Everting flexible inflatable structures for assisting subjects

Abstract

Disclosed herein are everting devices including flexible inflatable structures configured to safely and efficiently lift a subject or other object from a supporting surface. In some embodiments, a flexible inflatable structure may be configured to form a sling used to lift a subject or other object. In other embodiments, everting devices may include end effectors that are everted through an internal channel of a flexible inflatable structure to an exterior everted portion of the flexible inflatable structure as the everting device is transitioned to the fully everted configuration. In other embodiments, a wheelchair may include an everting device with a flexible inflatable structure that is configured to form at least a portion of a seat of the wheelchair in the everted configuration.

Description

EVERTING FLEXIBLE INFLATABLE STRUCTURES FOR ASSISTING SUBJECTSRELATED APPLICATIONS

[0001] This Application claims the benefit of priority under 35 U.S.C. § 119(e) of U.S. Provisional Application Serial No. US 63 / 558,105, filed February 26, 2024, the disclosure of which is incorporated herein by reference in its entirety.FIELD

[0002] Disclosed embodiments are related to uses of inverting and everting flexible inflatable structures for assisting subjects.BACKGROUND

[0003] Gently holding, lifting, and transferring the entire human body with a robotic system remains a challenging problem, despite extensive research and development efforts. Humans are heavy, delicate, deformable, and vary widely in shape and pose. Standard robotic manipulators and end effectors cannot achieve sufficiently gentle human interaction while applying the high forces used to lift the body effectively, although many high impact tasks depend on this functionality. In eldercare and care of people with physical disabilities, lifting humans is a task regularly carried out by caregivers, which is both strenuous and fatiguing on their bodies. This task is also undertaken for emergency medical response, search and rescue, occupational therapy, ergonomic support for manual labor, and so forth. The current standard practice in eldercare is for caregivers to manually attach a harness to the subject or wrap their body with straps to securely harness and lift them. Straps are used because they are practical for high-force human interaction. They can be wrapped around any human in nearly any harnessing configuration to distribute the high load over a large contact area. This is enabled primarily by their simultaneously high tensile strength and bending flexibility. However, manual handling by a human is still used to attach straps in the appropriate configurations, which is a major bottleneck preventing fully autonomous human lifting and transferring with robotic systems.SUMMARY

[0004] In some embodiments, an inflatable sling includes a flexible inflatable structure, wherein a width of the flexible inflatable structure is greater than a height of the flexible inflatable structure when the flexible inflatable structure is in an inflatedconfiguration, a tether configured to control a length of an everted portion of the flexible inflatable structure to control inversion and eversion of the flexible inflatable structure, a first set of hoist mounts connected to the flexible inflatable structure, wherein the first set of hoist mounts are configured to move from an inverted configuration within an interior channel of the flexible inflatable structure to an everted configuration on an exterior everted portion of the flexible inflatable structure as the flexible inflatable structure is moved from a fully inverted configuration to a fully everted configuration.

[0005] In some embodiments, a method for operating a sling includes positioning a portion of a flexible inflatable structure underneath a portion of subject in an inverted configuration, pressurizing the flexible inflatable structure to evert the flexible inflatable structure underneath the subject, and transitioning hoist mounts from an inverted configuration within an interior channel of the flexible inflatable structure to an everted configuration on an exterior everted portion of the flexible inflatable structure as the flexible inflatable structure is moved from a fully inverted configuration to a fully everted configuration.

[0006] In some embodiments, an everting device includes a flexible inflatable structure, a tether configured to control a length of an everted portion of the flexible inflatable structure to control inversion and eversion of the flexible inflatable structure, and an end effector fixedly connected to the flexible inflatable structure, and wherein the end effector is configured to move from an inverted configuration within an internal channel of the flexible inflatable structure to an everted configuration on an exterior everted portion of the flexible inflatable structure as the flexible inflatable structure moves from a fully inverted configuration to a fully everted configuration.

[0007] In some embodiments, a method for operating an everting device includes pressurizing a flexible inflatable structure, wherein the flexible inflatable structure is in an inverted configuration, extending a tether connected to an internal portion of the flexible inflatable structure to evert the flexible inflatable structure, and moving an end effector through an internal channel of the flexible inflatable structure to an exterior everted portion of the flexible inflatable structure as the flexible inflatable structure everts.

[0008] In some embodiments, a wheelchair including a wheelchair frame, a flexible inflatable structure, a tether configured to control an everted length of the flexible inflatable structure, and a connection configured to engage with and lock the flexible inflatablestructure in an extended configuration, and wherein the flexible inflatable structure is configured to form at least a portion of a seat of the wheelchair in the extended configuration.

[0009] In some embodiments, a method for operating a wheelchair including pressurizing a flexible inflatable structure, extending a tether connected to the flexible inflatable structure, everting the flexible inflatable structure underneath a subject, and locking the flexible inflatable structure in an extended configuration to form at least a portion of a seat of the wheelchair.

[0010] 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.

[0011] 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

[0012] 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:

[0013] Fig. 1 illustrates an everting and inverting device according to one embodiment;

[0014] Figs. 2A-2B illustrate a top and front view of a flat everting sling according to one embodiment;

[0015] Fig. 3 illustrates a housing of the flat everting sling according to one embodiment;

[0016] Figs. 4A-4J illustrate the process of everting and inverting of the sling during lifting of the subject from a first surface to a second surface according to one embodiment;

[0017] Figs. 5A-5C illustrate an everting device including an extendable end effector everting and inverting between an extended configuration and an inverted configuration according to one embodiment;

[0018] Figs. 6A-6C illustrate a process of everting an everting device including an end effector underneath a seated subject according to one embodiment;

[0019] Fig. 7 illustrates a sling including extendable end effectors associated with separate branches of a branched distal portion of the sling according to one embodiment;

[0020] Figs. 8A-8C illustrate a process of everting a branched sling including extendable end effectors everting underneath a subject body according one embodiment;

[0021] Figs. 9A-9D illustrate a process of everting and locking an everting device in an extended configuration to that function as at least a portion of a seat of a wheelchair to support a subject in the wheelchair according to one embodiment; and

[0022] Figs. 10A-10C illustrate a process of operating a docking wheelchair including an everting device forming a portion of a seat of the wheelchair according to one embodiment.DETAILED DESCRIPTION

[0023] Safely harnessing and lifting humans for transfer is a challenging unsolved problem for current robots and medical care devices because of the high forces and gentle interaction desirable to do so. Traditional flexible robotic limbs are strong but are rigid and unable to conform to the structure of the item the arm is attempting to lift. This reduces the contact points resulting in larger forces being applied to the lifted item. Additionally, traditional flexible robotic limbs may be rigid and difficult to bend. Straps, however, are highly beneficial for manually performing this task primarily because of their simultaneously high tensile strength and high compliant bending flexibility. For example, straps can wrap around an object and passively distribute the force over a larger surface area, but a user will still need to manually manipulate the straps as well as the person and / or object that is to be manipulated.

[0024] In view of the above, the inventors have recognized the benefits associated with the ability of everting devices, such as vine robots, to grow between an object to be manipulated and a supporting surface that the object is disposed on. This may help facilitate the deployment of supporting structures underneath a subject, or other object to be manipulated, while minimizing, and potentially eliminating, manual manipulation of thesubject during deployment of the supporting structures. As elaborated on further below, this may assist nurses, caretakers, and / or other users in various applications in manipulating a subject or other object relative to a supporting surface.

[0025] In some embodiments, the inventors have recognized that everting devices may be configured to be used as a sling to facilitate lifting a subject between different supporting surfaces (e.g., between a bed and wheelchair). For example, a relatively wide flexible inflatable structure may be capable of everting under and supporting a subject or other object. However, connecting to and manipulating the everted sling after it has been everted under an object may be difficult due to the issues associated with connecting to and manipulating the everting device without damaging the flexible inflatable structures associated with such devices. For example, it may be difficult to position a connection at a desired location and / or to clamp onto a flexible inflatable structure of an everting device due to the everting nature of these flexible devices which may be easily punctured, tom, and / or otherwise damaged in a way which may impact their functionality.

[0026] In view of the above, in some embodiments, it may be beneficial to provide a flexible inflatable structure with hoist mounts disposed along the length of the flexible inflatable structure and are exposed to an exterior environment in the fully everted configuration of the everting device. The hoist mounts may be configured to be attached to cables of a hoist or other appropriate structure capable of lifting the sling. For example, a first set of hoist mounts may be attached to the flexible inflatable structure of an everting device such that the first set of hoist mounts may be located within an interior channel of the flexible inflatable structure when the everting device is in a fully inverted configuration. When the flexible inflatable structure is everted towards a fully everted configuration, the first set of hoist mounts may transition from being unexposed within the interior channel of the device to an exposed configuration on an exterior everted portion of the flexible inflatable structure when the everting device is in the fully everted configuration. For example, a plurality of hoist mounts may be disposed along a length and on opposing sides of the everted flexible inflatable structure to facilitate use of the everting device as a sling.

[0027] The hoist mounts of a sling may correspond to any appropriate type of connection which may be connected to a hoist or other system capable of lifting the sling. Appropriate connections may include, but are not limited to, reinforced holes, rings, hooks, clips, carabiners, extendable end effectors as disclosed herein, and / or any other appropriate type of connection. Additionally, to reduce a potential for damage to the flexible inflatablestructure of the everting device, in some embodiments, the hoist mounts may be connected to a structure, such as a flexible membrane, textile, or other structure that is fixedly connected along a length of a portion of the flexible inflatable structure that is located on an exterior of the flexible inflatable structure in the fully everted configuration. This structure may be connected to the flexible inflatable structure using any appropriate type of connection including, but not limited to heat welds, ultrasonic welds, adhesives, stitching, integral formation, and / or any other appropriate type of attachment method. In some embodiments, a second set of hoist mounts may be connected to a housing of the everting device.

[0028] In addition to the above, the inventors have recognized that it may be beneficial to control a pose of an everting device of a sling relative to a subject, or other object being manipulated, during eversion of the flexible inflatable structure of the sling. Specifically, a housing of the everting device may be configured to maintain a predetermined pose between the subject, or other object, and the housing. Accordingly, as a flexible inflatable structure everts away from the housing, a pose between the overall everting sling and the subject, or other object, may be maintained which may help to facilitate appropriate positioning of the sling during deployment. In some such embodiments, the housing may be configured to conform to a size and / or shape of a portion of the subject’s body to maintain a pose of the housing when positioned against the body portion. For example, the housing may be configured to function as a headrest that is sized and shaped to conform to a portion of the subject’s head and / or neck.

[0029] The disclosed slings may have any appropriate size and / or shape that is configured to support a subject or other object when lifted by a hoist or other lifting system. In some embodiments, the flexible inflatable structure may have a width between or equal to 25 centimeters (cm) and 100 cm. In some embodiments, the width of the flexible inflatable structure may be between or equal to 25 cm and 75 cm. A length of the flexible inflatable structure in the everted configuration may be between or equal to 100 cm and 200 cm. Of course, size ranges greater or less than those noted above are also contemplated depending on the specific application the disclosed slings are used for.

[0030] The slings disclosed herein may be configured for use in moving any number of different types of objects for any number of different operations. For example, in conjunction with a hoist or other appropriate system configured to lift a sling, the slings disclosed herein may be configured to lift a subject or other object from a first supporting surface to a second supporting surface. In some such embodiments, a sling may be used totransfer a subject between any two or more supporting surfaces selected form a bed, a chair, a wheelchair, a bench, and / or any other desired supporting surface. Of course, applications where the slings are used to transfer other objects for use in shipping, manufacturing, and / or any other application where it is desirable to deploy a sling between an object and a supporting surface are also contemplated as the disclosure is not so limited.

[0031] The inventors have recognized that the use of extendable end effectors and connections on typical everting devices is difficult to implement due to vine robots and other everting devices not having a fixed distal end portion that a connection may be easily affixed to. Accordingly, typical everting devices are held in place using clamps that support the entire weight of an applied load. Due to the small surface area over which a clamp exerts the large retention force, this approach is extremely energy inefficient and may damage the flexible inflatable structure of the everting device. For example, everting devices may be damaged due to puncturing, ripping, and / or other types of damage if inappropriate forces and / or graspers are used to retain the everting device during application of a desired load. Thus, everting devices are typically limited to supporting loads on the order of about 2.5 kg. Further, conventional end effectors which may remain on the distal end of the inflated portion of an everting device throughout an eversion process may hinder eversion under a subject or other object due to interference between the end effector and the adjacent surfaces during an eversion process.

[0032] In view of the above shortcomings, the inventors have recognized a need for appropriate systems and methods for interacting with an everted flexible inflatable structure of an everting device. Specifically, in various applications, it is desirable to provide end effectors for an everting device that transition between an unexposed inverted configuration and an exposed everted configuration as an everting device transitions between the fully inverted configuration and the fully everted configuration. In some such embodiments, an end effector of an everting device may be fixedly connected to portion of the flexible inflatable structure, such as a distal end portion of a flexible inflatable structure, that is positioned on an exterior everted portion of the device when the flexible inflatable structure is in the fully everted configuration. The end effector may either be directly or indirectly fixed relative to the adjacent portion of the flexible inflatable structure. For example, the end effector may be connected to an associated tether, an intermediate structure, and / or directly to the flexible inflatable structure as the disclosure is not so limited. The end effector may be fixedlyconnected to the tether and / or an adjacent portion of the flexible inflatable structure using welds, ultrasonic welds, adhesives, stitching, and / or any other appropriate type of connection.

[0033] In the above embodiment, the end effector may move from a retracted configuration to an extended configuration as the flexible inflatable structure transitions from a fully inverted configuration to the fully everted configuration. More specifically, during eversion, the end effector may be initially positioned within an internal channel of the flexible inflatable structure and may be moved distally through the internal channel until the end effector is extended out and positioned on an exterior everted portion of the flexible inflatable structure once the flexible inflatable structure is in the fully everted configuration. Upon fully everting the flexible inflatable structure, the end effector is exposed and may interact with the outside environment. While any appropriate type of end effector may be used depending on the application, the end effector may be a connection such as a protrusion, a snap connection, a ring, a hook, an eyelet, a latch, and / or any other appropriate type of connection. Of course, in other embodiments, the end effector may be a camera, a tool, a gripper, payloads, and / or any other appropriate end effector known in the art.

[0034] The above noted extendable end effectors may offer a number of benefits. For example, such an end effector may provide improved ease of attachment as well as increased reliability and strength when used as a connection. The inventors also have recognized that the movement of the end effector through the inverted interior channel of the everting device may also reduce the friction and interference of the everting device with the object and supporting surface that the everting device extends between during eversion and inversion.

[0035] The disclosed extendable end effectors may be used with any appropriate type of everting device. This includes use with the currently disclosed slings and wheelchairs as well as other more typical applications of everting devices such as vine robots. Thus, the disclosed extendable end effectors may be used for sensing, surveying, imaging, physical support, handling, and / or any other desirable application where an everting device includes an end effector.

[0036] Traditional wheelchairs require a caregiver, and / or a subject themselves, to transition the subject from a first supporting surface such as a bed or chair onto the wheelchair. Both situations involve large amounts of effort and may be difficult depending on the condition of the subject to be moved. The inventors have recognized that it is desirable for a wheelchair to facilitate transfers onto the wheelchair while a subject is supported on an initial supporting surface. More specifically, an everting device including a flexible inflatablestructure may be used to form at least a portion of a seat of a wheelchair. As elaborated on further below, such a system may both simplify and facilitate the transfer of a subject into a wheelchair either with and / or without caregiver assistance.

[0037] In some embodiments, a wheelchair may include a frame and an everting device with a flexible inflatable structure that may be configured to transition between an inverted and everted configuration. The everting device may be configured such that the flexible inflatable structure may be configured to extend across a seat position of the wheelchair to form at least a portion of a seat of the wheelchair in an extended, or everted, configuration. The wheelchair may also include a connection configured to engage with and lock the flexible inflatable structure in the extended configuration. For example, the connection may be located on a portion of the wheelchair that the flexible inflatable structure everts towards during deployment. Appropriate types of connections may include clamps, connections configured to engage the extendable end effectors disclosed herein, and / or any other type of connection configured to retain the flexible inflatable structure in the desired configuration to support a subject thereon. During use, the flexible inflatable structure of the everting device may evert under a seated subject while attached to the frame of the wheelchair. The distal end portion of the flexible inflatable structure may then be connected to the associated connection to deploy the seat of the wheelchair under the subject while they are supported on the initial supporting surface (e.g., a bed, chair, gurney, or other surface). The subject would then be seated in the wheelchair without undue physical strain.

[0038] The flexible inflatable structure may be sufficiently long to traverse a width of the wheelchair and may be sufficiently wide to adequately support a subject when disposed thereon. For example, a length of the extended flexible inflatable structure may be between or equal to 50 cm and 100 cm depending on the size of wheelchair. Correspondingly, a width of the flexible inflatable structure in a direction transverse to the length and eversion direction of the flexible inflatable structure may be between or equal to 50 cm and 100 cm depending on the size of the wheelchair. Of course, different dimensions for an everting device forming at least a portion, or an entirety, of a seat of a wheelchair may be used as the disclosure is not limited in this fashion.

[0039] It should be understood that a flexible inflatable structure of any of the everting devices 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. Further, in some embodiments, atether 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.

[0040] In some embodiments disclosed herein, such as the embodiments where an everting device forms a portion of a sling and / or wheelchair, it may be desirable to provide an everting device with a flexible inflatable structure with a relatively flat geometry during eversion. In some such embodiments, a width of the flexible inflatable structure 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 device. 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.

[0041] The various embodiments of everting devices 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 on opposing 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 anyother 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.

[0042] The use of such flat everting devices 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 or other object. A relatively flat everting device may also displace a subject or object less during eversion and more stably support a subject or object thereon as compared to more traditional everting vine robots with round cylindrical configurations. Depending on the embodiment, a ratio of a width to a height of a flexible inflatable structure in the inflated and everted configuration may be greater than or equal to 5, 10, 20, 30, or any other appropriate ratio. The ratio may also be less than or equal to 50, 40, 30, or any other appropriate ratio. Combinations of the above ranges are contemplated, including, for example, a ratio of a width to a height of a flexible inflatable structure that is between or equal to 5 and 50. Of course, other ranges may also be used depending on the specific application.

[0043] Although in the current application the disclosed everting devices are depicted as having a uniform flat structure, it should be understood that the disclosed systems may be used with other varieties of everting devices. 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 triangles, squares, or any other shape suitable for everting devices for a given application. Thus, it should be understood that the disclosed embodiments are not limited to any specific type of everting device.

[0044] It should be understood that the various everting devices disclosed herein may have any appropriate length such that they can be used to lift or otherwise support any appropriate load including but not limited to a subject or other appropriate object. For example, an everting device may be sufficiently long to permit connection to one or more mounting points while also permitting the everting device to be wrapped at least partially around a desired object. 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 or other target load (e.g., at least 250 Newtons, 500 Newtons, 1000 Newtons, 2000 Newtons, ranges between any combination of the forgoing, etc.).

[0045] As noted above, an everting device everts from a distal end portion. This permits the disclosed everting devices to easily slide in between a subject 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 pre-existing gap between the subject or other object and the supporting surface. The growth of the everting device from the distal end portion, may also reduce the friction associated with extension of the everting device 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. The disclosed systems may also exhibit easy storage and deployment along with high tensile strengths, and large application versatility. Further, the disclosed systems and methods may further enable the use of everting devices in various applications where larger loading capacities are desired while helping to enable more efficient operation and prevent damage to the everting devices due to excessive forces being applied to the everting devices when supporting such loads.

[0046] As used herein, a pose may refer to an orientation and location of a component, subject, device, or other object. In some embodiments, the pose may be a position in three-dimensional space in combination with a particular angular orientation within three-dimensional space. For example, a relative pose the housing and inflatable structure of a device relative to a subject may refer to the position and angular orientation of the device relative to the subject. Of course, poses of other components and relative poses are also discussed as elaborated on further below.

[0047] 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 an everting device. 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.

[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] Fig. 1 illustrates an inverting and everting device according to one embodiment, which may be used with any of the other systems disclosed herein. Fig. 1depicts the inner components and structure of one embodiment of an everting device 10. The everting device 10 may include a housing 12. The housing 12 may include a mandrel 14 disposed therein. A pump 16, or other pressure source, may be configured to pressurize an interior of the housing 12 with a pressurized fluid (e.g., a gas or liquid). The mandrel 14 may be operatively coupled with any appropriate actuator that may be configured to rotate the mandrel 14. For example, a driveshaft 18 of a motor or other appropriate actuator is depicted as being connected to the mandrel 14. In the depicted embodiment, the mandrel 14 has an approximately cylindrical shape with a rounded or circular geometry. However, other appropriate shapes capable of winding material thereon may be used.

[0050] When the pump 16, or other pressure source, pressurizes the interior volume of the housing 12, a pressure may be applied to an everted portion of the everting device 10 extending out from the housing 12. For example, as noted previously, the everting device 10 may comprise a flexible inflatable structure 20. A first end portion of the flexible inflatable structure 20 of the everting device 10 may be sealed to a portion of the housing 10. The flexible inflatable structure 20 of the everting device 10 may then extend out from this connection to the housing 12 to a distal tip portion of the flexible inflatable structure 20 and then invert through the distal tip portion through a channel extending through the flexible inflatable structure of the everting device 10 and into the housing 12 as an inverted portion 20a of the everting device 10. Thus, the pump 16, or other pressure source, may inflate the everted portion of the flexible inflatable structure 20 extending out from the housing 12. In some embodiments, a tether 22 may be attached to the inverted portion 20a such that an extended length of the tether unwound from the mandrel 14 may control an everted length of the everted portion of the flexible inflatable structure 20. As mentioned above, the tether 22 may be a string, cable, the inverted portion 20a of the flexible inflatable structure inverted within an internal channel of the everting device, and / or any other appropriately flexible and relatively axially inextensible material. In some embodiments, the housing 12 may be sealed with and maintain a position of an exterior proximal portion of the flexible inflatable structure. This can further be seen and will be discussed in the description of Fig. 3. In some embodiments, the drive shaft 18 and the mandrel 14 may be a winch. However, it should be understood that any appropriate type of actuator capable of controlling an extended length of the tether 22 may be used as the disclosure is not limited in this fashion.

[0051] Figs. 2A-2B illustrate a top and front view of a flat everting sling device according to one embodiment. In some embodiments, the sling 100 may include a flexibleinflatable structure 102 which extends distally from a housing 104 that is connected to a proximal end portion of the flexible inflatable structure 102. A width of the flexible inflatable structure 102 may be greater than a height of the flexible inflatable structure 102 when the flexible inflatable structure is in an inflated configuration. The relatively large width may increase the surface area of the flexible inflatable structure 102 in contact with the subject 126 when the sling is in the everted configuration. A plurality of hoist mounts 110 may be disposed at different locations along a length of the sling 100 in the everted configuration. The hoist mounts 110 may be configured to be attached to a hoist or other lifting system for lifting the sling 100. For example, the hoist mounts 110 may correspond to a first set of hoist mounts 110 that are connected to an exterior everted portion 102b of the flexible inflatable structure 102 when the sling 100 is in the fully everted configuration. As the hoist mounts 110 are connected to the flexible inflatable structure 102, the first set of hoist mounts 110 may be configured to move between an inverted configuration positioned within an interior channel 102a of the flexible inflatable structure 102 in the fully inverted configuration to an everted configuration positioned on an exterior everted portion 102b of the flexible inflatable structure 102 in the fully everted configuration. As noted previously, the first set of hoist mounts 110 may be connected to the flexible inflatable structure 102 using any appropriate type of attachment method and the hoist mounts may correspond to any appropriate type of connection capable of being attached to a hoist or other lifting system.

[0052] In the depicted embodiment, hoist hooks 108 may be used to connect the hoist mounts 110 to the cables 106 of a hoist or other lifting system. However, it should be understood that other appropriate types of connections and lifting arrangements may also be used. The cables 106, hoist hooks 108, and hoist mounts 110 may be designed to withstand forces typically associated with lifting and positioning subjects though larger and / or smaller operating ranges may be used depending on the desired application. In some embodiments, the hoist mounts 110 may protrude out from the exterior everted portion 102b of the flexible inflatable structure 102 in the everted configuration. This may allow the flexible inflatable structure 102 to be as wide as the subject 126 with the hoist mounts 110 still being accessible.

[0053] As seen in Fig. 2A, the flexible inflatable structure 102 may be sized and configured to support the entire subject 126. However, in other embodiments, and as discussed below, the flexible inflatable structure 102 may be sized and shaped to only support a portion of the subject 126 or other object to be supported.

[0054] As best seen in Fig. 3, in some embodiments, the housing 104 may include a second set of hoist mounts in the form of one or more housing hoist mounts 116 configured to be attached to a hoist or other appropriate lifting system. In the depicted embodiment, the second hoist mounts are simply handles which may be easily attached to a hook, carabiner, or other similar connection. This may allow for both the flexible inflatable structure 102 and the housing 104 to be attached to a hoist or other lifting system. Of course, other embodiments in which the second set of hoist mounts 116 is a different type of connection are also contemplated.

[0055] As also shown in Fig. 3, in some embodiments, the housing 104 may include a pressure chamber 118 that is configured to be connected to an appropriate pressure source (e.g., a pump, pressurized air, etc.) as noted previously. The sling 100 may include a winch which may be powered by a winch motor 112 which may be mounted to the housing 104 as depicted in the illustrated embodiment. As previously discussed, the winch may be configured to wind and unwind a tether which controls the eversion and inversion of the flexible inflatable structure 102, though other types of actuators to control an extended length of the tether may also be used. The tether may be connected to the distal end portion of the flexible inflatable structure 102. The everted proximal end portion of the flexible inflatable structure 102 may be connected to an attachment collar 120 to form a sealed connection with the pressure chamber 118 of the housing 104. The proximal everted end portion of the flexible inflated structure 102 may be connected to the attachment collar 120 using any appropriate attachment method capable of retaining the flexible inflatable structure 102 and forming the desired seal. This may include but is not limited to hose clamps, welds, compression seals, adhesives, combinations of the forgoing, and / or any other appropriate connection method.

[0056] In some embodiments, it may be desirable to maintain a predetermined pose between a sling 100 and a subject to avoid misalignments during eversion of the sling. One such embodiment is shown in Fig. 3 which illustrates a sling 100 including a housing 104 and a flat everting inflatable structure 102 similar that described above. In some embodiments, the housing 104 may include an alignment structure 114 that is configured to maintain a pose of the housing relative to an adjacent portion of a subject’s body. For example, the alignment structure 114 may be contoured to compliment a size and shape of a portion of the subject’s body positioned against the alignment structure 114. This may include the use of the depicted alignment structure 114 which is a head rest. The head rest is contoured with an appropriatedsized and shaped depression that approximately matches a size and shape of a portion of a subject’s head and / or neck. Due to the engagement between a subject’s body and the contoured portion of the alignment structure 114, the housing 104 may be maintained in a desired pose relative to the adjacent portion of the subject’s body which may help to align an eversion direction of the sling 100 with a desired deployment direction relative to the subject’s body.

[0057] To improve the comfort of a sling 100 including an alignment structure 114, such as the depicted headrest, in some embodiments, an alignment structure, or other portion of a housing 104 that is configured to be engaged with a portion of the subject’s body may be made from a compressible material such as a foam, compressible textile, or other compliant material which may improve comfort for the subject.

[0058] As noted previously, a sling may have an appropriate width and length to enable the sling to extend underneath and support a subject, or other desired object depending on the application. In addition, in some embodiments, it may be desirable for the housing 104 and / or the flexible inflatable structure 102 in the fully inflated configuration (e.g., without a load applied to the flexible inflatable structure) to exhibit heights appropriate for positioning and everting underneath one or more portions of a subject or other object. For example, in some embodiments, the housing 104 and / or the flexible inflatable structure 102 may have a height that is between or equal to 5 cm and 15 cm tall. In some embodiments, the housing 104 and / or the flexible inflatable structure 102 may have a height that is between or equal to 10 cm and 15 cm. In some embodiments, the housing 104 and / or the flexible inflatable structure 102 may have a height that is approximately 12 cm tall. In some embodiments, a compressible portion of a housing 104 (e.g., a compressible headrest) may have a height that is between or equal to 2 cm and 5 cm in an uncompressed configuration. Of course, it should be understood that the housing 104, flexible inflatable structure 102, and any associated alignment feature 114 may be any appropriate height which may be positioned underneath the subject or other object without causing undue discomfort and while permitting the sling to appropriately evert and invert from beneath the subject or other object.

[0059] Figs. 4A-4E illustrate one embodiment of a process of everting and inverting a sling 100 from underneath a subject during lifting and transfer of the subject from a first surface to a second surface according to one embodiment. As mentioned above, a housing 104 may be configured to receive a portion of a subject’s neck and / or head in some embodiments. During operation, an operator may place the subject’s head on the alignmentfeature 114 (e.g., the depicted headrest). A pump may then be activated which pressurizes the pressure chamber 118. The winch motor 112 may then rotate a mandrel, extending an associated tether as the flexible inflatable structure 102 is inflated by the pressurized fluid (e.g., the air). The flexible inflatable structure 102 may evert underneath the subject 126. Due to the flexible inflatable structure 102 everting from a distal end portion of the flexible inflatable structure, the flexible inflatable structure 102 may evert between the subject 126 and an initial supporting surface 122 with relatively little friction and interference.

[0060] As the flexible inflatable structure 102 everts, the hoist mounts 110 may transition from an unexposed configuration within the interior channel 102a of the flexible inflatable structure 102 to the exterior everted portion 102b of the flexible inflatable structure 102. Thus, hoist mounts 110 may be disposed along a length of the everted flexible inflatable structure 102. Once the flexible inflatable structure 102 has reached the desired length, which in some cases may be the fully everted configuration, the cables 106 may be attached to the first set of hoist mounts 110, and in some embodiments a second set of hoist mounts 116 connected to the housing 104.

[0061] Regardless of the specific arrangement, the various hoist mounts may be connected to the cables 106 or other supporting structures of a hoist or other lifting system using any appropriate type of connection to attach the sling 100 to a hoist or other lifting system as depicted in Figs. 4C-4F. The hoist may then be used to apply lifting forces to the cables 106 to lift the sling 100 and the subject 126 off of the initial supporting surface 122 and transfer them to the secondary supporting surface 124. The initial and secondary supporting surfaces 122 and 124 may be any combination of a bed, chair, bench, wheelchair, and / or any other locations which the subject 126 may be transitioned between. In some embodiments, when the secondary supporting surface 124 is a chair, the cables 106 connected to the housing 104 may be shorter than the cables 106 that are connected to the flexible inflatable structure 102. Further, when the secondary supporting surface 124 is a chair, the flexible inflatable structure 102 may extend to the knees of the subject 126. Both of these features may assist in positioning the subject 126 in a seated orientation and improve the transfer from the initial supporting surface 122 to the secondary supporting surface 124.

[0062] Figs. 4G-4J illustrate the process of inverting a flat everting device of a sling 100 from beneath a subject 126 supported on a secondary supporting surface, such as the illustrated wheelchair, after a transfer process has been completed according to one embodiment. Specifically, after the subject 126 is placed on the secondary supporting surface124, the hoist hooks 108, or other connection to a lifting system, may be disconnected from the sling 100. The winch or other actuator of the sling, see Fig. 1, may then retract the tether to invert the flexible inflatable structure 102 to retract the flexible inflatable structure from between the subject 126 and the underlying secondary support surface 124. In some embodiments, the fluid (e.g., air in some embodiments) from flexible inflatable structure 102 is vented out of the housing 104 as the winch retracts the flexible inflatable structure 102 to accommodate the reduced volume of the flexible inflatable structure 102 during inversion. In some embodiments, the flexible inflatable structure 102 may be inverted into the housing 104 until the flexible inflatable structure 102 is no longer between the subject 126 and the secondary supporting surface 124. The housing 104, which houses the flexible inflatable structure 102 may then be removed from behind the subject 126.

[0063] Figs. 5A-5C illustrate an everting device 200 including an extendable end effector 212 during the process of inverting and everting according to one embodiment. As mentioned above, the inventors have recognized the value in end effectors which are fixedly attached to a portion of the flexible inflatable structure 202 that is positioned on an exterior everted portion 202b of the flexible inflatable structure 202 when the flexible inflatable structure 202 is in the fully everted configuration. For example, the end effector may be fixedly attached to an everted portion of the flexible inflatable structure, such as a distal end portion of the flexible inflatable structure 202, in the fully everted configuration. This may help to consistently expose and position the end effector in a desired position during eversion.

[0064] Figs. 5A-5C depict an everting device 200 including a housing 206. Similar to the above embodiments, the housing 206 is sealed and connected to a proximal exterior everted portion of the flexible inflatable structure 202. The housing may also include a pressure chamber 208, a winch 210 or other actuator, and a pump 212 or other appropriate pressure source. The everting device 200 may also include a tether 204 connected to an inverted portion 202a of the flexible inflatable structure 202. Depending on the embodiment, an end effector 214 may be directly or indirectly connected to the tether and / or the flexible inflatable structure 202. The tether 204 may be anchored to the winch 210 on a proximal end and to the end effector 214 on a distal end.

[0065] Fig. 5A depicts the direction of air flow into the everting device 200 as the flexible inflatable structure 202 is inflated by the pump 212 pumping a fluid into the housing 206 and the tether 202 is extended by the winch 210 or other actuator. This causes the flexible inflatable structure 202 to evert out from a distal opening of the interior channel 202bextending through an interior inverted portion of the flexible inflatable structure 202. As can be seen, in this embodiment, as the flexible inflatable structure 202 everts, the end effector 212, which is directly or indirectly fixedly attached to the flexible inflatable structure 202, moves distally through the internal channel 202b towards the distal end of the flexible inflatable structure 202. Fig. 5B depicts the flexible inflatable structure 202 in a fully everted configuration. In this configuration, the end effector 214 is disposed on an everted portion of the flexible inflatable structure 202. Specifically, the end effector 214 may be positioned on a distal end portion of the flexible inflatable structure 202 in the fully everted configuration such that the end effector 214 may extend out from the flexible inflatable structure 202. As mentioned above, the end effector 214 may be a hook, other types of connectors, and / or any other appropriate type of end effector depending on the desired application of the extendable device 200. However, such a device may be especially beneficial in applications where it is desirable to provide a robust connection to the everting device 200 without directly clamping or otherwise directly engaging the flexible inflatable structure 202.

[0066] Fig. 5C illustrates an inversion process. During the depicted process, the tether 204 is retracted and air is permitted to exit the housing 208 as the flexible inflatable structure 202 is inverted. Correspondingly, due to the end effector 214 being fixedly attached to the associated exterior everted portion of the flexible inflatable structure 202, the end effector 214 is moved into the interior channel 202b extending through an interior of the flexible inflatable structure 202 as the flexible inflatable structure is inverted. This process may be continued until the end effector and / or the flexible inflatable structure 202 are moved to the fully inverted configuration.

[0067] Figs. 6A-6C illustrate a process of everting an end effector 214 of an everting device 200 underneath a seated subject according to one embodiment. In this embodiment, the end effector 214 may be a hook or other appropriate type of connection. The end effector 214 may be moved underneath a seated subject 220 through an internal channel of the the flexible inflatable structure 202 during the eversion process. As can clearly be seen, in this embodiment, the end effector 214 is initially positioned within an interior channel of the flexible inflatable structure 202 until the flexible inflatable structure 202 is fully everted at which point the end effector 214 extends out from a distal end portion of the flexible inflatable structure 202. Accordingly, in some embodiments, the end effector 214 may not contact the subject during eversion and thus the friction during everting the flexible inflatablestructure 202 may be reduced as compared to everting devices where the end effector is always positioned on a distal most portion of the everting device.

[0068] Figs. 6A-6C also depict the use of a corresponding connection 222 which may be disposed on an opposing side of a subject and / or object to be engaged by the everting device 200. The connection 222 may be configured to selectively receive and retain the end effector 214. For example, the connection 222 may be a lock, clamp, or other connection configured to selectively lock and release the end effector 214. Thus, in some embodiments, the end effector 214 may be everted between the subject 220 and a primary supporting surface 224 by the everting device 200. The end effector 214 may then be connected with the connection 222 and the everting device 200 may be lifted which may correspondingly lift the subject 220 or other object. Such an everting device may be used with the slings and wheelchairs disclosed herein. However, the use of various types of end effectors that may be deployed through an interior channel of an everting device are not limited to these applications as previously noted.

[0069] In some embodiments, the Inventors have recognized that branching a flexible inflatable structure may permit more complex shapes and corresponding support structures to be formed by an everting device. Fig. 7 illustrates an everting device 300 with a branched distal portion according to one embodiment. In Fig. 7, the everting device is a sling 300. The sling 300 includes a housing 306, a plurality of tethers 304, and a corresponding plurality of end effectors 314. In some embodiments, the tethers may either be controlled individually and / or collectively using separate actuators or a single actuator respectively. The flexible inflatable structure 302 may include a trunk 316 extending out from the housing 306 and a plurality of branches 318 extending out from the trunk. Each branch may include an internal channel and everted portion of the flexible inflatable structure 302. Additionally, in some embodiment, each branch may include a corresponding end effector that is fixedly attached to a distal end portion of the associated branch 318 as detailed above. Thus, each branch 318 may include an extendable end effector 314 disposed in a separate internal channel and may be everted through the associated separate channel to an exterior everted portion of the flexible inflatable structure as the device is moved to the fully everted configuration as detailed previously above.

[0070] Figs. 8A-8C illustrate a process of everting the branched sling 300 underneath a subject according one embodiment. Without wishing to be bound by theory, such a sling 300 may help stabilize the lifting process. In the depicted embodiment, a subject 320 lying on rea bed, or other supporting surface, may be harnessed using the sling 300. In some embodiments, a fully inverted sling 300 may be placed under the crotch or the thighs of the subject 320. The sling 300 may start everting the flexible inflatable structure 302 out from the housing 306 as detailed above relative to the other figures. This eversion may be continued until the flexible inflatable structure 302 is fully extended and the branches protrude out from under the subject 320 on opposing sides of the subject 320. Further, when in the fully extended position, the end effectors 314 are exposed and ready to interact with a an appropriate corresponding connection to facilitate lifting of the subject 320 as detailed previously above.

[0071] Figs. 9A-9D illustrate a process of engaging a wheelchair with a subject supported on an initial supporting surface. Specifically, the figures illustrate a wheelchair 400 with a retractable seat which may evert and invert under a subject to facilitate transferring a subject into and out of a wheelchair 400. In some embodiments, the wheelchair 400 may have frame 414, a plurality of wheels 420, and a backrest 416, see Figs. 10A-10C. The subject may be transferred from an initial surface where the subject is sitting to a wheelchair 400 docked to the surface without lifting the subject. To facilitate this transfer, a flat flexible inflatable structure 404 may form at least a portion of a seat of the wheelchair 400 when fully everted. Similar to the other embodiments disclosed herein, eversion of the flexible inflatable structure 404 may be controlled with pressurized air, or another fluid, is provided to the housing 402 by a pump or other source of pressurized fluid and an extendable tether attached to the flexible inflatable structure 404 is extended. The housing 402 and flexible inflatable structure 404 may be positioned on a first side portion 410 of the wheelchair 400. An end effector or other type of connection may be present on a distal end portion of the flexible inflatable structure 404 in the fully everted configuration and may be configured to be engaged by a connection 406 disposed on a second side portion 412 of the wheelchair located opposite from the housing 402 of the everting device relative to a subject when the subject is seated in the wheelchair. The connection 406 may be configured to be engaged with the flexible inflatable structure 404 of the everting device to maintain the flexible inflatable structure 404 in the desired extended configuration such that the flexible inflatable structure may function as a portion, or an entirety, of a seat of the wheelchair 400.

[0072] While an end effector and corresponding connection 406 may be used to hold the flexible inflatable structure in place, in some embodiments, and as depicted in the figure, a clamp may be used to engage with and retain the distal end portion of the flexible inflatablestructure. In either case, once held in place, the retained flexible inflatable structure 404 may act as a portion, or an entire, seating surface of the wheelchair 400. The first side and the second side may be disposed on opposing sides of a seat position of the wheelchair 400. In some embodiments, the opposing sides may be opposing lateral sides of the wheelchair. However, embodiments, such as that depicted in Figs. 10A-10C below, the two opposing sides may correspond to a front and back side of the wheelchair frame disposed on opposing sides of the seat position of the wheelchair.

[0073] While a particular configuration of a wheelchair 400 is depicted in the figure, it should be understood that in some embodiments, the housing 402 may be positioned on any appropriate portion of the wheelchair. It should also be understood that while a clamp is depicted any other appropriate type of connection positioned on any appropriate side of the wheelchair may be used as the disclosure is not so limited. Additionally, in some embodiments, a branched flexible inflatable structure may be used and a corresponding plurality of connection associated with a corresponding number of locations on the wheelchair frame may be used to lock the flexible inflatable structure in the extended configuration after eversion as the disclosure is not so limited.

[0074] Figs. 10A-10C illustrate a process of operating a docking wheelchair according to one embodiment. In the depicted embodiment, the wheelchair 400 may be positioned such that a seat portion of the wheelchair is positioned over a supporting surface 418 with a seated subject 408 disposed in a seat location of the wheelchair. In some embodiments, an openable backrest 416 may be used that is configured to move between an open and closed configuration to allow the docking wheelchair 400 to slide around the subject 408. Although the backrest 416 is depicted as opening outwards, it should be understood that a retractable, collapsible, or other appropriate type of backrest may be utilized. Once the docking wheelchair 400 is in the proper position, the backrest may be moved to the close configuration to support the subject’s back, and the flexible inflatable structure 404 may evert underneath the subject 408. This process is outline in further detail above in the description of Figs. 9A-9D. Once the distal end portion of the flexible inflatable structure 404 is secured to the frame 414 in the extended configuration after eversion using a clamp or other appropriate connection, an actuator of the everting device and / or the connection used to lock the flexible inflatable structure in place may tighten the flexible inflatable structure 404. Alternatively, the wheelchair may be configured to rise relative to the initial supporting surface 418. This may displace the subject away from the supportingsurface 418 to reduce friction present between the now everted seat of the wheelchair and the surface. Then, the wheelchair 400 may be removed from the supporting surface and operate as a traditional wheelchair. The reverse operation may be performed to transition a subject from the wheelchair to the underlying supporting surface. For example, this may include positioning the wheelchair 400 over the supporting surface followed by releasing the connection 406 and inverting the flexible inflatable structure 404 to transfer the subject onto the underlying supporting surface.

[0075] Exemplary Embodiments

[0076] Embodiment Al. An inflatable sling comprising: a flexible inflatable structure, wherein a width of the flexible inflatable structure is greater than a height of the flexible inflatable structure when the flexible inflatable structure is in an inflated configuration; a tether configured to control a length of an everted portion of the flexible inflatable structure to control inversion and eversion of the flexible inflatable structure; and a first set of hoist mounts connected to the flexible inflatable structure, wherein the first set of hoist mounts are configured to move from an inverted configuration within an interior channel of the flexible inflatable structure to an everted configuration on an exterior everted portion of the flexible inflatable structure as the flexible inflatable structure is moved from a fully inverted configuration to a fully everted configuration.

[0077] Embodiment A2. The inflatable sling of claim Al, further comprising a housing connected to a proximal portion of the flexible inflatable structure.

[0078] Embodiment A3. The inflatable sling of claim A2, further comprising a second set of hoist mounts disposed on the housing.

[0079] Embodiment A4. The inflatable sling of claim A2, further comprising a pump configured to pressurize the housing and the flexible inflatable structure.

[0080] Embodiment A5. The inflatable sling of claim A2, wherein the housing includes a headrest.

[0081] Embodiment A6. The inflatable sling of Embodiment A2, wherein the housing is configured to maintain a pose of the housing relative to a portion of the subject’s body.

[0082] Embodiment A7. The inflatable sling of Embodiment A6, wherein the housing is contoured to receive the portion of the subject’s body.

[0083] Embodiment A8. The inflatable sling of Embodiment Al, wherein the first set of hoist mounts are bonded to the flexible inflatable structure.

[0084] Embodiment A9. The inflatable sling of Embodiment A2, wherein a height of the housing is between or equal to 10 cm and 15 cm.

[0085] Embodiment A10. The inflatable sling of Embodiment Al, wherein a width of the flexible inflatable structure in the everted configuration is between or equal to 25 cm and 75 cm.

[0086] Embodiment All. The inflatable sling of Embodiment Al, further comprising an actuator configured to control an extended length of the tether.

[0087] Embodiment A12. The inflatable sling of Embodiment Al, wherein the flexible inflatable structure has a plurality of branches.

[0088] Embodiment Bl. A method for operating a sling, the method comprising: positioning a portion of a flexible inflatable structure underneath a portion of subject in an inverted configuration; pressurizing the flexible inflatable structure to evert the flexible inflatable structure underneath the subject; and transitioning hoist mounts from an inverted configuration within an interior channel of the flexible inflatable structure to an everted configuration on an exterior everted portion of the flexible inflatable structure as the flexible inflatable structure is moved from a fully inverted configuration to a fully everted configuration.

[0089] Embodiment B2. The method of Embodiment Bl, further comprising extending a tether connected to the flexible inflatable structure to control an everted length of the flexible inflatable structure.

[0090] Embodiment B3. The method of Embodiment Bl, further comprising connecting a plurality of cables to the hoist mounts.

[0091] Embodiment B4. The method of Embodiment B3, further comprising lifting the sling with the plurality of cables.

[0092] Embodiment B5. The method of Embodiment B2, further comprising inverting the flexible inflatable structure.

[0093] Embodiment B6. The method of Embodiment Bl, wherein the flexible inflatable structure has a plurality of branches.

[0094] Embodiment B7. The method of Embodiment Bl, wherein the hoist mounts are bonded to the flexible inflatable structure.

[0095] Embodiment B8. The method of Embodiment Bl, further comprising maintaining a pose of a housing connected to the flexible inflatable structure relative to an adjacent portion of the subject’s body.

[0096] Embodiment Cl. An everting device comprising: a flexible inflatable structure; a tether configured to control a length of an everted portion of the flexible inflatable structure to control inversion and eversion of the flexible inflatable structure; and an end effector fixedly connected to the flexible inflatable structure, and wherein the end effector is configured to move from an inverted configuration within an internal channel of the flexible inflatable structure to an everted configuration on an exterior everted portion of the flexible inflatable structure as the flexible inflatable structure moves from a fully inverted configuration to a fully everted configuration.

[0097] Embodiment C2. The device of Embodiment Cl, wherein the end effector is fixedly connected to a distal end portion of the flexible inflatable structure when the flexible inflatable structure is in the fully everted configuration

[0098] Embodiment C3. The device of Embodiment Cl, further comprising a pump configured to pressurize the flexible inflatable structure.

[0099] Embodiment C4. The device of Embodiment Cl, further comprising an actuator configured to control an extended length of the tether.

[0100] Embodiment C5. The device of Embodiment Cl, wherein the end effector is a connector

[0101] Embodiment C6. The device of Embodiment Cl, wherein the end effector is at least one selected from a protrusion, a snap connection, a ring, a hook, an eyelet, and a latch.

[0102] Embodiment C7. The device of Embodiment Cl, wherein the flexible inflatable structure has a plurality of branches.

[0103] Embodiment C8. The device of Embodiment C7, wherein the end effector is a plurality of end effectors, wherein each end effector is associated with a separate branch of the plurality of branches, and wherein each end effector is fixedly connected to a distal end portion of the associated separate branch when the flexible inflatable structure is in the fully everted configuration.

[0104] Embodiment C9. The device of Embodiment Cl, wherein the tether is connected to the end effector and the flexible inflatable structure.

[0105] Embodiment CIO. The device of Embodiment Cl, wherein the end effector is directly connected to the flexible inflatable structure.

[0106] Embodiment DI. A method for operating an everting device system comprising: pressurizing a flexible inflatable structure, wherein the flexible inflatable structure is in an inverted configuration; extending a tether connected to an internal portion of the flexible inflatable structure to evert the flexible inflatable structure; and moving an end effector through an internal channel of the flexible inflatable structure to an exterior everted portion of the flexible inflatable structure as the flexible inflatable structure everts.

[0107] Embodiment D2. The system of Embodiment DI, wherein the flexible inflatable structure has a plurality of branches.

[0108] Embodiment D3. The method of Embodiment DI, wherein the exterior everted portion is a distal end portion of the flexible inflatable structure in a fully everted configuration of the flexible inflatable structure.

[0109] Embodiment D4. The method of Embodiment DI, further comprising inverting the flexible inflatable structure and moving the end effector into the internal channel of the flexible inflatable structure.

[0110] Embodiment D5. The method of Embodiment DI, wherein inverting the flexible inflatable structure includes retracting the tether.

[0111] Embodiment D6. The method of Embodiment DI, wherein the end effector is a connector.

[0112] Embodiment D7. The method of Embodiment DI, wherein the end effector is at least one selected from a protrusion, a snap connection, a ring, a hook, an eyelet, and a latch.

[0113] Embodiment D8. The method of Embodiment DI, further comprising everting a plurality of branches of the flexible inflatable structure.

[0114] Embodiment D9. The method of Embodiment DI, wherein the end effector is a plurality of end effectors, and wherein each end effector is associated with a separate branch of the plurality of branches, further comprising moving each end effector of the plurality of end effectors to a distal end portion of the associated separate branch as the flexible inflatable structure is everted to the fully everted configuration.

[0115] Embodiment DIO. The method of Embodiment DI, wherein the tether is connected to the end effector and the flexible inflatable structure.

[0116] Embodiment Dl l. The method of Embodiment D 1 , wherein the end effector is directly connected to the flexible inflatable structure.

[0117] Embodiment El . A wheelchair comprising: a wheelchair frame; a flexible inflatable structure; a tether configured to control an everted length of the flexible inflatable structure; and a connection configured to engage with and lock the flexible inflatable structure in an extended configuration, and wherein the flexible inflatable structure is configured to form at least a portion of a seat of the wheelchair in the extended configuration.

[0118] Embodiment E2. The wheelchair of Embodiment El, wherein the flexible inflatable structure is configured to support a weight of a subject when locked in the extended configuration by the connection.

[0119] Embodiment E3. The wheelchair of Embodiment El, wherein the wheelchair frame comprises: wheels; and a backrest.

[0120] Embodiment E4. The wheelchair of Embodiment E3, wherein the backrest is configured to open.

[0121] Embodiment E5. The wheelchair of Embodiment El, further comprising a housing connected to a proximal portion of the flexible inflatable structure.

[0122] Embodiment E6. The wheelchair of Embodiment E5, wherein the wheelchair comprises a first side and a second side disposed on opposing sides of a seat position of the wheelchair, wherein the housing is disposed on the first side, and wherein the connection is disposed on the second side.

[0123] Embodiment E7. The wheelchair of Embodiment E6, wherein the first side and the second side are a front and a back of the wheelchair.

[0124] Embodiment E8. The wheelchair of Embodiment E6, wherein the first side and the second side are opposing lateral sides of the wheelchair.

[0125] Embodiment E9. The wheelchair of Embodiment El, further comprising a pump configured to pressurize the flexible inflatable structure.

[0126] Embodiment E10. The wheelchair of Embodiment E3, wherein a width of the flexible inflatable structure is greater than a height of the flexible inflatable structure when the flexible inflatable structure is in an inflated configuration.

[0127] Embodiment Fl. A method for operating a wheelchair, the method comprising: pressurizing a flexible inflatable structure; extending a tether connected to the flexible inflatable structure; everting the flexible inflatable structure underneath a subject; and locking the flexible inflatable structure in an extended configuration to form at least a portion of a seat of the wheelchair.

[0128] Embodiment F2. The method of Embodiment Fl, further comprising inverting the flexible inflatable structure.

[0129] Embodiment F3. The method of Embodiment Fl, wherein locking the flexible inflatable structure in the extended configuration includes connecting the flexible inflatable structure to a connection on the wheelchair.

[0130] Embodiment F4. The method of Embodiment F3, further comprising extending the flexible inflatable structure between opposing sides of a seat position of the wheelchair to form the portion of the seat.

[0131] Embodiment F5. The method of Embodiment F 1 , further comprising opening a backrest of the wheelchair.

[0132] Embodiment F6. The method of Embodiment Fl, wherein the first side and the second side are a front and a back of the wheelchair.

[0133] Embodiment F7. The method of Embodiment Fl, wherein the first side and the second side are opposing lateral sides of the wheelchair.

[0134] Embodiment F8. The method of Embodiment Fl, wherein everting the flexible inflatable structure includes everting a plurality of branches of the flexible inflatable structure.

[0135] Embodiment F9. The method of Embodiment Fl, wherein a width of the flexible inflatable structure is greater than a height of the flexible inflatable structure when the flexible inflatable structure is in an inflated configuration.

[0136] Embodiment Gl. A device, comprising an inside-outside eversible tube that is inflatable by air, one or more belts within the tube,a hook at one end at each of the one or more belts, a winch comprising a winch at the other end of the one or more belts and a spool attached to each of the one or more belts, wherein one end of the belts are wound around the winch spool, an air pressure source, and an optional controller; wherein the belt extends by inflating the tubular sheet with air and retracts by deflating the tubular sheet.

[0137] Embodiment G2. The device of Embodiment G1 further comprising a hoist configured for lifting a human body.

[0138] Embodiment G3. The device of Embodiment G1 or G2, wherein the device consists of plural trunks where single or plural branches come out.

[0139] Embodiment G4. A method of moving a subject the method using the device of any one of Embodiment G1-G3, the method comprising: placing the self-tunneling belt device near a human body lying on a bed, supplying air to said tube so that a tip of the tube extends beneath the human body, and finally extends across the body; inflating the tube until to the hook appears at the end of the tube; moving the body using the tube partly as support.

[0140] Embodiment G5. The method of Embodiment G4 further comprising extending the tube under the body, and attaching the hook to a structure or a hoist.

[0141] Embodiment G6. The method of Embodiment G4 further comprising fully retracting the device; placing the winch at the crotch or the thighs of the human body and the one or more belts extended toward the side of the body; everting the tube with pressurized air provided to the air chamber and releasing the belt wound around the winch spool; continuing to inflate the tube until the tube is fully extended and the branches of the tube go across the body, and all the hooks show up at the end of the individual branches.

[0142] Embodiment G7. The method of Embodiment G4 further comprising connecting the hooks of the device to a powered hoist; lifting the body using winches of the powered hoist.

[0143] Embodiment G8. The method of Embodiment G4 further comprising connecting the hooks of the device to the structure of a sit-to-stand assistive device.

[0144] Embodiment G9. The method of Embodiment G4 further comprising sitting the human body at the edge of a bed; moving a wheelchair comprising a seat in a docking position near the edge of the bed, wherein the winch of the device is attached to the seat of the wheelchair opposition the human body, and wherein the docking position the arms of the wheelchair extend along the sides of the human body; inflating the tube to extend it beneath and support the human body; and attaching the hooks of the device to arms of the wheelchair.

[0145] 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. An inflatable sling comprising: a flexible inflatable structure, wherein a width of the flexible inflatable structure is greater than a height of the flexible inflatable structure when the flexible inflatable structure is in an inflated configuration; a tether configured to control a length of an everted portion of the flexible inflatable structure to control inversion and eversion of the flexible inflatable structure; and a first set of hoist mounts connected to the flexible inflatable structure, wherein the first set of hoist mounts are configured to move from an inverted configuration within an interior channel of the flexible inflatable structure to an everted configuration on an exterior everted portion of the flexible inflatable structure as the flexible inflatable structure is moved from a fully inverted configuration to a fully everted configuration.

2. The inflatable sling of claim 1, further comprising a housing connected to a proximal portion of the flexible inflatable structure.

3. The inflatable sling of claim 2, further comprising a second set of hoist mounts disposed on the housing.

4. The inflatable sling of claim 2, further comprising a pump configured to pressurize the housing and the flexible inflatable structure.

5. The inflatable sling of claim 2, wherein the housing includes a headrest.

6. The inflatable sling of claim 2, wherein the housing is configured to maintain a pose of the housing relative to a portion of the subject’s body.

7. The inflatable sling of claim 6, wherein the housing is contoured to receive the portion of the subject’s body.

8. The inflatable sling of claim 1, wherein the first set of hoist mounts are bonded to the flexible inflatable structure.

9. The inflatable sling of claim 2, wherein a height of the housing is between or equal to 10 cm and 15 cm.

10. The inflatable sling of claim 1, wherein a width of the flexible inflatable structure in the everted configuration is between or equal to 25 cm and 75 cm.

11. The inflatable sling of claim 1, further comprising an actuator configured to control an extended length of the tether.

12. The inflatable sling of claim 1, wherein the flexible inflatable structure has a plurality of branches.

13. A method for operating a sling, the method comprising: positioning a portion of a flexible inflatable structure underneath a portion of subject in an inverted configuration; pressurizing the flexible inflatable structure to evert the flexible inflatable structure underneath the subject; and transitioning hoist mounts from an inverted configuration within an interior channel of the flexible inflatable structure to an everted configuration on an exterior everted portion of the flexible inflatable structure as the flexible inflatable structure is moved from a fully inverted configuration to a fully everted configuration.

14. The method of claim 13, further comprising extending a tether connected to the flexible inflatable structure to control an everted length of the flexible inflatable structure.

15. The method of claim 13, further comprising connecting a plurality of cables to the hoist mounts.

16. The method of claim 15, further comprising lifting the sling with the plurality of cables.

17. The method of claim 14, further comprising inverting the flexible inflatable structure.

18. The method of claim 13, wherein the flexible inflatable structure has a plurality of branches.

19. The method of claim 13, wherein the hoist mounts are bonded to the flexible inflatable structure.

20. The method of claim 13, further comprising maintaining a pose of a housing connected to the flexible inflatable structure relative to an adjacent portion of the subject’s body.

21. An everting device comprising: a flexible inflatable structure; a tether configured to control a length of an everted portion of the flexible inflatable structure to control inversion and eversion of the flexible inflatable structure; and an end effector fixedly connected to the flexible inflatable structure, and wherein the end effector is configured to move from an inverted configuration within an internal channel of the flexible inflatable structure to an everted configuration on an exterior everted portion of the flexible inflatable structure as the flexible inflatable structure moves from a fully inverted configuration to a fully everted configuration.

22. The device of claim 21, wherein the end effector is fixedly connected to a distal end portion of the flexible inflatable structure when the flexible inflatable structure is in the fully everted configuration.

23. The device of claim 21, further comprising a pump configured to pressurize the flexible inflatable structure.

24. The device of claim 21, further comprising an actuator configured to control an extended length of the tether.

25. The device of claim 21, wherein the end effector is a connector.

26. The device of claim 21, wherein the end effector is at least one selected from a protrusion, a snap connection, a ring, a hook, an eyelet, and a latch.

27. The device of claim 21, wherein the flexible inflatable structure has a plurality of branches.

28. The device of claim 27, wherein the end effector is a plurality of end effectors, wherein each end effector is associated with a separate branch of the plurality of branches, and wherein each end effector is fixedly connected to a distal end portion of the associated separate branch when the flexible inflatable structure is in the fully everted configuration.

29. The device of claim 21, wherein the tether is connected to the end effector and the flexible inflatable structure.

30. The device of claim 21, wherein the end effector is directly connected to the flexible inflatable structure.

31. A method for operating an everting device system comprising: pressurizing a flexible inflatable structure, wherein the flexible inflatable structure is in an inverted configuration; extending a tether connected to an internal portion of the flexible inflatable structure to evert the flexible inflatable structure; and moving an end effector through an internal channel of the flexible inflatable structure to an exterior everted portion of the flexible inflatable structure as the flexible inflatable structure everts.

32. The system of claim 31, wherein the flexible inflatable structure has a plurality of branches.

33. The method of claim 31, wherein the exterior everted portion is a distal end portion of the flexible inflatable structure in a fully everted configuration of the flexible inflatable structure.

34. The method of claim 31, further comprising inverting the flexible inflatable structure and moving the end effector into the internal channel of the flexible inflatable structure.

35. The method of claim 31, wherein inverting the flexible inflatable structure includes retracting the tether.

36. The method of claim 31, wherein the end effector is a connector.

37. The method of claim 31, wherein the end effector is at least one selected from a protrusion, a snap connection, a ring, a hook, an eyelet, and a latch.

38. The method of claim 31, further comprising everting a plurality of branches of the flexible inflatable structure.

39. The method of claim 31, wherein the end effector is a plurality of end effectors, and wherein each end effector is associated with a separate branch of the plurality of branches, further comprising moving each end effector of the plurality of end effectors to a distal end portion of the associated separate branch as the flexible inflatable structure is everted to the fully everted configuration.

40. The method of claim 31, wherein the tether is connected to the end effector and the flexible inflatable structure.

41. The method of claim 31, wherein the end effector is directly connected to the flexible inflatable structure.

42. A wheelchair comprising: a wheelchair frame; a flexible inflatable structure; a tether configured to control an everted length of the flexible inflatable structure; and a connection configured to engage with and lock the flexible inflatable structure in an extended configuration, and wherein the flexible inflatable structure is configured to form at least a portion of a seat of the wheelchair in the extended configuration.

43. The wheelchair of claim 42, wherein the flexible inflatable structure is configured to support a weight of a subject when locked in the extended configuration by the connection.

44. The wheelchair of claim 42, wherein the wheelchair frame comprises: wheels; and a backrest.

45. The wheelchair of claim 44, wherein the backrest is configured to open.

46. The wheelchair of claim 42, further comprising a housing connected to a proximal portion of the flexible inflatable structure.

47. The wheelchair of claim 46, wherein the wheelchair comprises a first side and a second side disposed on opposing sides of a seat position of the wheelchair, wherein the housing is disposed on the first side, and wherein the connection is disposed on the second side.

48. The wheelchair of claim 47, wherein the first side and the second side are a front and a back of the wheelchair.

49. The wheelchair of claim 47, wherein the first side and the second side are opposing lateral sides of the wheelchair.

50. The wheelchair of claim 42, further comprising a pump configured to pressurize the flexible inflatable structure.

51. The wheelchair of claim 44, wherein a width of the flexible inflatable structure is greater than a height of the flexible inflatable structure when the flexible inflatable structure is in an inflated configuration.

52. A method for operating a wheelchair, the method comprising: pressurizing a flexible inflatable structure;extending a tether connected to the flexible inflatable structure; everting the flexible inflatable structure underneath a subject; and locking the flexible inflatable structure in an extended configuration to form at least a portion of a seat of the wheelchair.

53. The method of claim 52, further comprising inverting the flexible inflatable structure.

54. The method of claim 52, wherein locking the flexible inflatable structure in the extended configuration includes connecting the flexible inflatable structure to a connection on the wheelchair.

55. The method of claim 54, further comprising extending the flexible inflatable structure between opposing sides of a seat position of the wheelchair to form the portion of the seat.

56. The method of claim 52, further comprising opening a backrest of the wheelchair.

57. The method of claim 52, wherein the first side and the second side are a front and a back of the wheelchair.

58. The method of claim 52, wherein the first side and the second side are opposing lateral sides of the wheelchair.

59. The method of claim 52, wherein everting the flexible inflatable structure includes everting a plurality of branches of the flexible inflatable structure.

60. The method of claim 52, wherein a width of the flexible inflatable structure is greater than a height of the flexible inflatable structure when the flexible inflatable structure is in an inflated configuration.

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