performing some acts simultaneously, even though shown as sequential acts in illustrative embodiments.

[0073] Further, some actions are described as taken by a “user.” It should be appreciated that a “user” need not be a single individual, and that in some embodiments, actions attributable to a “user” may be performed by a team of individuals and / or an individual in combination with computer-assisted tools or other mechanisms. 1326885

[0074] While the present teachings have been described in conjunction with various embodiments and examples, it is not intended that the present teachings be limited to such embodiments or examples. On the contrary, the present teachings encompass various alternatives, modifications, and equivalents, as will be appreciated by those of skill in the art. Accordingly, the foregoing description and drawings are by way of example only.

[0075] While several embodiments of the present invention have been described and illustrated herein, those of ordinary skill in the art will readily envision a variety of other means and / or structures for performing the functions and / or obtaining the results and / or one or more of the advantages described herein, and each of such variations and / or modifications is deemed to be within the scope of the present invention. More generally, those skilled in the art will readily appreciate that all parameters, dimensions, materials, and configurations described herein are meant to be exemplary and that the actual parameters, dimensions, materials, and / or configurations will depend upon the specific application or applications for which the teachings of the present invention is / are used. Those skilled in the art will recognize, or be able to ascertain using no more than routine experimentation, many equivalents to the specific embodiments of the invention described herein. It is, therefore, to be understood that the foregoing embodiments are presented by way of example only and that, within the scope of the appended claims and equivalents thereto, the invention may be practiced otherwise than as specifically described and claimed. The present invention is directed to each individual feature, system, article, material, kit, and / or method described herein. In addition, any combination of two or more such features, systems, articles, materials, kits, and / or methods, if such features, systems, articles, materials, kits, and / or methods are not mutually inconsistent, is included within the scope of the present invention. 1326885

Claims

CLAIMS 1. A robotic system comprising: a first base; one or more robotic limbs operatively connected to the first base and configured to be engaged with a body of a user of the robotic system; one or more sensors configured to sense pose information of the user proximate to the first base; and one or more processors configured to determine a posture and / or a posture transition of the user based at least in part on the sensed pose information, and wherein the one or more processors are configured to control the one or more robotic limbs to be engaged with the user’s body based at least in part on the determined posture and / or posture transition of the user.

2. The robotic system of claim 1, wherein the first base is a mobile first base.

3. The robotic system of claim 2, wherein the mobile first base is configured to autonomously follow a path of travel of the user and maintain a relative pose between the user and the mobile first base.

4. The robotic system of claim 1, further comprising a second base rotatably coupled to the first base.

5. The robotic system of claim 4, wherein the second base is configured to rotate about the first base to prevent tipping of the first base.

6. The robotic system of claim 1, wherein the one or more robotic limbs includes two robotic limbs. 13268857. The robotic system of claim 1, wherein the one or more robotic limbs comprise one or more inflatable robotic limbs configured to wrap at least partially around the user in an inflated configuration.

8. The robotic system of claim 1, wherein the one or more robotic limbs comprise a plurality of interconnected rigid links, and further comprising cushions positioned on one or more surfaces of the plurality of interconnected rigid links and configured to be engaged with the user’s body.

9. The robotic system of claim 1, wherein the one or more processors are configured to control the one or more robotic limbs to apply a force to the user’s body that biases the user’s body towards the first base.

10. The robotic system of claim 1, wherein the one or more processors configured to determine a posture of the user based at least in part on the sensed pose information.

11. The robotic system of claim 1, wherein the one or more processors configured to determine a posture transition of the user based at least in part on the sensed pose information.

12. The robotic system of claim 10, wherein the posture is a falling posture.

13. The robotic system of claim 1, wherein the one or more processors are configured to control the one or more robotic limbs to lower the user’s body towards a supporting surface.

14. A method for assisting with a user’s posture, the method comprising: obtaining pose information of the user; 1326885determining a posture and / or posture transition of the user based at least in part on the pose information; and engaging the user’s body with one or more robotic limbs based at least in part on the determined posture and / or posture transition of the user.

15. The method of claim 14, further comprising a first base.

16. The method of claim 15, wherein the first base is a mobile first base.

17. The method of claim 16, wherein the mobile first base autonomously follows a path of travel of the user.

18. The method of claim 16, wherein the mobile first base maintains a relative pose between the user and the mobile first base.

19. The method of claim 15, further comprising a second base rotatably coupled to the first base.

20. The method of claim 14, wherein the one or more robotic limbs includes two robotic limbs.

21. The method of claim 14, wherein the one or more robotic limbs comprise one or more inflatable robotic limbs configured to wrap at least partially around the user in an inflated configuration.

22. The method of claim 14, wherein the one or more robotic limbs comprise a plurality of interconnected rigid links, and further comprising cushions positioned on one or more surfaces of the plurality of interconnected rigid links and configured to be engaged with the user’s body. 132688523. The method of claim 15, further comprising one or more processors to control the one or more robotic limbs to apply a force to the user’s body that biases the user’s body towards the first base.

24. The method of claim 23, wherein the one or more processors determine a posture of the user based at least in part on the pose information.

25. The method of claim 23, wherein the one or more processors determine a posture transition of the user based at least in part on the pose information.

26. The method of claim 24, wherein the posture is a falling posture.

27. The method of claim 23, wherein the one or more processors control the one or more robotic limbs to lower the user’s body towards a supporting surface.

28. Non-transitory computer readable memory including processor executable instructions that when executed by one or more processors perform any one of the methods of claims 14-27. 1326885

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