System for assisting and / or guiding the movement of a user and respective method of use

Abstract

The present invention relates to a system (1) for assisting and / or guiding a user's movement. In particular, the present invention relates to a system for assisting and / or guiding the movement of a user with a robotic movement device (2) and an augmented, virtual, or mixed reality headset (6). The present invention also relates to a method of using such a system.

Description

[0001] SYSTEM FOR ASSISTING AND / OR GUIDING THE MOVEMENT OF A USERAND RESPECTIVE METHOD OF USE”

[0002] TECHINCAL FIELD OF THE INVENTION

[0003] The present invention relates to a system for assisting and / or guiding a user's movement. In particular, the present invention relates to a system for assisting and / or guiding the movement of a user with a robotic movement device and an augmented, virtual, or mixed reality headset.

[0004] The present invention also relates to a method of using such a system.

[0005] STATE OF THE PRIOR ART

[0006] In recent years, robotic systems for assisting and / or guiding movement have undergone significant evolution, finding widespread application in the rehabilitation field for the motor recovery of patients with neurological and / or orthopedic disabilities.

[0007] The main objective of these systems is to facilitate the functional recovery of movement, such as for example walking, through the assisted repetition of physiological motor patterns, thereby promoting neural plasticity and improving the patient’s motor capabilities. Robotic devices for gait rehabilitation are mainly divided into wearable exoskeletons and robotic walkers, each having specific characteristics and fields of application.

[0008] With reference thereto, wearable exoskeletons are robotic devices applied to the patient’s lower limbs to provide active support to movement or, more specifically, to walking. They are equipped with motorized actuators that generate joint movement in synergy with the user, facilitating the recovery of motor Robotic walkers, on the other hand, represent another class of devices used to support the ambulation of patients with motor impairments. Unlike exoskeletons, these systems are not wearable but provide external support that stabilizes the user and facilitates movement.

[0009] Such robotic devices are particularly suitable for the rehabilitation of patients with residual mobility, allowing work on step symmetry, coordination,and muscle strength.

[0010] At the same time, the spread of Augmented Reality (AR), Virtual Reality (VR), and Mixed Reality (MR) technologies offers new opportunities to increase user engagement and, in the case of a rehabilitation pathway, to improve its effectiveness.

[0011] Current solutions for assisting and / or guiding movement, and in particular gait, based on robotic devices, exhibit numerous limitations in terms of technological integration. Although systems with mechanical impedance control exist, they are often focused on individual parameters and do not allow advanced torque control for a more natural and adaptive regulation of movement.

[0012] Similarly, augmented, virtual, or mixed reality headsets are generally used independently from robotic devices, without effective integration with the patient’s motor control. The absence of interconnection between the haptic feedback generated by mechanical impedance control and the virtual environment limits user engagement and adherence to rehabilitation protocols or guided pathways.

[0013] Documents W02021220103A1 and CN110192969A describe respective solutions according to the state of the prior art.

[0014] In light of the foregoing, it is therefore necessary and advantageous to design and implement a new system for assisting and / or guiding the movement of a user that overcomes the disadvantages of the prior art listed above.

[0015] OBJECTS OF THE INVENTION

[0016] The technical task of the present invention is therefore to improve the state of the art with reference to systems for assisting and / or guiding the movement, for example walking, of a user.

[0017] An object of the present invention is to provide a system for assisting and / or guiding the movement, for example walking, of a user that exploits the use of augmented, virtual or mixed reality to improve user engagement and the user’s adherence to the rehabilitation protocol or guided path.

[0018] Another object of the present invention is to provide a system for assistingand / or guiding the movement, for example walking, of a user that allows the application of torque-based mechanical impedance control of the robotic movement device used.

[0019] Yet another object of the present invention is to provide a system for assisting and / or guiding the movement, for example walking, of a user capable of providing multisensory sensations generated by an augmented, virtual or mixed reality environment synchronized with the mechanical impedance control of a robotic movement device, including visual and / or audio and / or haptic sensations.

[0020] A further object of the present invention is to provide a system for assisting and / or guiding the movement, for example walking, of a user capable of providing personalized controls based on the user’s needs.

[0021] Finally, another object of the present invention is to provide a system for assisting and / or guiding the movement, for example walking, of a user through a guided path traceable via a user interface by another external user.

[0022] This task and these objects are achieved by a system for assisting and / or guiding the movement of a user according to claim 1 and by a method according to claim 20.

[0023] The dependent claims refer to preferred and advantageous embodiments of the invention.

[0024] BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Other features and advantages of the invention will be more clearly illustrated by the description of an embodiment of a system for assisting and / or guiding the movement, for example walking, of a user, illustrated by way of example in the accompanying drawings, in which:

[0026] - figure 1 is a schematic view of a system for assisting and / or guiding the movement of a user according to an embodiment of the present invention,

[0027] - figures 2 and 3 are respective perspective views of an example of a robotic movement device usable in the system of figure 1.

[0028] In the accompanying drawings, identical parts or components are identified by the same reference numbers or letters.EMBODIMENTS OF THE INVENTION

[0029] With reference to the attached figures, the reference number 1 indicates as a whole a system for assisting and / or guiding the movement, for example walking, of a user according to a non-limiting embodiment of the present invention.

[0030] The system 1 for assisting and / or guiding the movement, for example walking, of a user according to the present invention comprises a robotic movement device 2.

[0031] With the term "robotic", it is intended that the actions of the movement device 2 are programmable, for example, based on operational needs, and that the movement device 2 can potentially operate without direct human intervention.

[0032] Such robotic movement device 2 includes:

[0033] - a protection and / or support frame 3 for a user U,

[0034] - at least two motorized wheels or tracks 4, i.e., operationally connected to at least one motor or to respective motors, preferably coaxial, connected below the protection and / or support frame 3,

[0035] - at least one encoder, associated with the at least one motor or to the respective motors of the motorized wheels or tracks 4, configured to measure first speed and displacement data of the motorized wheels or tracks 4,

[0036] - actuation and control means 5 of the at least two motorized wheels or tracks 4, and

[0037] - at least one processing unit configured to:

[0038] - receive the first speed and displacement data from the at least one encoder,

[0039] - process the first speed and displacement data to determine torque values to be applied to the at least two motorized wheels or tracks 4 as a function of a mechanical impedance control and generate first commands based on such processing, and

[0040] - send the first commands to the actuation and control means 5 to control the torque applied to at least two motorized wheels or tracks 4 as a function of the determined torque values.The system 1 according to the present invention also comprises at least one augmented or virtual or mixed reality headset 6, wearable by a user U, configured to generate visual and / or audio contents synchronized and / or contextualized with the mechanical impedance control so as to convey visual and / or audio and / or haptic sensations to the user U for the implementation of an interactive rehabilitation protocol or of an immersive guided path.

[0041] In the context of the present invention, and also in the field of robotics, the term “mechanical impedance” refers to the dynamic relationship between force and velocity (or displacement) for a mechanical system. In this regard, mechanical impedance control is aimed in particular at causing a robotic device and, in this case, the robotic movement device 2, which is controlled in an operating environment, to exhibit an impedance behaviour, comparable to a generalized mass-spring-damper system.

[0042] Therefore, the mechanical impedance control used in the present invention is preferably configured to model the robotic movement device 2 as a generalized mass-spring-damper system and comprises at least three control parameters, including a virtual inertia parameter, a virtual stiffness parameter, and a virtual viscosity parameter.

[0043] The mechanical impedance control or, more precisely, the sequence of instructions or algorithm that governs such mechanical impedance control may be stored in the memory of the processing unit and may:

[0044] - vary according to specific movement conditions of the robotic movement device 2, and / or

[0045] - be variably controlled by setting the above-mentioned control parameters by means of an electronic device 11, which will be described in detail hereinafter.

[0046] The system 1 may be used to implement an immersive guided path, for example in the context of an interactive museum or, more generally, in the context of a recreational or cultural activity, or it may be used to implement an interactive rehabilitation protocol, in particular for the motor rehabilitation of persons affected by disabilities, such as, for example, persons with neurological and / ororthopedic disabilities.

[0047] Preferably, the system 1 is used in the motor rehabilitation of a user U affected by a disability, and the robotic movement device 2 is a robotic walker.

[0048] Further preferably, during use of the robotic movement device 2 or, more particularly, of the robotic walker 2, the user U rests their hands or forearms on the protection and / or support frame 3 or, in any case, on one or more components associated therewith, such that a support and / or load-relief point is provided therefor. In such a case, the user U is supported anteriorly by the robotic movement device 2.

[0049] From a structural point of view, the protection and / or support frame 3 advantageously comprises:

[0050] - an upper frame portion 3a and a lower frame portion 3b,

[0051] - a pair of right lateral rods or arms 3c, 3d pivoted to each other and a pair of left lateral rods or arms 3e, 3f pivoted to each other,

[0052] - a right upper guide or slide 14a and a left upper guide or slide 14b mounted on the upper frame portion 3a, for example below the latter and, optionally, at first end portions thereof, as well as a right lower guide or slide 14c and a left lower guide or slide 14d mounted on the lower frame portion 3b, for example above the latter and, optionally, at first end portions thereof.

[0053] In this regard, each lateral rod or arm 3c, 3d, 3e, 3f defines a respective first end 3cl, 3dl, 3el, 3 fl pivoted to the upper frame portion 3a or to the lower frame portion 3b, for example at respective second end portions thereof distal from the corresponding first end portions, and a respective second end 3c2, 3d2, 3e2, 3f2 connected to a corresponding slider 15a, 15b, 15c, 15d slidably mounted in a respective guide or slide 14a, 14b, 14c, 14d, such that the protection and / or support frame 3 is height-adjustable.

[0054] As can be understood, in this way it is possible to adapt the robotic movement device 2 to users U of different heights, such as for example, a child and an adult.

[0055] Optionally, the pair of right lateral rods or arms 3c, 3d is pivoted at arespective central region or point thereof, and likewise the pair of left lateral rods or arms 3e, 3f is pivoted at a respective central region or point thereof, for example so as to define a cross-type pivoting arrangement.

[0056] The height adjustment of the protection and / or support frame 3 may be performed manually, for example by moving the sliders 15a, 15b, 15c, 15d to respective locking positions and securing them in position by means of suitable locking means 18, optionally one or more handles, or automatically, for example by means of suitable electrical and / or electromechanical systems, or by means of at least one actuator operatively associated with at least one of the rods or arms 3c, 3d, 3e, 3f and configured to actuate the height adjustment of the protection and / or support frame 3 or, more precisely, of the upper frame portion 3a thereof.

[0057] According to the non-limiting embodiment of the robotic movement device 2 shown in figure 2, the upper frame portion 3a and the lower frame portion 3b are U-shaped and define a positioning zone PZ for a user U inside the U-shapes, which may be open towards the rear or towards the front of the robotic movement device 2.

[0058] As can be understood, in this way the user U is protected by the frame portions 3a, 3b from possible external obstacles.

[0059] With reference to the at least two motorized wheels or tracks 4 connected below the protection and / or support frame 3, these may be two, three, or four wheels or tracks 4, of which at least two wheels or tracks 4 are motorized, i.e., associated with at least one motor or with respective motors, preferably at least one electric motor or respective electric motors, for example a brushless direct current electric motor or respective brushless direct current electric motors.

[0060] Preferably, the robotic movement device 2 comprises a respective encoder associated with the motor of each motorized wheel or track 4.

[0061] As already mentioned, the at least two motorized wheels or tracks 4 are preferably coaxial, i.e., the two wheels have a common or coincident axis of rotation or, in the case of tracks, i.e., the latter are arranged in positions symmetrical with respect to a vertical median plane of the robotic movementdevice 2.

[0062] According to the non-limiting embodiment of the robotic movement device 2 illustrated in figure 2, the latter comprises four wheels 4, 4a, including two rear motorized wheels 4 and two front non-motorized wheels 4a.

[0063] Naturally, other combinations may be provided, for example only two motorized wheels, or two rear motorized wheels and one front non-motorized wheel, or two front motorized wheels and one rear non-motorized wheel, or again two front motorized wheels and one rear non-motorized wheel.

[0064] With reference to the actuation and control means 5 of the at least two motorized wheels or tracks 4, these may advantageously comprise at least one driver or actuation unit in communication with the at least two motorized wheels or tracks 4, or more precisely with the at least one motor or with the respective motors associated therewith, configured to actuate and control the latter according to the content of the first commands received from the processing unit.

[0065] If desired, the actuation and control means 5 may be housed in a housing H, for example arranged below or above the lower frame portion 3b of the protection and / or support frame 3. Naturally, the actuation and control means 5 are in communication with the at least one motor or with the respective motors of the at least two motorized wheels or tracks 4.

[0066] It is specified that, in the embodiments illustrated in the figures, the actuation and control means 5 are shown in dashed lines as they are housed within the housing H and not directly visible.

[0067] The system 1 is capable of applying mechanical impedance control both independently of the forces applied by the user U on the robotic movement device 2 and considering the forces applied by the user U on the robotic movement device 2, and thus by using force sensors.

[0068] From a mathematical point of view, the relationship that connects the movement of the motorized wheels or tracks 4 with that of the robotic movement device 2 can be written as:

[0069]

[0070]

[0071] is the vector representing the longitudinal and rotational speed of the robotic movement device 2 whereas ^q is the vector of the speeds of the motorized wheels or tracks 4.

[0072] By differentiating this equation with respect to time it is obtained:

[0073]

[0074] and, rewriting, it is obtained:

[0075]

[0076] The dynamics equation of the robotic movement device 2, considering a vector f representing the external forces and torques applied to the support and / or protection frame 3 and a torque vector r applied to motorized wheels or tracks 4, is:

[0077]

[0078] Substituting equation (1) into the rearranged equation (2), it is obtained:

[0079]

[0080] with A(J,M, q) = (JMJT)1and, for simplicity, omitting the implicit dependencies, equation (3) can be rewritten as:

[0081]

[0082] By imposing in equation (4) (d2 / dt2)-x equal to a desired acceleration, it is possible to determine the torques to be applied to the motorized wheels or tracks 4so that the robotic movement device 2 achieves the desired acceleration. In this case, by imposing a desired acceleration conforming to the model of a mass-spring-damper system, it is obtained:

[0083]

[0084] where Ma, Ba e Ka represent the virtual inertia parameter, the virtual viscosity parameter and the virtual stiffness parameter respectively.

[0085] Finally, it is obtained:

[0086]

[0087] and by choosing Ma'1such that (A-Ma'1-I)=0, with I identity matrix, a mechanical impedance control independent of the applied external forces is obtained.

[0088] In this way, the robotic movement device 2 can behave like a physical object having variable friction and / or elasticity.

[0089] In the event that it is desired to arbitrarily vary also the virtual inertia parameter Ma and thus take into account the forces applied by the user U on the robotic movement device 2, the robotic movement device 2 may exploit force sensors as described below.

[0090] Optionally, the robotic movement device 2 comprises a pair of support armrests 7a and / or a pair of handles or grips 7b and first force sensors 8, operatively associated with the support armrests 7a and / or the handles or grips 7b and in communication with the processing unit, configured to measure and transmit first force data applied on the support armrests 7a and / or on the handles or grips 7b by a user U.

[0091] The support armrests 7a and / or the handles or grips 7b, if provided, are intended to provide a support point for the user U during movement.

[0092] In particular, the robotic movement device 2 may comprise a support 17, for example a horizontal rod bridging the right upper frame portion 3a 1 and the left upper frame portion 3a2, on which the pair of support armrests 7a and / or the pair of handles or grips 7b are mounted, preferably in an adjustable manner.Specifically, the support 17 may define a rail 17a, and the support armrests 7a and / or the pair of handles or grips 7b may be slidably mounted on the rail 17a so as to allow adjustment of the distance between the individual support armrests 7a and / or between the handles or grips 7b, so as to adapt them to the needs of the user U. Clearly, after finding the most suitable position for the support armrests 7a and / or for the pair of handles or grips 7b, they may be locked in position on the rail 17a.

[0093] Moreover, the support armrests 7a and / or the handles or grips 7b, in addition to being movable closer together or further apart, may be mounted so as to be rotatable about themselves or inclinable, in order to allow a different forearm orientation with respect to the vertical axis.

[0094] Optionally, the first force sensors 8 are triaxial load cells.

[0095] Advantageously, the first force sensors 8 are arranged below the pair of support armrests 7a and / or on the pair of handles or grips 7b.

[0096] Optionally, the system 1 comprises a harness 9, designed to wrap around the pelvis and / or thighs of a user U, connectable to the protection and / or support frame 3, and second force sensors 10, operatively associated with the harness 9 and in communication with the processing unit, configured to measure and transmit second force data applied by a user U on the robotic movement device 2.

[0097] If desired, the second force sensors 10 are uniaxial load cells.

[0098] From a structural point of view, the harness 9, if desired made of fabric or similar materials, may comprise straps, for example elastic or rigid straps, optionally four elastic or rigid straps, which may be connected to suitable engagement means 16, for example hooks or similar elements, mounted on the protection and / or support frame 3. Such engagement means 16 may be operatively associated with the second force sensors 10 so that it is possible to calculate the force exerted by the pelvis of the user U on the robotic movement device 2. The straps of the harness 9, if present, may also be used as a haptic means for transmitting sensations generated by the robotic movement device 2 through a mechanical impedance control synchronized and / or contextualized with theaugmented, virtual or mixed reality environment created by the augmented, virtual or mixed reality headset 6.

[0099] Advantageously, the processing unit is configured to:

[0100] - receive first force data from the first force sensors 8 and / or second force data from the second force sensors 10, and

[0101] - integrate the first force data and / or the second force data with the first speed and displacement data of the motorized wheels or tracks 4 in order to determine torque values to be applied to the at least two motorized wheels or tracks 4 as a function of a mechanical impedance control, so as to generate the first commands based on such processing.

[0102] Preferably, the system 1 comprises at least one electronic device 11 including at least one data transmission and / or reception module, in communication with the processing unit, and at least one user interface Ila. In particular, the electronic device 11 is configured to transmit, to the processing unit, setting data of the control parameter, i.e., at least the above-mentioned virtual inertia, virtual stiffness, and virtual viscosity parameters.

[0103] In fact, the virtual inertia parameter opposes changes in velocity of the robotic movement device 2, the virtual stiffness parameter generates a force proportional to the displacement with respect to a desired position, and the virtual viscosity parameter dissipates energy by damping movements.

[0104] Advantageously, the at least one augmented, virtual or mixed reality headset 6 is in communication with the processing unit and / or with the electronic device 11.

[0105] Thus, for example:

[0106] - by setting a high value of virtual viscosity, and simulating, by means of the at least one augmented, virtual or mixed reality headset 6, an aquatic scenario AS, it is possible to convey to the user U the sensation of moving in water, or

[0107] - by setting a high value of virtual stiffness, and simulating, by means of the at least one augmented, virtual or mixed reality headset 6, a game-like or rough terrain scenario, it is possible to convey to the user U the sensation of moving on atrampoline or unstable ground, or

[0108] - by setting a high value of virtual inertia, and simulating, by means of the at least one augmented, virtual or mixed reality headset 6, a high-gravity planet scenario, it is possible to convey to the user U the sensation of moving while carrying a weight.

[0109] Clearly, the examples just mentioned may be adapted and / or combined with each other in order to recreate immersive situations and interactive rehabilitation protocols customized according to the needs of the user U.

[0110] Advantageously, the electronic device 11 is a computerized device, preferably a mobile computerized device, for example a laptop computer, a smartphone, a tablet, a handheld device, or even an electronic device, optionally computerized, wearable by a healthcare operator, a physician, a caregiver, or an external user in general, such as, for example, another augmented, virtual or mixed reality headset. In such a case, the data transmission and / or reception module is advantageously a wireless data transmission and / or reception module. Alternatively, the electronic device 11 may be integrated directly into the robotic movement device 2 or, more precisely, into its protection and / or support frame 3, for example in a dedicated housing formed therein.

[0111] Facultatively, the electronic device 11 comprises a memory having stored therein a computer program or software for managing one or more special control modes and / or functionalities of the robotic movement device 2 as well as for setting the control parameters thereof.

[0112] Preferably, the electronic device 11 is configured to transmit, to the processing unit, at least one command for enabling an asymmetric or separate control mode of the right motorized wheel or track 4 with respect to the left motorized wheel or track 4. In particular, the processing unit is configured to:

[0113] - receive from the electronic device 11 respective setting data of the control parameters for the right and left motorized wheel or track 4,

[0114] - integrate the setting data of the control parameters of the right and left motorized wheel or track 4 in the processing of torque values to be applied to eachof the motorized wheels or tracks 4 so as to generate the first commands based on such processing, and

[0115] - send such first commands to the actuation and control means 5 in order to differentially control the torque applied to the motorized wheels or tracks 4 so as to compensate for asymmetries in the movement, or more particularly in the walking, of a user U.

[0116] As can be understood, such asymmetric or separate control mode is particularly useful in the case of users U with disabilities characterized by asymmetric gait patterns, since the robotic movement device 2 is capable of facilitating movement in a specific direction. In essence, it is possible to separately and / or automatically adjust the control parameters in a differentiated manner depending on the direction of rotation, for example by facilitating rotation towards the direction that the user U tends to avoid, thereby improving overall balance and movement fluidity.

[0117] Advantageously, the electronic device 11 is configured to transmit, to the processing unit, at least one command for enabling an initial assistance or incipit mode, wherein the processing unit is configured to:

[0118] - receive from the electronic device 11 initial assistance or incipit data including data relating to the setting of an initial virtual external force parameter, - process the initial assistance or incipit data to determine initial torque values to be applied to the at least two motorized wheels or tracks 4 and generate initial assistance or incipit commands as a function of such processing, considering the parameters of the set mechanical impedance control and the set initial virtual external force parameter, and

[0119] - send such initial assistance or incipit commands to the actuation and control means 5 in order to control the initial torque applied to the at least two motorized wheels or tracks 4 based on the determined torque values so as to facilitate the initiation of movement, or more particularly the walking, of a user U.

[0120] As can be understood, such initial assistance or incipit mode is particularly useful in the case of users U with disabilities characterized by difficulty ininitiating movement, for example users U affected by Parkinson’s disease. More in detail, the initial assistance or incipit mode is capable of generating an initial fictitious force, thereby generating a higher torque that the motor or the respective motors of the wheels or tracks 4 apply in order to assist the user U in initiating walking.

[0121] Preferably, the initial assistance or incipit commands are designed to control the torque applied to the at least two motorized wheels or tracks 4 such that the initial virtual external force parameter:

[0122] - starts from zero and progressively increases over time until reaching the set value of the initial virtual external force, if the processing unit does not detect a displacement of the robotic movement device 2 by means of measurements provided by the at least one encoder or, more specifically, by the two encoders, and

[0123] - progressively decreases over time to zero if the processing unit detects a displacement of the robotic movement device 2 by means of measurements carried out by the at least one encoder or, more specifically, by the two encoders.

[0124] In other words, such initial fictitious force may progressively increase over time so that, if no movement of the robotic movement device 2 is detected, the assistance is delivered in a smooth and non-abrupt manner. This reduces the risk of imbalance or sudden movements that could destabilize the user U, ensuring a safe and personalized initial thrust. Subsequently, as soon as a movement of the robotic movement device 2 is detected, the initial fictitious force may progressively decrease, thereby avoiding risks of imbalance or disorientation for the user U. In this sense, the initial setting of the virtual inertia parameter and, consequently, of the initial fictitious force may vary according to the specific needs of the user U, for example as a function of body weight and / or psychological condition thereof.

[0125] Preferably, the electronic device 11 is configured to transmit, to the processing unit, at least one command for enabling a guided path mode, wherein the processing unit is configured to:- receive from the electronic device 11 guided path data including data relating to the setting of a trajectory to be followed by the robotic movement device 2,

[0126] - integrate said guided path data into the processing of torque values to be applied to each of the motorized wheels or tracks 4 so as to generate the first commands as a function of such processing, and

[0127] - send the first commands to the actuation and control means 5 to control the torque applied to the motorized wheels or tracks 4 as a function of the trajectory followed by the robotic movement device 2.

[0128] In particular, such control makes it possible to generate a path and apply corresponding forces that guide the user U along the set trajectory, for example allowing the user to retrace or follow said path with a degree of stiffness that varies as a function of the set control parameters.

[0129] With reference to this latter aspect, advantageously, the guided path data also comprise the setting of a forced trajectory parameter that regulates how rigidly the torque applied to the motorized wheels or tracks 4 forces a user U to maintain the set trajectory.

[0130] From a mathematical point of view, given a reference angle with respect to which the robotic movement device 2 must be oriented in order to follow the guided path, it is possible to define the desired angular acceleration to achieve such purpose. Subsequently, it is possible to determine the torque values to be applied to the motorized wheels or tracks 4 such that the robotic movement device 2 follows such acceleration.

[0131] In this context, the equation describing the behaviour of the robotic movement device 2 may be written as follows:

[0132]

[0133] where 0 is the orientation of the robotic movement device 2 with respect to an absolute reference, 0ref is the desired orientation, i.e., the direction of the trajectory to follow with respect to the same reference, and Ka is the virtual stiffnessparameter that regulates how rigidly the user U is forced to remain aligned with the set trajectory.

[0134] Therefore, the user U is not required to rigidly follow the path but is rather guided along it, maintaining a certain degree of freedom that can be modulated according to the value of the forced trajectory parameter, optionally corresponding to the virtual stiffness parameter Ka represented in the above equation. This makes it possible to customize the level of assistance and / or guidance according to the needs, for example according to the rehabilitation needs of the user U.

[0135] Optionally, the system 1 comprises at least one optical sensor 12 mounted on the robotic movement device 2, preferably arranged so as to face, in use, towards the advancement direction thereof, for example at the front of the support and / or protection frame 3, and in communication with the processing unit and / or with the electronic device 11, configured to:

[0136] - estimate the position and / or orientation of the robotic movement device 2 and generate position and / or orientation data,

[0137] - send such position and / or orientation data to the processing unit and / or to the electronic device 11,

[0138] - display, on the user interface Ila, the position of the robotic movement device 2.

[0139] It is specified that localization of the robotic movement device 2 is already performed by means of the at least one encoder; however, if present, the at least one optical sensor 12 is capable of improving the accuracy and reliability of such localization.

[0140] The at least one optical sensor 12 may comprise at least one camera, for example a 3D or depth camera, mounted on the support and / or protection frame 3, for example fixed to a support rod or arm 20 in turn connected to the protection and / or support frame 3 or, more particularly, to its upper portion 3 a.

[0141] The at least one optical sensor 12 or, more particularly, the at least one camera, may be configured, in addition to localizing the robotic movement device 2, also to map any dynamic and / or static obstacles present in the operatingenvironment so as to prevent possible collisions of the robotic movement device 2, for example by means of SLAM (Simultaneous Localization And Mapping) algorithms.

[0142] The at least one camera may advantageously have a 360° field of view or may comprise a first camera facing the advancement direction of the robotic movement device 2 and a second camera facing the user U.

[0143] With reference to this latter aspect, the at least one camera is preferably configured to:

[0144] - map any dynamic and / or static obstacles present in the operating environment so as to prevent possible collisions of the robotic movement device 2, for example by means of SLAM (Simultaneous Localization And Mapping) algorithms, and

[0145] - acquire and send movement data of the pelvis and thighs of the user U to the processing unit for subsequent processing.

[0146] Clearly, in the case where a first and a second camera are provided, the first camera facing the advancement direction of the robotic movement device 2 will be configured for localization of the robotic movement device 2 and optionally for mapping the operating environment, whereas the second camera will be configured to acquire and send movement data of the pelvis and / or thighs of the user U to the processing unit for subsequent processing.

[0147] In this regard, it is possible to monitor in real time, on the user interface Ila of the electronic device 11, the position of the robotic movement device 2 within the operating environment, for example also with reference to a generated guided path. In particular, the at least one sensor is optionally configured to apply odometric algorithms to estimate the position and / or orientation of the robotic movement device 2.

[0148] Optionally, the system 1 comprises a plurality of anchors or markers 13 arranged in the operating environment of the robotic movement device 2 and in communication with the processing unit and / or with the electronic device 11, configured to improve the accuracy of the estimation of the position and / ororientation of the robotic movement device 2.

[0149] In essence, by means of the plurality of anchors or markers 13, if present, it is possible to localize, for example triangulate, the position of the robotic movement device 2 in order to obtain a more accurate and reliable estimation of the position and / or orientation thereof.

[0150] Preferably, the electronic device 11 comprises a touch screen 11b for displaying the user interface Ila, and the data relating to the setting of a trajectory to be followed by the robotic movement device 2 are generated by tracing a trajectory to be followed on the touch screen 1 lb.

[0151] In other words, it is possible for a healthcare operator, a physician, a caregiver, or an external user in general to trace, on the touch screen 1 lb, the guided path to be followed by the robotic movement device 2.

[0152] Preferably, when the guided path mode is enabled, the user interface Ila is configured to display, on the touch screen 1 lb, the traced trajectory to be followed and the real-time position of the robotic movement device 2.

[0153] Advantageously, the augmented, virtual or mixed reality headset 6 is configured to dynamically update the augmented, virtual or mixed reality environment as a function of the position and / or orientation of the robotic movement device 2 within the operating environment.

[0154] In other words, as a function of the movements performed by the user U, it is possible to update the augmented, virtual or mixed reality environment in which the user is immersed so as to convey precise visual and / or audio and / or haptic sensations by means of the combination of the augmented, virtual or mixed reality headset 6 and the mechanical impedance control of the robotic movement device 2.

[0155] Optionally, the user interface 1 la may also display, on the touch screen 1 lb, the objects generated or the scenario created by means of the augmented, virtual or mixed reality headset 6, so that it is possible to trace a guided path to be followed, for example as a function of any virtual obstacles present. With reference to this aspect, augmented, virtual or mixed reality may be integratedwith gamification elements in order to make the experience more engaging and motivating for the user U, thereby increasing the likelihood of adherence to the rehabilitation protocol or guided path.

[0156] Subject-matter of the present invention is also a method of using a system according to the present invention or according to non-limiting embodiments of the present invention, for assisting and / or guiding the movement of a user, comprising the steps of:

[0157] - having a user U wear an augmented or virtual or mixed reality headset 6, - associating the user U with the robotic movement device 2,

[0158] - initiating the movement of the robotic movement device 2 by means of a force exerted by the user U or automatically,

[0159] - receiving first speed and displacement data from the at least one encoder of the robotic movement device 2,

[0160] - processing said first speed and displacement data in order to determine torque values to be applied to the at least two motorized wheels or tracks 4 as a function of a mechanical impedance control and generating first commands based on such processing, and

[0161] - sending said first commands to the actuation and control means 5 to control the torque applied to the at least two motorized wheels or tracks 4 based on the determined torque values, while generating, by means of the augmented, virtual or mixed reality headset 6, visual and / or audio content synchronized and / or contextualized with the mechanical impedance control to convey visual and / or audio and / or haptic sensations to the user U for the implementation of an interactive rehabilitation protocol or of an immersive guided path.

[0162] It is specified that the above-mentioned method, when considering the implementation of an immersive guided path, is a non-therapeutic method.

[0163] With reference to the step of associating the user U with the robotic movement device 2, such step may be carried out directly by the user resting on the support armrests 7a and / or gripping the handles or grips 7b, or it may comprise a step of harnessing the user and a subsequent step of connecting theharness 9 to the robotic movement device 2.

[0164] As regards the step of initiating the movement of the robotic movement device 2, it is specified that it may be performed directly by the user U who, by means of their own force, initiates the movement of the robotic movement device 2, or automatically, for example by means of the above-mentioned initial fictitious force used in the initial assistance or incipit mode.

[0165] Furthermore, for all the preferred and / or optional features and / or functionalities of the method of use just described, what has already been described with reference to system 1 applies, also with reference to all the controls of the robotic movement device 2 by means of the electronic device 11.

[0166] The system 1 according to the present invention is capable of combining at least one augmented, virtual or mixed reality headset 6 with a robotic movement device 2 controlled as a function of a torque-based mechanical impedance control capable of conveying multisensory sensations to the user U, including:

[0167] - visual sensations, including the real-time visualization of augmented, virtual or mixed reality environments for the simulation of realistic or creative scenarios, designed to immerse and stimulate the user U during movement or, more particularly, during rehabilitation, and / or

[0168] - audio sensations, preferably 3D or spatial audio, including sounds synchronized with the augmented, virtual or mixed reality environment and with the movements of the user U, which enhance immersion and provide useful indications for spatial orientation, and / or

[0169] - tactile sensations, including simulated physical sensations, such as for example vibrations or pressures, resulting from the modulation of the control parameters of the mechanical impedance control, which may create the illusion of interacting with real surfaces or obstacles, and / or

[0170] - haptic sensations, including realistic simulated physical sensations resulting from dynamic mechanical impedance control synchronized with the specific parameters of the augmented, virtual or mixed reality environment in which the user U is located, making the sensation of walking in differentenvironments highly immersive and effective: in the case of a user U affected by a disability, this may make the rehabilitation experience more engaging and motivating, thereby increasing the likelihood of adherence to the rehabilitation protocol.

[0171] In essence, the system 1 is capable of providing synchronized multisensory sensations as well as personalized controls depending on the context and on any specific needs or disabilities of the user U.

[0172] Furthermore, it is possible for a healthcare operator, a physician, a caregiver, or an external user in general, through the user interface Ila of the electronic device 11, to monitor the user U step by step, optionally modifying the augmented, virtual or mixed reality environments and the sensations conveyed by means of the mechanical impedance control according to the needs or circumstances.

[0173] Thus, it has been shown how the invention fully achieves the intended objects.

[0174] Modifications and variations of the invention are possible within the scope of protection defined by the claims.

Claims

CLAIMS1. System (1) for assisting and / or guiding the movement of a user, comprising:- a robotic movement device (2), which includes:• a protection and / or support frame (3) for a user (U),• at least two motorized wheels or tracks (4) connected below said protection and / or support frame (3),• at least one encoder, operatively associated with the at least one motor or motors of said motorized wheels or tracks (4), configured to measure first speed and displacement data of said motorized wheels or tracks (4),• actuation and control means (5) of said at least two motorized wheels or tracks (4),• at least one processing unit configured to:► receive said first speed and displacement data from said at least one encoder,► process said first speed and displacement data to determine torque values to be applied to said at least two motorized wheels or tracks (4) as a function of a mechanical impedance control and generate first commands based on such processing, and► send said first commands to said actuation and control means (5) to control the torque applied to said at least two motorized wheels or tracks (4) based on said determined torque values,- at least one augmented or virtual or mixed reality headset (6), wearable by a user (U), configured to generate visual and / or audio contents synchronized and / or contextualized with said mechanical impedance control so as to convey to the user (U) visual and / or audio and / or haptic sensations for the implementation of an interactive rehabilitation protocol or an immersive guided path.

2. System according to the preceding claim, for use in the motor rehabilitation of a user (U) affected by disability and wherein said robotic movement device (2) is a robotic walker.

3. System according to any one of the preceding claims, wherein said robotic movement device (2) comprises a pair of support armrests (7a) and / or a pair of handles or grips (7b) and first force sensors (8), operatively associated with said support armrests (7a) and / or said handles or grips (7b) and in communication with said processing unit, configured to measure and transmit first force data applied on said support armrests (7) and / or on said handles or grips (7b) by a user (U).

4. System according to any one of the preceding claims, comprising a harness (9), designed to wrap around the pelvis and / or thighs of a user (U), connectable to said protection and / or support frame (3), and second force sensors (10), operatively associated with said harness (9) and in communication with said processing unit, configured to measure and transmit second force data applied by a user (U) on said robotic movement device (2).

5. System according to claim 3 or 4, wherein said processing unit is configured to:- receive first force data from said first force sensors (8) and / or second force data from said second force sensors (10), and- integrate said first force data and / or said second force data with said first speed and displacement data of said motorized wheels or tracks (4) to determine torque values to be applied to said at least two motorized wheels or tracks (4) as a function of a mechanical impedance control so as to generate said first commands based on such processing.

6. System according to any one of the preceding claims, wherein said mechanical impedance control is configured to model said robotic movement device (2) as a generalized mass-spring-damper system and comprises at least three control parameters, including a virtual inertia parameter, a virtual stiffness parameter and a virtual viscosity parameter.

7. System according to the preceding claim, comprising at least one electronic device (11) which includes at least one data transmission and / or reception module, in communication with said processing unit, and at least one user interface (Ila), wherein said electronic device (11) is configured to transmit,to said processing unit, setting data of said control parameters.

8. System according to the preceding claim, wherein said electronic device (11) is configured to transmit, to said processing unit, at least one command to enable an asymmetric or separate control mode of the right motorized wheel or track (4) from the left motorized wheel or track (4), wherein said processing unit is configured to:- receive from said electronic device (11) respective setting data of the control parameters of the right and left motorized wheel or track (4),- integrate said setting data of the control parameters of the right and left motorized wheel or track (4) in the processing of the torque values to be applied to each of said motorized wheels or tracks (4) so as to generate said first commands based on such processing, and- send said first commands to said actuation and control means (5) to control in a differentiated manner the torque applied to said motorized wheels or tracks (4) so as to compensate for asymmetries in the movement of a user (U).

9. System according to claim 7 or 8, wherein said electronic device (11) is configured to transmit, to said processing unit, at least one command to enable an initial assistance or incipit mode, wherein said processing unit is configured to:- receive from said electronic device (11) initial assistance or incipit data comprising data relating to the setting of an initial external virtual force parameter,- process said initial assistance or incipit data to determine initial torque values to be applied to said at least two motorized wheels or tracks (4) and generate initial assistance or incipit commands based on such processing considering the parameters of said set mechanical impedance control and said set initial external virtual force parameter,- send said initial assistance or incipit commands to said actuation and control means (5) to control the initial torque applied to said at least two motorized wheels or tracks (4) based on said determined torque values so as to facilitate the initiation of the movement of a user (U).

10. System according to the preceding claim, wherein said assistance or initial incipit commands are adapted to control the torque applied to said at least two motorized wheels or tracks (4) so that said initial external virtual force:- starts from zero and progressively increases over time until reaching the set initial external virtual force value, if said processing unit does not detect a movement of said robotic movement device (2) by means of measurements sent by said at least one encoder, and- progressively decreases over time to zero, if said processing unit detects a movement of said robotic movement device (2) by means of measurements carried out by said at least one encoder.

11. System according to any one of claims 7 to 10, wherein said electronic device (11) is configured to transmit, to said processing unit, at least one command to enable a guided path mode, wherein said processing unit is configured to:- receive from said electronic device (11) guided path data including data relating to the setting of a trajectory to be followed by said robotic movement device (2),- integrate said guided path data into the processing of the torque values to be applied to each of said motorized wheels or tracks (4) so as to generate said first commands based on such processing,- send said first commands to said actuation and control means (5) to control the torque applied to said motorized wheels or tracks (4) as a function of the trajectory followed by said robotic movement device (2).

12. System according to the preceding claim, wherein said guided path data also comprises the setting of a forced trajectory parameter that regulates how rigidly the torque applied to said motorized wheels or tracks (4) forces a user (U) to maintain the set trajectory.

13. System according to any one of claims 7 to 12, comprising at least one optical sensor (12), mounted on said robotic movement device (2) and in communication with said processing unit and / or with said electronic device (11),configured to:- estimate the position and / or orientation of said robotic movement device (2) and generate position and / or orientation data,- send said position and / or orientation data to said processing unit and / or to said electronic device (11),- display on said user interface (Ila) the position of said robotic movement device (2).

14. System according to the preceding claim, comprising a plurality of anchors or markers (13) arranged in the operating environment of said robotic movement device (2) and in communication with said processing unit and / or with said electronic device (11), configured to improve the accuracy of the estimation of the position and / or orientation of said robotic movement device (2).

15. System according to any one of claims 11 to 14, wherein said electronic device (11) comprises a touch screen (1 lb) for displaying said user interface (1 la) and the data relating to the setting of a trajectory to be followed by said robotic movement device (2) are generated by tracing a trajectory to be followed on said touch screen (11b).

16. System according to the preceding claim when dependent on claim 13 or 14, wherein, when said guided path mode is enabled, said user interface (Ila) is configured to display on said touch screen (11b) the traced trajectory to be followed and the real-time position of said robotic movement device (2).

17. System according to claim 13, wherein said augmented or virtual or mixed reality headset (6) is configured to dynamically update the augmented or virtual or mixed reality environment as a function of the position and / or orientation of said robotic movement device (2) in said operating environment.

18. System according to any one of the preceding claims, wherein said protection and / or support frame (3) comprises a U-shaped upper frame portion (3a) and a lower frame portion (3b) which define a positioning zone (PZ) for a user (U) inside the U.

19. System according to any one of the preceding claims, wherein saidprotection and / or support frame (3) comprises:- an upper frame portion (3a) and a lower frame portion (3b),- a pair of right side rods or arms (3c, 3d) pivotally connected to each other and a pair of left side rods or arms (3e, 3f) pivotally connected to each other, - a right upper guide or slide (14a) and a left upper guide or slide (14b) mounted on said upper frame portion (3a) as well as a right lower guide or slide (14c) and a left lower guide or slide (14d) mounted on said lower frame portion (3b),wherein each side rod or arm (3c, 3d, 3e, 3f) defines a respective first end (3cl, 3dl, 3el, 3fl) pivotally connected with said upper frame portion (3a) or with said lower frame portion (3b) and a respective second end (3c2, 3d2, 3e2, 3f2) connected to a corresponding shoe (15a, 15b, 15c, 15d) mounted slidingly in a respective guide or slide (14a, 14b, 14c, 14d) so that said protection and / or support frame (3) is height-adjustable.

20. Non-therapeutic method for using a system according to any one of the preceding claims to assist and / or guide the movement of a user, comprising the steps of:- having a user (U) wear an augmented or virtual or mixed reality headset (6),- associating said user (U) with said robotic movement device (2),- initiating the movement of said robotic movement device (2) by means of force exerted by said user (U) or automatically,- receiving first speed and displacement data from said at least one encoder of said robotic movement device (2),- processing said first speed and displacement data to determine torque values to be applied to said at least two motorized wheels or tracks (4) as a function of a mechanical impedance control and generating first commands based on such processing,- sending said first commands to said actuation and control means (5) to control the torque applied to said at least two motorized wheels or tracks (4) basedon said determined torque values, while generating, by means of said augmented or virtual or mixed reality headset (6), visual and / or audio contents synchronized and / or contextualized with said mechanical impedance control to convey to said user (U) visual and / or audio and / or haptic sensations for the implementation of an immersive guided path.

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