Transfer systems with soft everting robots and related methods

Abstract

Systems for transferring a subject or other load from a first surface to a second surface using everting flexible inflatable structures are described. In some embodiments, a transfer system may be positioned adjacent to a second surface and one or more everting flexible inflatable structures may be moved to an extended configuration. The one or more everting flexible inflatable structures may then evert towards and under the subject or other object. The one or more everting flexible inflatable structures may then be inflated to lift the subject or other object. The flexible inflatable structure may then be moved to a retraced configuration, over a second surface to move the subject or other object onto the second surface. The subject may be lowered onto the second surface as the flexible inflatable structures are deflated and inverted.

Description

TRANSFER SYSTEMS WITH SOFT EVERTING ROBOTS AND RELATED METHODSRELATED APPLICATIONS

[0001] This application claims priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application No. 63 / 614,543, filed December 23, 2023, which is incorporated herein by reference in its entirety for all purposes.BACKGROUND

[0002] Transferring bedridden patients and older adults with mobility issues out of the bed is a strenuous task for the caregivers, which often leads to injuries and generates mental stress on both the caregiver and the person being assisted. Many assistive systems have been developed in the past that aim to address this issue, but often rely on lifting the person completely out of the bed. This requires high forces to lift a heavy human body. Furthermore, being lifted and hung for transfer may be an uncomfortable and / or undesirable experience for most patients and older adults.SUMMARY

[0003] In one embodiment, a transfer system for transferring an object includes a base, one or more actuators operatively coupled to the base, one or more flexible inflatable structures operatively coupled to the one or more actuators. The one or more flexible inflatable structures are configured to move at least partially between a fully everted configuration and a fully inverted configuration. The one or more flexible inflatable structures are configured to support the object on a first supporting surface in the fully everted configuration. In addition, the one or more actuators are configured to displace the one or more flexible inflatable structures while the one or more flexible inflatable structures are at least partially everted to move the object across the first supporting surface onto a second supporting surface.

[0004] In a further embodiment, a method for transferring an object to a first supporting surface includes everting one or more flexible inflatable structures between the object and a first supporting surface. The method further includes displacing the one or more flexible inflatable structures while the one or more flexible inflatable structures are at least partially everted to move the object across the first supporting surface to a second supporting surface.

[0005] One embodiment of the disclosure herein is a bed-to-bed transfer system includes a first surface, a second surface, and a 1-axis positioning device. The 1 axis positioning device may extend horizontally across the second surface. In addition, an everting robot may be attached to the second surface. The everting robot comprises a single or multiple flexible inflatable structures that may be double-layered tubular belts, wherein the belts comprise tips that are configured to extend when pressurized air is supplied to the tubes.

[0006] One aspect of the disclosure herein is a method of using an embodiment of a transfer system to transfer a subject lying on a first surface to a second surface, the method includes: using the positioning device to locate the tips of the everting robot close to the subject on the first surface; using the everting robot to extend its tips beneath the body of the subject to reach the other side of the body and provide the subject with a stable support from beneath; while stably supporting the subject, contracting the 1-axis positioning device to bring the subject on the everting robot towards the second surface to transfer the subject to the second surface; and retracting the everting robots to remove flexible inflatable structures from beneath the subject as shown in Fig. 1.

[0007] In one embodiment of the disclosed systems, the second surface may be a wheelchair configured to make its seat, back, and leg rests flat and level during transfer of the subject from the first surface, and after transferring the subject, the wheelchair reconfigures by raising the back and lowering the leg rests.

[0008] In one embodiment, the disclosed systems may further comprise a second set of everting robots and positioning device attached to first surface, wherein the second set of everting robots and positioning devices are configured for transferring the subject from the second surface to the first surface.

[0009] In one embodiment of the disclosed systems, the everting robots and the positioning devices may both be on the first surface. The first surface and the second surface work together by coordinating their actions to handle the subject.

[0010] In one embodiment of the disclosed systems, the everting robots may be equipped with tactile sensors, where the sensors are configured to monitor contact with the subject for proper posture and safety during transfer of the subject.

[0011] In one embodiment, the disclosed systems may further comprise a second axis of movement of the independent positioning device added to the 1-axis positioning device, where the second positioning device may be configured to adjust the everting robot along the longitudinal direction of the subject.

[0012] In some embodiments, what is described herein is a bed-to-bed transfer system comprising a first surface and a second surface; a 1-axis positioning device extends horizontally across the second surface; and an everting robot attached to the second surface, wherein the everting robot comprises single or multiple flexible inflatable structures that may be double-layered tubular belts, wherein the belts comprise tips that extend when pressurized air is supplied to the tubes. Also described is a method of using the transfer system to transfer a subject lying on the first surface to the second surface, the method comprising using the positioning device to locate the tips of the everting robot close to the subject lying on the first surface; using the everting robot to extend its tips beneath the body of the subject to reach the other side of the body and provide the subject with a stable support from beneath; while stably supporting the subject, contracting the 1-axis positioning device to bring the subject on the everting robot towards the second surface to transfer the subject to the second surface; and retracting the everting robots to remove flexible structures from beneath the subject.

[0013] 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 nonlimiting embodiments when considered in conjunction with the accompanying figures.

[0014] 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 THE DRAWINGS

[0015] 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:

[0016] Fig. 1A illustrates a transfer system in a first configuration according to one embodiment;

[0017] Fig. IB illustrates a side view of the transfer system of Fig. 1A;

[0018] Fig. 1C illustrates the transfer system of Fig. 1A in a second configuration according to one embodiment;

[0019] Fig. ID illustrates the transfer system of in Fig. 1C;

[0020] Fig. IE illustrates the transfer system of Fig. 1A in a third configuration according to one embodiment;

[0021] Fig. IF illustrates a side view of the transfer system of Fig. IE;

[0022] Fig. 1G illustrates the transfer system of Fig. 1A in a fourth configuration according to one embodiment;

[0023] Fig. 1H illustrates a side view of the transfer system of Fig. 1G;

[0024] Fig. 2 illustrates an everting flexible inflatable structure according to one embodiment;

[0025] Fig. 3 illustrates a rotatable mandrel for retracting an everted flexible inflatable structure according to one embodiment;

[0026] Fig. 4 illustrates a flow chart depicting a process for transferring a subject using a transfer system according to one embodiment; and

[0027] Figs. 5A-5E illustrate a process for transferring a subject from a first surface to a reconfigurable wheelchair using a transfer system according to one embodiment.DETAILED DESCRIPTION

[0028] Transferring a human subject, or other heavy object, from one surface to another surface is a challenging problem. This may be especially applicable in settings where a subject may be injured or incapacitated such as in a hospital. Mechanical devices such as slings can be used to transfer a person from one supporting surface such as a bed to another bed, but these may require the use another person such as a nurse to facilitate the movement of the subject. Moving a subject, or other heavy objects, is physically challenging due to the weight and positioning of the load. Thus, such an activity may strain the person facilitating the transfer even with mechanical aids. In addition, in some instances, a person may be unable to transfer the subject appropriately which is undesirable for a number of reasons.

[0029] In view of the above, the inventors have recognized there is a need for a system that can facilitate the transfer of subjects, or other loads, between surfaces. Further, the inventors have recognized the benefits associated with the use of everting flexible inflatable structures which may also be referred to as vine or everting robots. These everting flexible inflatable structures may be capable of extending between a gap located between asubject and an underlying supporting surface. Specifically, in some embodiments, these flexible inflatable structures can extend and retract through eversion and inversion of a distal tip of the flexible inflatable structures. This may permit the flexible inflatable structures to easily extend between the subject and surface without being subject to significant friction. Once at least partially everted between a subject or other load and the underlying surface, the flexible inflatable structure can be inflated to support the subject relative to the underlying supporting surface which may also be referred to as a first surface. Upon inflation, the one or more everting flexible inflatable structures supporting the subject may be moved relative to the first supporting surface while supporting the subject. For example, the one or more flexible inflatable structures may be dragged across the first supporting surface. This movement may transfer the subject to a second surface by moving the portion of the flexible inflatable structure supporting the subject, or other load, onto the second surface. The flexible inflatable structure may then be deflated and inverted to lower the subject onto the second supporting surface. Thus, the subject or other load may be easily transferred between the two adjacent supporting surfaces.

[0030] In addition to lifting a subject from a surface and lowering a subject onto a second surface, it may be desirable to move the subject in a direction at least partially parallel to one or both of the associated supporting surfaces. To facilitate this movement, in some embodiments, one or more actuators may be operatively coupled to the one or more everting flexible inflatable structures. The one or more actuators may be configured to move the everting flexible inflatable structures an extended configuration and a retracted configuration while the one or more everting flexible inflatable structures are in an everted configuration. This may help to transfer the subject from one surface to another surface by moving the everted one or more flexible inflatable structures in a direction at least partially parallel to one or both of the associated supporting surfaces. For example, the one or more everting flexible inflatable structures may be dragged across the first and second surface in one or more desired directions. It should be appreciated that the one or more flexible inflatable structures may extend or retract in any direction relative to the subject. In some embodiments, the one or more actuators may be configured to move the one or more flexible inflatable structures in a direction that is substantially parallel to a coronal plane of a subject lying prone on the supporting surface during use. However, other poses of the subject and relative directions of movement may be different in other embodiments of the disclosed transfer systems.

[0031] Depending on the embodiment, the one or more actuators used to move the disclosed flexible inflatable structures between an extended and retracted configuration may be any appropriate type of actuator. In one embodiment, the one or more actuators may be one or more linear actuators. Appropriate linear actuators that may be used include, but are not limited to, pneumatic pistons hydraulic pistons, linear motors, and / or any other appropriate linear actuator capable of extending and retracting the flexible inflatable structures. In other embodiments, the actuators that move the everting robots and flexible inflatable structures between an extended and retracted position are rotary actuators. Appropriate rotatory actuators that may be used include, but are not limited to brushed motors, brushless motors, and / or any other appropriate rotary actuator capable of extending and retracting the inflatable structures using rotary motion. For example, a rotating mandrel connected to a rotatory actuator may be configured to wind or unwind the everted portion of the flexible inflatable structures onto the mandrel. The mandrel may be supported by bearings, a brushless DC motor, brushed motor, or any other appropriate structure. In view of the above, it should be understood that the disclosed actuators may correspond to any appropriate type of actuator capable of moving the associated one or more flexible inflatable structures between the extended and retracted configurations.

[0032] As noted above, a flexible inflatable structure everts from a distal end portion. This permits the disclosed flexible inflatable structure to easily slide in between a subject or other object and an underlying supporting surface such as a bed or chair without a caretaker or user moving the subject or other object to create a gap and / or position the device in a preexisting gap between the subject or other object and the supporting surface. The eversion of the flexible inflatable structure from the distal end portion, may also reduce the friction associated with extension of the flexible inflatable structures which may reduce the insertion force associated with deployment of the disclosed systems in addition to gently conforming to a size and shape of the target subject or other object.

[0033] It should be understood that in some embodiments, the transfer systems disclosed herein may include one or more sensors to help facilitate control of the transfer system during operation. For example, in some embodiments, there may be one or more sensors configured to detect contact with and / or a location of the subject relative to the flexible inflatable structures and or the first or second surfaces. Signals from these one or more sensors may be used to help control the position of the flexible inflatable structures relative to the subject and surfaces. In some embodiments, appropriate sensors may includebut are not limited to encoders or position sensors configured to sense a configuration of the one or more actuators and / or a degree of eversion of the one or more flexible inflatable structures as they evert or invert. In some embodiments, the flexible inflatable structures may include one or more sensors disposed along a length of the flexible inflatable structures to detect a force and / or pressure applied to the flexible inflatable structures from engagement with a subject’s body. For example, signals from these sensors may allow the system to detect the pressure of a subject and increase the internal pressure of the flexible inflatable structures to lift the subject off of a supporting surface. Of course, other types and locations of sensors may also be used as the disclosure is not so limited.

[0034] The disclosed transfer systems and methods may be used to transfer a subject or other load between any two appropriate surfaces. In some embodiments it may be desirable to transfer a subject from one bed to another bed. For example, in a hospital the system may be used to move a patient from a stationary bed to a rolling bed. In another embodiment it may be desirable to use the system to move a subject from a bed to a stretcher. In yet another embodiment it may be desirable to use the system to move a subject from a bed to a wheelchair. Of course, industrial, manufacturing, and shipping applications for transferring objects between other types of supporting surfaces such as pallets, warehouse floors, shelves, and / or any other type of surfaces are also contemplated. Thus, the type of surfaces should not be considered limiting and it should be understood that the transfer systems disclosed herein may be used to transfer any load between any two appropriate supporting surfaces.

[0035] In some embodiments, it may be desirable for a transfer system to be integrated into one of the supporting surfaces to simplify the process of moving a prone subject or other load. For example, in one embodiment, the system may be fully integrated into a wheelchair, bed, or other structure. In the embodiment of a wheelchair, in some embodiments, the wheelchair may be segmented so that it may be converted into a flat surface, either manually by an assistant or automated using motors. For example, the back of the wheelchair may be lowered to align with the seat while part of the legs of the wheelchair may be raised to align with the seat. The wheelchair may be oriented next to the surface supporting the prone subject. Upon being converted to a flat surface and oriented next to the surface supporting the prone subject, the system may evert the one or more flexible inflatable structures between the prone subject and the initial supporting surface. The transfer system may then be actuated to move the flexible inflatable structures and the subject to move theprone subject from the first surface to the wheelchair. Once the prone subject is moved to the flat surface of the wheelchair, the flexible inflatable structures may be inverted. The segmented portions of the wheelchair may then be returned to their initial state so that the subject is seated upright. In some embodiments there may be multiple everting flexible inflatable structures with at least one everting flexible inflatable structure integrated into each segmented portion of the wheelchair.

[0036] The disclosed transfer systems may offer a number of benefits. For example, the disclosed transfer system may reduce subject discomfort while being transferred, reduce risk of additional injury to the subject, and reduce the manual work a nurse, assistant, or other use may exert to move a subject or other load. The flexible inflatable structures of the disclosed transfer system may also provide uniform and stable support to a subject, or other load, as they are being transferred between surfaces with increased stability and support. The disclosed transfer system may also be simple to operate and may use minimal manual effort from a user during operation. It should be appreciated that by not needing to manually move a subject, nurses, assistants, and / or other uses may experience reduced fatigue and strain due to no longer needing to lift a subject or other load.

[0037] The everting flexible inflatable structures disclosed herein may have any appropriate length and / or other dimension appropriate for supporting a desired subject or other object during transfer between two surface. For example, in some embodiments, a fully everted length of an everting flexible inflatable structure may be sufficiently long to traverse a width or other dimension of a subject disposed on a first surface, and in some instances a portion of a second surface adjacent to the first surface, when the flexible inflatable structure is in the everted and extended configuration. For example, a fully everted length of the extended flexible inflatable structure may be greater than or equal to 50 cm, 60 cm, 70 cm, or other appropriate length depending on the application. The fully everted length may also be less than or equal to 100 cm, 90 cm, 80 cm, or other appropriate length. Combinations of the forgoing ranges are contemplated including a fully everted length between or equal to 50 cm and 100 cm depending on the application. It should be understood that the first and / or second surfaces may also exhibit widths with ranges similar to those noted above for the fully everted length of the flexible inflatable structures. Of course, different dimensions for the supporting surfaces and / or flexible inflatable structures may also be used as the disclosure is not limited in this fashion.

[0038] It should be understood that a flexible inflatable structure of the systems disclosed herein may correspond to any appropriate type of structure capable of extension and retraction via eversion and inversion through a distal end portion of the flexible inflatable structure as elaborated on further below. In some instances, the disclosed everting flexible inflatable structures may also be referred to as vine robots, everting devices, everting robots, or other similar terms. In either case, in some embodiments, a tether may be present that is operatively connected to the distal end portion of the flexible inflatable structure through which the everting device inverts and everts. By controlling an applied tension and / or extension length of the tether, it is possible to control an everted length of the flexible inflatable structure. Appropriate inflatable structures that may be used include, but are not limited to, flexible tube-like structures made from flexible polymeric membranes, textiles with a sealing layer associated with the textile, and / or any other appropriate flexible structure constructed from a suitably flexible and relatively axially inextensible material capable of being pressurized relative to a surrounding exterior environment. The tether may be a string, cable, an internal portion of the flexible inflatable structure inverted within an internal channel of the structure, and / or any other appropriately flexible and relatively axially inextensible material.

[0039] In some embodiments it may be desirable to provide a system for transferring a subject with an everting flexible inflatable structure with a relatively flat geometry during eversion. In some such embodiments, a width of the flexible inflatable structure extending in a direction parallel to an underlying supporting surface may be greater than a height of the flexible inflatable structure extending between an object and underlying supporting surface when the flexible inflatable structure is in an inflated and everted configuration. The height and width of the everted flexible inflatable structure may be perpendicular to each other and an eversion direction (e.g., a length) of the everting flexible inflatable structure. It should be understood that in some embodiments a width of the flexible inflatable structure may be constant along a length of the everted flexible inflatable structure. However, embodiments in which a width of the flexible inflatable structure varies along a length of the everted flexible inflatable structure are also contemplated.

[0040] The various embodiments transfer systems with everting robots disclosed herein with everting flexible inflatable structures including flat geometries may be provided using any appropriate type of construction. For example, in some embodiments, a series of rigid ribs may extend across a width and be connected to the flexible inflatable structure onopposing top and bottom surfaces of the flexible inflatable structure. These rigid ribs may help to maintain the desired flat cross-sectional geometry by resisting deflection of the flexible inflatable structure towards a round cylindrical cross section. In other embodiments, the flexible inflatable structure of inverting and everting flexible robotic limbs may be bonded at two separate points along its circumference of its body in the direction of its net eversion growth to constrain its radial expansion as it is inflated (e.g., welds, adhesives, stitching, and / or any other appropriate method for attaching material) in a prescribed manner to form a desired transverse cross-sectional shape. The disclosed embodiments are not limited to any particular manufacturing method or construction.

[0041] The use of such transfer systems with everting robots with flat flexible inflatable structures may offer several benefits. For example, the inventors have recognized that an everting device with a large width may provide more contact area to support a subject. A relatively flat everting device may also displace a subject or object less during eversion and more stably support a subject thereon as compared to more traditional everting vine robots with round cylindrical configurations.

[0042] It should be understood that the disclosed systems may be used with other varieties of everting flexible inflatable structure shapes. Other everting device shapes may include everting devices which have varying transverse cross-sectional dimensions along the length of the everting device. The cross-sectional shape may also include circles, triangles, squares, or any other shape suitable for everting devices that are meant to support and transfer a subject.

[0043] It should be understood that the flexible inflatable structures of the everting robot in the transfer system disclosed herein may have any appropriate length such that they can be used to lift or otherwise support a subject. Additionally, a tensile strength of the disclosed everting devices and a load capacity of a load lifting system (e.g., a winch, hoist, or other appropriate system) may be sufficient to lift a person and / or any other desired object.

[0044] As used herein, a pose may refer to the combination of an orientation and location of a component, subject, device, or other object in three dimensional space. In other words, in some embodiments, a pose may be a particular position in three-dimensional space in combination with a particular angular orientation within three-dimensional space. For example, a relative pose of the housing and an inflatable structure of a device relative to a subject may refer to the position and angular orientation of the device relative to the subject. Additionally, a pose of an object or system that is reconfigurable between multipleconfigurations may be further defined using the relative poses of the individual reconfigurable components relative to each other. Thus, depending on context, a pose may refer to a relative position and / or orientation of one or more objects within three dimensional space relative to each other and / or relative to an absolute coordinate system.

[0045] As used herein, it should be understood that the fully inverted and fully everted configurations, and other similar terms, may refer to configurations of a flexible inflatable structure of a transfer system. Specifically, in the fully inverted and fully everted configurations, the flexible inflatable structure may not be inverted or everted further due to physical constraints and / or control limitations associated with the everting device.

[0046] As used herein, it should be understood that the extended and retracted configurations of the of the actuators and associated flexible inflatable structures, and other similar terms, may refer to different configurations where the one or more flexible inflatable structures in an at least partially everted configuration are moved between the first and second surfaces during a transfer process. Specifically, in the extended configuration, upon everting, the one or more flexible inflatable structures may be positioned to support a subject on the first surface, in the retracted configuration, when everted the one or more flexible inflatable structures may support a subject on the second surface when at least partially everted.

[0047] Embodiments related to transferring a human in bed without lifting and hanging the person when transferring them out of bed are disclosed. A soft robotics technology based on the “eversion mechanism” are described. An everting robot may include a flexible inflatable structure that may be a double- layered tubular belt that extends its tip as pressurized air is supplied to the tube. The everting robot may further have at least one sensor on the tube to detect pressure. When it is placed in a small gap between a bed surface and the back of a human lying on the bed, the everting robot can go beneath the human body. As a result, the flexible inflatable structure can be placed under the back of a bed-ridden human without raising the back. A plurality of everting robots can effectively support a human at a plurality of locations along the body. These everting robots combined with a simple actuator and controller attached to a base can support the whole human body and pull the body towards the bed to which the body is to be transferred. The positioning device can move the everting robots to an extended position towards the human lying on a bed so that the everting robots can extend to go beneath the human body. Once the everting robots are positioned beneath the human body, the sensors send a signal to the controller indicating the detectedpressure. The controller than supplies a pressurized air to the inflatable structures of the everting robots. Upon the sensors detecting a pressure indicating that the subject is properly elevated from the first surface, the controller may supply enough pressurized air to maintain the indicated pressure. Once the body is supported by the everting robot from beneath, the actuator moves the everting robots to a retracted position, towards a second surface. This moves the whole human body sliding from the original bed surface to the new bed surface - a bed-to-bed transfer. Once the human is over the second bed surface, the everting robots may be depressurized by the controller and invert towards the base. The everting robots have a housing each containing a motorized mandrel connected to the flexible inflatable structures that rotates to wind the flexible inflatable structures to invert the everting robots. The system may interface with a re-configurable wheelchair which can reconfigure to a flat-bed during the bed-to-bed transfer and can take a seating configuration after the body transfer, so that the human move freely with the wheelchair.

[0048] 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.

[0049] Figs. 1A-H illustrates a process of using a system for transferring a subject from a second surface 116 to a first surface 114 with one or more everting flexible inflatable structures according to one embodiment. Fig. 1A depicts the transfer system 100 having a base 102 that is positioned adjacent to, integrated with, or otherwise associated with the second surface 114. A housing 104 of an actuator 106 is attached to or otherwise associated with the base 102. An everting robot housing 108 may be operatively coupled to the actuator 106. As shown in the figure, the everting robot housing 108 may include one or more, or a plurality of, everting flexible inflatable structures 110 including corresponding everting distal tips 112 at the distal end of each everting flexible inflatable structures 110. During operation, the actuator 106 is configured to move the everting robot housing 108 and the one or more associated everting flexible inflatable structures 110 in a desired direction. For example, the actuator 104 is depicted as a linear actuator configured to displace the one or more everting flexible inflatable structures 110 in a linear direction.

[0050] Both the actuator 106 and the everting flexible inflatable structures 110 may be controlled by a controller 118 including one or more processors capable of executingprocessor executable instructions stored on associated non-transitory computer memory that when executed cause the transfer system 100 to perform any of the methods disclosed herein.

[0051] In Figs. 1A-1B a second surface 114 is positioned adjacent to a first surface 116. As noted above, the base 102 of the transfer system 100 may either be positioned adjacent to, integrated with, and / or attached to the first surface 114. In the depicted embodiment, the second surface 116 is currently supporting a human subject 120 having an approximate subject neck area 122, torso area 124, and leg area 126. The everting flexible inflatable structures 110 are initially inverted such that they are at least partially inverted inside of the everting robot housing 108. The one or more actuators 116 may be retracted so that the everting flexible inflatable structures 110 are in the retracted configuration. Thus, the transfer system 100 is positioned adjacent to the second surface 114 so that the everting flexible inflatable structures 110 may be aligned to extend across both the first surface 114 and second surface 116 and toward the subject 120.

[0052] The separate everting flexible inflatable structures 110 may be approximately aligned with the subject neck area 122, torso area 124, leg area 126, and / or other appropriate portions of the subject’s body. In the depicted embodiment, separate everting flexible inflatable structures 110 are used for supporting these different portions of the subject’s body. However, instances in which a single everting flexible inflatable structures 110 supports multiple portions and / or an entire body of the subject or other load are also contemplated. Additionally, in some embodiments only a subset of the subject’s body and / or different areas of the body may be supported. In addition, the number of everting robots should not be considered limiting. The size and position of the everting robots may differ in some embodiments, as long as they could still adequately support a subject. In some alternate embodiments, the separate everting flexible inflatable structures 110 may be associated with separate housings.

[0053] Figs. 1C-1D depicts the transfer system 100 in a second extended configuration. Here, the actuator 106 has been actuated by the controller 118 to move the everting robot housing 108 and everting flexible inflatable structures 110 at least partially across the first surface 114 and towards the subject 120 into the extended configuration. The everting flexible inflatable structures 110 have also been everted across at least a portion of the second surface 116 such that the everting flexible inflatable structures 110 are positioned in a gap between the subject 120 and the second surface 116. Once everted, the everting flexible inflatable structures 110 are pressurized to inflate the everting flexible inflatablestructures 110 and support the associated portions of the subject’s body relative to the underlying second surface 116. For example, the everting flexible inflatable structures 110 may be positioned under the subject’s 120 at the neck area 122, torso area 124, and leg area 126 in the at least partially, and in some instances fully, everted and extended configuration on the second surface 116. It should be understood that the everting flexible inflatable structures 110 may compress slightly due to the load of the subject 120. Thus, the controller 118 may appropriately adjust the pressure in the everting flexible inflatable structures 110 to properly support the subject 120. By supporting the subject 120 at multiple locations, the everting robots 110 may provide sturdier support if the subject 120 and reduce the risk of injury or discomfort for the subject 120 as they are moved.

[0054] It should be understood that the one or more actuators 106 may move the everting robot housing 108 and everting flexible inflatable structures 110 to the extended configuration prior to eversion of the everting flexible inflatable structures 110. However, this process may either be done sequentially and / or simultaneously as the disclosure is not so limited. For example, the everting flexible inflatable structures 110 may begin to evert as the actuator 106 is extending the transfer system towards the subject 120.

[0055] Figs. IE- IF depict the transfer system 100 for transferring a subject in a third orientation. In the depicted configuration, the subject 120 having been lifted by the everting flexible inflatable structures 110 and the everting flexible inflatable structures 110 have been translated laterally relative to the first surface 114 and second surface 116. This has caused the everting flexible inflatable structures 110 and the subject 120 to be moved from the first surface 116 onto the second surface 114 through a sliding motion of the one or more everting flexible inflatable structures 110 and the subject across the first and second surfaces. Specifically, in some embodiments the one or more actuators 106 have retracted the everting robot housing 108 and the associated everting flexible inflatable structures 110 while the everting flexible inflatable structures 110 are at least partially everted and inflated from the extended configuration to the retracted configuration so that the subject 120 is slid from the second surface 116 to the first surface 114. Again, the controller 118 may be configured to operate the everting flexible inflatable structures 110 to maintains a desired operating pressure to maintain the everting flexible inflatable structures 110 in an inflated configuration to support the subject 120 as the subject 120 is slid between the surfaces.

[0056] Figs. 1G-1H depict the transfer system 100 in a fourth configuration. Here, the subject 120 has been lowered onto the first surface 114. Specifically, once in the retractedconfiguration, the everting flexible inflatable structures 110 are depressurized to lower the subject to the first surface 114. The everting flexible inflatable structures 110 may then be inverted back into the everting robot housing 108. Thus, as best shown in Fig. 1H, once the everting robots 110 are inverted out from between the gap between the first surface 114 and the subject 120, the transfer process of the subject 120 from the second surface 116 to the first surface 114 may be complete.

[0057] Fig. 2 illustrates an everting device 109 according to one embodiment, which may be used with any of the other systems disclosed herein. In the depicted embodiment, the everting device 109 may include a housing 108. The housing 108 may include a mandrel 130 disposed therein that is operatively connected to a tether 113 of a flexible inflatable structure 110 attached to the housing 108. A pressure source 136 such as a pump, pressurized cylinder, or other source of pressurized fluid may be configured to pressurize an interior of the housing 108 with a pressurized fluid (e.g., a gas or liquid). The mandrel 130 may be operatively coupled with any appropriate actuator that may be configured to rotate the mandrel 130. For example, a drive shaft 132 of a motor or other appropriate actuator is depicted as being connected to the mandrel 130. In the depicted embodiment, the mandrel 130 has an approximately cylindrical shape with a rounded or circular geometry. However, other appropriate shapes capable of winding material thereon may be used.

[0058] When the pressure source 136, pressurizes the interior volume of the housing 108, a pressure may be applied to an everting flexible inflatable structure 110 attached to and extending out from the housing 108. A first end portion of the everting robot 110 of the everting robot system 109 may be sealed to a portion of the housing 108. The everting robot 110 of the everting robot system 109 may then extend out from this connection to the housing 108 to a distal tip portion 112 of the everting flexible inflatable structure 110 and then invert through the distal tip portion 112 through a channel extending through the everting flexible inflatable structure 110 and into the housing 108 as an inverted portion of the everting flexible inflatable structure 110. Thus, the pressure source 136, may inflate the everted portion of the everting flexible inflatable structure 110 extending out from the housing 108.

[0059] As noted above, in some embodiments, a tether 113 may be attached to the inverted portion of the everting flexible inflatable structure 110 such that an extended length of the tether 113 unwound from the mandrel 130 may control an everted length of the everted portion of the everting flexible inflatable structure 110. The tether 113 may be a string, cable,the inverted portion of the everting robot 110 inverted within an internal channel of the everting device, and / or any other appropriately flexible and relatively axially inextensible material. The everting flexible inflatable structure 110 may have a plurality of sensors 140 disposed along a length of the surface of the everting robot 110. The sensors 140 may be configured to detect external forces and / or pressure applied to the everting robot 110 and transmit the information to a controller 118. Alternatively or additionally, a pressure sensor configured to sense a pressure within an interior volume of the everting flexible inflatable structure 110 and / or interior volume of the housing 108 may also be present. In either case, an associated controller 118 may be configured to control the pressure source 136 and the actuator associated with the mandrel 130 to maintain a desired internal pressure and everted length of the everting flexible inflatable structure 110. In some embodiments, the drive shaft 132 and the mandrel 130 may be a winch. However, it should be understood that any appropriate type of actuator capable of controlling an extended length of the tether 113 may be used as the disclosure is not limited in this fashion. In some embodiments, there may be a plurality of mandrels, everting robots, and related components all housed in a single housing so that a single pressure source and controller may operate the plurality of everting robots simultaneously. Alternatively, there may be multiple separate pressure sources, housings, controllers, and / or everting flexible inflatable structure as the disclosure is not so limited.

[0060] Fig. 3 illustrates the components of one embodiment of an actuator that may be used to move an everted everting flexible inflatable structure 110 from an extended configuration towards a retracted configuration. In the depicted embodiment, the actuator includes a rotating mandrel 202 that is configured to wind the inflated everting flexible inflatable structure 110 onto the mandrel to control the extended length of the everting flexible inflatable structure 110. For example, an outer housing such as the depicted drum 200 or other housing may include a rotating mandrel 202 disposed and mounted therein. The mandrel may incorporate, or otherwise be associated with a housing of everting flexible inflatable structure 110 as previously described above, such that an everting flexible inflatable structure 110 may be everted out from the mandrel 202 through an opening formed in the drum 200 or other appropriate outer housing. The mandrel 202 may be operatively coupled with an appropriate actuator that may be configured to rotate the mandrel 202 relative to the drum 200 or other appropriate outer housing. For example, a drive shaft 204 of a motor or other appropriate actuator is depicted as being connected to the mandrel 202. In the depicted embodiment, the mandrel 202 has an approximately cylindrical shape with arounded or circular geometry. However, other appropriate shapes capable of winding material thereon may be used.

[0061] When the everting flexible inflatable structure 110 is at least partially everted such that the distal everting tip portion 112 extends out from the drum 200 or other housing, the mandrel 202 may be rotated by the drive shaft 204 to wind the everting flexible inflatable structure 110 about the mandrel 202 inside of the drum 200 or other housing. In instances in which the everting flexible inflatable structure 110 is wound onto the mandrel 202 in the everted and inflated configuration, the overall actuator may be used to apply a force to drag the everted everting flexible inflatable structure 110 and any load disposed thereon across one or more surfaces.

[0062] While a specific rotary based actuator is depicted in Fig. 4, it should be understood that the current disclosure is not limited to only using this type of actuator. For example, any appropriate actuator capable of displacing the disclosed everting flexible inflatable structures across a surface may be used as previously noted above.

[0063] Fig. 4 depicts a block diagram of a method for transferring a subject from a first surface to a second surface using a system with everting robots, according to some embodiments. As shown in block 202, the method may include positioning the system adjacent to a first supporting surface. However, instances in which the transfer system is attached to or integrated with the first supporting surface are also contemplated. The first supporting surface being adjacent to a second supporting surface with a subject disposed on the second surface. The system may be positioned so that the flexible inflatable structures of the system may be displaced and everted across at least a portion of both the first and second surfaces. Once the system is positioned, it may optionally extend one or more actuators to move the one or more flexible inflatable structures to an extended configuration as shown in block 204. For example, it may be desirable to move the everting robot to an extended configuration if the total length of the flexible inflatable structures in the fully everted configuration is less than a distance between the system in the retracted configuration and the subject. The system may then evert the one or more flexible inflatable structures from the system towards the subject, to fit between the subject and the second surface as shown in block 206. The number and positioning of the flexible inflatable structures may vary depending on the type of system used, the size of the flexible inflatable structures, the size of the subject, and / or the size and type of surfaces.

[0064] Once the flexible inflatable structures are disposed between the subject and the second supporting surface, a pressure of the flexible inflatable structures may be increased to inflate the flexible inflatable structures and lift the subject from the second surface as shown in block 208. Once lifted, the one or more flexible inflatable structures may be moved to a retracted configuration using one or more actuators to displace the one or more flexible inflatable structures and the subject supported thereon from the second surface and onto the first surface at blocks 210 and 212. Once the subject is properly positioned over the second surface the flexible, the inflatable flexible structures may be deflated to lower the subject towards the first surface as shown in block 214. Once the subject is lowered, the flexible inflatable structures may be inverted as shown in block 216. The subject is then fully lowered and supported on the first supporting surface, as shown in block 218.

[0065] The above method may be implemented by one or more controllers including at least one processor operatively coupled to the various controllable portions of a transfer 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 such that when executed by the at least one processor the transfer 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.

[0066] Figs. 5A-E illustrate one embodiment of a transfer system for transferring a subject from a first surface to a second surface integrated with a wheelchair. In the depicted embodiment, a subject 320 is transferred between a bed 312 and a wheelchair 300. It should be understood that in the embodiment, the transfer system including the inflatable flexible structures 306 is integrated into and / or otherwise is attached to the wheelchair 300. In Fig. 5A, a subject 320 is prone on a bed 312. A wheelchair 300 is positioned next to the bed 312. The wheelchair 300 is segmented into three separate segments, a back segment 302A, a seat segment 302B, and a leg segment 302C. The wheelchair 300 may have rotatable connections 304 such as pin connections, hinges, or other appropriate rotatable connections that permit the wheelchair segments 302A-302C to be rotated relative to each other to transition the wheelchair from a sitting configuration configured to support the subject 320 in a seated pose to a prone configuration where the separate segments may be positioned approximately within a single plane configured to support the subject 320 in a prone pose . The wheelchair300 may have a plurality of everting inflatable flexible structures 310 integrated into different parts of the wheelchair, for example separate housings 306 may be attached to the separate segments 302A-302C of the wheelchair. It is noted that the housing 306 adjacent to the wheel 308 is not shown due to the illustrated perspective.

[0067] Fig. 5B depicts the wheelchair 300 in a flattened or prone configuration. The back segment 302A has been rotated about a pivot 304 to be approximately parallel to the bed 312. Similarly, the leg segment 302C has been rotated about a pivot 304 to be approximately parallel to the bed 312. The segments 302A, 302B, and 302C now form a substantially continuous single surface 302 approximately parallel and aligned with an upper supporting surface of the bed 312. Once the wheelchair 300 is in a flattened orientation, flexible inflatable structures 310 may be everted out from the associated housings 306 towards the subject 320. In the depicted embodiment, the everting inflatable flexible structures 310 are aligned with and are configured to support an approximate neck area 322, an approximate torso area 324 and an approximate leg area 326 of the subject 320 in the extended and everted configuration.

[0068] Fig. 5C depicts the flexible inflatable structures 310 in the extended and everted configuration. The flexible inflatable structures are positioned between the subject 320 and the bed 312. Once the subject 320 is supported by the flexible inflatable structures 310, the flexible inflatable structures 310 are retracted towards the retracted configuration while in the everted and inflated configuration. As the flexible inflatable structures 310 are retracted relative to the bed 312, the subject is displaced from the bed 312 and onto the wheelchair surface 300 as shown in Fig. 5D. The subject 320 is now prone on the flattened wheelchair 300 and the flexible inflatable structures 310 may be inverted and withdrawn from between the subject 320 and the wheelchair 300 and into the housings 306. Fig. 5E depicts the back segment 302A has been rotated about the pivot 304 to return to an upright configuration. Similarly, the leg segment 302C has been rotated about the pivot 304 to return to an initial configuration. By returning the segments 302A and 302C to the initial positions, the subject is moved from a prone to a seated pose in the wheelchair 300.

[0069] The following are examples of non-limiting embodiments related to one potential implementation of a bed-to-bed or other appropriate system for transferring a subject between two adjacent surfaces.

[0070] Embodiment 1. A bed-to-bed transfer system comprising: Surface A and Surface B; A 1-axis positioning device extends horizontally across Surface B; and aneversion robot attached to Surface B, wherein the eversion robot comprises single or multiple double-layered tubular belts, wherein the belts comprise tips that extend when pressurized air is supplied to the tubes.

[0071] Embodiment 2. A method of using the transfer system of claim 1 to transfer a subject lying on Surface A to Surface B, the method comprising: using the positioning device to locate the tips of the eversion robot close to the subject lying on Surface A; using the eversion robot to extends its tips beneath the body of the subject to reach the other side of the body and provide the subject with a stable support from beneath; while stably supporting the subject, contracting the 1-axis positioning device to bring the subject on the eversion robot towards Surface B to transfer the subject to Surface B; and retracting the eversion robots to remove tubular belts from beneath the subject.

[0072] Embodiment 3. The system of embodiment 1, wherein Surface B is a wheelchair configured to make its seat, back, and leg rests flat and level during transfer of the subject from Surface A, and after transferring the subject, the wheelchair reconfigures by raising the back and lowering the leg rests.

[0073] Embodiment 4. The system of embodiment 1, further comprising a second set of eversion robots and positioning device attached to Surface A, wherein the second set of eversion robots and positioning device are configured for transferring the subject from Surface B to Surface A.

[0074] Embodiment 5. The system of embodiment 4, wherein the eversion robots and the positioning devices on both Surface A and Surface B work together by coordinating their actions to handle the subject.

[0075] Embodiment 6. The system of embodiment 1, wherein the eversion robots are equipped with tactile sensors, wherein the sensors are configured to monitor the contact with the subject for proper posture and safety during transfer of the subject.

[0076] Embodiment 7. The system of embodiment 1, further comprising a second axis of independent positioning device added to the 1-axis positioning device, wherein the second positioning device is configured to adjust the eversion robot along the longitudinal direction of the subject.

[0077] 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, whetherprovided 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. In 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.

[0078] 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 computer, 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.

[0079] 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.

[0080] 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.

[0081] 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 anumber 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.

[0082] 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 medium 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

Claims

CLAIMS1. A transfer system for transferring an object comprising: a base; one or more actuators operatively coupled to the base; one or more flexible inflatable structures operatively coupled to the one or more actuators and configured to move at least partially between a fully everted configuration and a fully inverted configuration, wherein the one or more flexible inflatable structures are configured to support the object on a first supporting surface in the fully everted configuration, and wherein the one or more actuators are configured to displace the one or more flexible inflatable structures while the one or more flexible inflatable structures are at least partially everted to move the object across the first supporting surface onto a second supporting surface.

2. The transfer system of claim 1, wherein the one or more flexible inflatable structures include a plurality of flexible inflatable structures operatively coupled to one of the actuators.

3. The transfer system of claim 2, wherein each flexible inflatable structure of the plurality of flexible inflatable structures is separately coupled to a separate corresponding actuator of the one or more actuators.

4. The transfer system of claim 1, further comprising one or more sensors disposed along a length of the one or more flexible inflatable structures and configured to sense a force applied to the one or more flexible inflatable structures.

5. The transfer system of claim 4, further comprising one or more processors configured to receive at least one or more signals from the one or more sensors.

6. The transfer system of claim 5, wherein the one or more processors are configured to control a pressure applied to the one or more flexible inflatable structures based at least in part on the sensed force.

7. The transfer system of claim 1, wherein the one or more flexible inflatable structures are configured to support the object at a plurality of locations on the object.

8. The transfer system of claim 7, wherein at least some of the plurality locations on the object are an object neck area, an object torso area, and an object leg area.

9. The transfer system of claim 1, further comprising a pressure source fluidly coupled to the one or more flexible inflatable structures.

10. The transfer system of claim 1, wherein the actuators are linear actuators.

11. The transfer system of claim 1, further comprising one or more pressure sources fluidly coupled to the one or more flexible inflatable structures to inflate the one or more flexible inflatable structures.

12. A method for transferring an object to a first supporting surface, the method comprising: everting one or more flexible inflatable structures between the object and a first supporting surface; and displacing the one or more flexible inflatable structures while the one or more flexible inflatable structures are at least partially everted to move the object across the first supporting surface to a second supporting surface.

13. The method of claim 12, further comprising inflating the one or more flexible inflatable structures to support the object on the first supporting surface after everting the one or more flexible inflatable structures.

14. The method of claim 12, wherein displacing the one or more flexible inflatable structures includes displacing the one or more flexible inflatable structures in a direction that is at least partially parallel to the first supporting surface.

15. The method of claim 14, wherein displacing the one or more flexible inflatable structures includes displacing the one or more flexible structures with one or more linear actuators.

16. The method of claim 14, wherein displacing the one or more flexible inflatable structures includes displacing the one or more flexible structures with one or more rotational actuators.

17. The method of claim 12, further comprising inverting and deflating the one or more flexible inflatable structures after moving the object.

18. The method of claim 12, further comprising sensing a force applied to the one or more flexible inflatable structures.

19. The method of claim 18, further comprising controlling a pressure in the one or more flexible inflatable structures based at least in part on the sensed force.

20. The method of claim 18, wherein displacing the one or more flexible inflatable structures includes sliding the one or more flexible inflatable structures and the object across the first and second surfaces.

21. The transfer system or method of anyone of claims 1-20, wherein the object is a subject.

22. The transfer system or method of claim 21, wherein the subject is a person.

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