Articulated Assistive Handle With Adaptive Implement Control Modes
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Solution Overview
Problem
Individuals with limited upper-extremity mobility face challenges in performing daily tasks due to the lack of effective assistive technologies, leading to increased reliance on caregivers and potential negative health outcomes.
Innovation Solution
A handheld tool with behavior control modes and detachable user-assistive implements, equipped with sensors and an actuator assembly, allows for adaptive assistance in tasks like grooming, cooking, and eating by automatically adjusting the position and orientation of implements to compensate for limited mobility and unintentional muscle movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a handheld tool with sensors and actuators is provided to assist users with limited upper-extremity mobility, then the user's independence in performing daily tasks is improved, but the device complexity increases
Solution Approach 1:
The device is divided into modular components: a handle portion containing control electronics, an implement portion with sensors, and an actuator assembly with multiple independent actuators. This segmentation allows each module to be optimized independently and simplifies manufacturing and maintenance while providing comprehensive assistive functionality.
Solution Approach 2:
The handheld tool is designed with multiple detachable implements (e.g., utensils, grooming tools) that can be attached to the same handle. The actuator assembly can accommodate different attachment mechanisms for various implement types, allowing a single device to perform multiple daily tasks including eating, grooming, and drinking, thereby reducing the need for multiple specialized devices.
2Ease of operation
If the actuator assembly continuously adjusts the implement position and orientation to compensate for limited mobility, then the ease of operation is improved, but the energy consumption increases
Solution Approach 1:
The actuator assembly operates using periodic adjustment cycles rather than continuous operation. The control system monitors sensor data and triggers actuator activation only when adjustments are needed, such as when the user attempts a movement or when task-specific conditions arise. This periodic operation significantly reduces energy consumption compared to continuous adjustment while maintaining effective assistive functionality.
Solution Approach 2:
The device incorporates sensors that continuously monitor user movements, implement position, and task conditions. This feedback is processed by the control system to determine when and how actuators should adjust the implement. The feedback mechanism enables energy-efficient operation by activating actuators only when necessary, based on real-time user needs and task requirements, rather than operating continuously.
3Adaptability or versatility
If multiple behavior control modes are implemented for different tasks, then the adaptability is improved, but the device complexity increases
Solution Approach 1:
The device features dynamically switchable behavior control modes that adapt to different tasks and user needs. The control system can transition between modes such as coarse adjustment mode for gross movements, fine adjustment mode for precise positioning, and locked mode for stable holding. These dynamic mode changes allow the device to optimize performance for each task while using a unified control architecture that manages complexity.
Solution Approach 2:
The device includes pre-programmed behavior control modes that are prepared in advance for common tasks such as eating, grooming, and drinking. Each mode contains pre-configured adjustment parameters, sensor thresholds, and actuator sequences tailored to specific task requirements. This preliminary configuration reduces the computational burden during operation and simplifies the control system by having ready-made solutions for frequent tasks, rather than requiring complex real-time decision-making for every scenario.
Data Source
Figure 1A~1C
Figure 2A
Figure 2B~2C
AI summary
A handheld tool includes a handle; an implement mount configured to detachably accept and to rigidly hold a user assistive implement; an actuator assembly mounted to the handle to physically manipulate the implement mount relative to the handle; a first sensor disposed to sense an orientation of the handle; a second sensor disposed to sense an orientation of the user assistive implement; a controller disposed in or on the handle and coupled to the actuator assembly and the first and second sensors; and memory coupled to the controller. The memory stores instructions for identifying a type of the user assistive implement attached to the implement mount, selecting a behavior routine based upon the type of the user assistive implement identified, and manipulating the user assistive implement relative to the handle according to the behavior routine to aid performance of a task with the handheld tool.